commit 29321792b8a39bf6fd96173af2573cf7643554ac Author: zhanli <719901725@qq.com> Date: Mon Dec 11 11:17:13 2023 +0800 上传PIBot ROS相关代码 diff --git a/Code/RK3588/PIBot_ROS/.gitignore b/Code/RK3588/PIBot_ROS/.gitignore new file mode 100644 index 0000000..1a7ebaa --- /dev/null +++ b/Code/RK3588/PIBot_ROS/.gitignore @@ -0,0 +1,9 @@ +.vscode +*.pyc +ros_ws/build +ros_ws/devel +ros_ws/install +ros_package/* +!ros_package/*.tar.gz +cartographer +ros_ws/src/CMakeLists.txt \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/.pibot_init_env.sh.swp b/Code/RK3588/PIBot_ROS/.pibot_init_env.sh.swp new file mode 100644 index 0000000..413442d Binary files /dev/null and b/Code/RK3588/PIBot_ROS/.pibot_init_env.sh.swp differ diff --git a/Code/RK3588/PIBot_ROS/README.md b/Code/RK3588/PIBot_ROS/README.md new file mode 100644 index 0000000..8c58a8c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/README.md @@ -0,0 +1,31 @@ +# PIBOT ROS Workspace v2.0 + +## 安装ROS +```shell +cd ~/pibot_ros/ +./pibot_install_ros.sh +source ~/.bashrc +``` + +## init environment +for master +```shell +cd ~/pibot_ros/ +./pibot_init_env.sh # select board lidar 3dsensor +source ~/.bashrc +``` + +for salve +```shell +cd ~/pibot_ros/ +./pibot_init_env.sh # select board lidar 3dsensor +source ~/.bashrc +``` + +## run example +``` +roslaunch pibot_bringup bringup.launch +roslaunch pibot keyboard_teleop.launch +``` + +then you can control your robot diff --git a/Code/RK3588/PIBot_ROS/pibot_add_upstart.sh b/Code/RK3588/PIBot_ROS/pibot_add_upstart.sh new file mode 100644 index 0000000..334ecf3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_add_upstart.sh @@ -0,0 +1,15 @@ +#!/bin/bash +if [ ! -z "$PIBOT_HOME" ]; then + PIBOT_HOME_DIR=$PIBOT_HOME +else + PIBOT_HOME_DIR=~/pibot_ros +fi + +sudo ln -sf $PIBOT_HOME_DIR/pibot_upstart/pibotenv /etc/pibotenv +sudo ln -sf $PIBOT_HOME_DIR/pibot_upstart/pibot_start.sh /usr/bin/pibot_start +sudo ln -sf $PIBOT_HOME_DIR/pibot_upstart/pibot_stop.sh /usr/bin/pibot_stop +sudo ln -sf $PIBOT_HOME_DIR/pibot_upstart/pibot_restart.sh /usr/bin/pibot_restart +sudo cp $PIBOT_HOME_DIR/pibot_upstart/pibot.service /etc/systemd/system/ +sudo systemctl daemon-reload +sudo systemctl enable pibot +sudo systemctl is-enabled pibot diff --git a/Code/RK3588/PIBot_ROS/pibot_ap.sh b/Code/RK3588/PIBot_ROS/pibot_ap.sh new file mode 100644 index 0000000..9928e42 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_ap.sh @@ -0,0 +1,46 @@ +#!/bin/bash + +# put this cmd to startup scritps +# create pibot ap +# if [ -f /home/pibot/.pibot_ap ]; then +# create_ap wlan0 eth0 pibot_ap pibot_ap& +# else +# create_ap --fix-unmanaged +# ifconfig eth0 up +# ifconfig wlan0 up +# fi + +function start() { + echo "start ap mode" + touch ~/.pibot_ap + # sudo nmcli c | awk -F' ' '{cmd="sudo nmcli c del "$1; if(NR>=2) system(cmd)}' + sudo nmcli --fields UUID con | awk '{print $1}' | while read line; do sudo nmcli con delete uuid $line; done + sudo systemctl restart create_ap + sudo systemctl enable create_ap +} + +function stop() { + echo "stop ap mode" + if [ -f ~/.pibot_ap ]; then + rm ~/.pibot_ap + fi + sudo systemctl stop create_ap + sudo systemctl disable create_ap +} + +case "$1" in + start ) + echo "****************" + start + echo "****************" + ;; + stop ) + echo "****************" + stop + echo "****************" + ;; + * ) + echo "****************" + echo "$0 start/stop" + echo "****************" +esac diff --git a/Code/RK3588/PIBot_ROS/pibot_clear_rosproc.sh b/Code/RK3588/PIBot_ROS/pibot_clear_rosproc.sh new file mode 100644 index 0000000..34f80dd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_clear_rosproc.sh @@ -0,0 +1,4 @@ +#!/bin/bash +# kill all ros&pibot process +ps -aux | grep "/opt/ros" | grep -v "grep" | awk '{print $2}' | xargs kill -9 +ps -aux | grep "/pibot_ros/ros_ws" | grep -v "grep" | awk '{print $2}' | xargs kill -9 \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/pibot_create_swap.sh b/Code/RK3588/PIBot_ROS/pibot_create_swap.sh new file mode 100644 index 0000000..010061f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_create_swap.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +sudo mkdir /opt/image +cd /opt/image/ +sudo touch swap +sudo dd if=/dev/zero of=/opt/image/swap bs=1024 count=2048000 +sudo mkswap /opt/image/swap +sudo swapon /opt/image/swap + +echo "add \"/opt/image/swap /swap swap defaults 0 0\" to \"/etc/fstab\" to make swap effecive" diff --git a/Code/RK3588/PIBot_ROS/pibot_init_env.sh b/Code/RK3588/PIBot_ROS/pibot_init_env.sh new file mode 100644 index 0000000..8a24086 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_init_env.sh @@ -0,0 +1,362 @@ +#!/bin/bash +PIBOT_MODEL= +PIBOT_BOARD= +PIBOT_LIDAR= +PIBOT_3DSENSOR= +PIBOT_ADDRESS= + +while getopts "m:b:l:c:a:" opt; do + case $opt in + m) + PIBOT_MODEL=$OPTARG + echo $PIBOT_MODEL;; + b) + PIBOT_BOARD=$OPTARG + echo $PIBOT_BOARD;; + l) + PIBOT_LIDAR=$OPTARG + echo $PIBOT_LIDAR;; + c) + PIBOT_3DSENSOR=$OPTARG + echo $PIBOT_3DSENSOR;; + a) + PIBOT_ADDRESS=$OPTARG + echo $PIBOT_ADDRESS;; + \?) + echo "usage: "$0 "-m {MODLE} -b {BOARD_TYPE} -L {LIDAR} -c {CAMERA} -a {ROS_iP}" + echo -e "\033[1;32m for example 1: $0 -m apollo -b stm32f1 -l rplidar -c none -a localhost\033[0m" + echo -e "\033[1;32m for example 1: $0 -m hades -b stm32f4 -l rplidar -c none -a localhost\033[0m" + exit 0 ;; + esac +done + +if [ ! -z "$PIBOT_HOME" ]; then + PIBOT_HOME_DIR=$PIBOT_HOME +else + PIBOT_HOME_DIR=~/pibot_ros +fi + +echo -e "\033[1;32mpibot home dir:$PIBOT_HOME_DIR" + +sudo ln -sf $PIBOT_HOME_DIR/pibot_init_env.sh /usr/bin/pibot_init_env +sudo ln -sf $PIBOT_HOME_DIR/pibot_view_env.sh /usr/bin/pibot_view_env +sudo ln -sf $PIBOT_HOME_DIR/pibot_install_ros.sh /usr/bin/pibot_install_ros + +if ! [ $PIBOT_ENV_INITIALIZED ]; then + echo "export PIBOT_ENV_INITIALIZED=1" >> ~/.bashrc + echo "source ~/.pibotrc" >> ~/.bashrc +fi + +#rules +echo -e "\033[1;32msetup pibot modules" +echo " " +sudo rm -rf /etc/udev/rules.d/pibot.rules +sudo rm -rf /etc/udev/rules.d/rplidar.rules +sudo rm -rf /etc/udev/rules.d/ydlidar.rules + +sudo cp $PIBOT_HOME_DIR/rules/98-pibot-usb.rules /etc/udev/rules.d +sudo cp $PIBOT_HOME_DIR/rules/56-orbbec-usb.rules /etc/udev/rules.d +echo " " +echo "Restarting udev" +echo "" + +sudo udevadm control --reload-rules +sudo udevadm trigger +#sudo service udev reload +#sudo service udev restart + +code_name=$(lsb_release -sc) + +if [ "$code_name" = "trusty" ]; then + ROS_DISTRO="indigo" +elif [ "$code_name" = "xenial" ]; then + ROS_DISTRO="kinetic" +elif [ "$code_name" = "bionic" ] || [ "$code_name" = "stretch" ]; then + ROS_DISTRO="melodic" +elif [ "$code_name" = "focal" ] || [ "$code_name" = "buster" ]; then + ROS_DISTRO="noetic" +else + echo -e "\033[1;31m PIBOT not support "$code_name"\033[0m" + exit +fi + + +content="#source ros +if [ ! -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then + echo \"please run cd $PIBOT_HOME_DIR && ./pibot_install_ros.sh to install ros sdk\" +else + source /opt/ros/${ROS_DISTRO}/setup.bash +fi +" +echo "${content}" > ~/.pibotrc + +#LOCAL_IP=`ifconfig eth0|grep "inet addr:"|awk -F":" '{print $2}'|awk '{print $1}'` +#LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'` + +#if [ ! ${LOCAL_IP} ]; then +# echo "please check network" +# exit +#fi + +LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'` +echo "LOCAL_IP=\`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print \$2}' | awk -F"/" '{print \$1}'\`" >> ~/.pibotrc + +if [ ! ${LOCAL_IP} ]; then + echo -e "\033[1;31muse 127.0.0.1 as local ip\033[0m" + LOCAL_IP=127.0.0.1 +fi + +if [ "$PIBOT_MODEL" == "" ]; then + echo -e "\033[1;34mplease specify pibot model:\033[1;32m + (0: apollo(2wd-diff), + 1: apolloX(2wd-diff), + 2: zeus(3wd-omni), + 3: hera(4wd-diff), + 4: hades(4wd-mecanum), + 5: hadesX(4wd-mecanum), + other: user defined)\033[1;33m" + read -p "" PIBOT_INPUT + + PIBOT_MODEL_TYPE="diff" + + if [ "$PIBOT_INPUT" = "0" ]; then + PIBOT_MODEL='apollo' + elif [ "$PIBOT_INPUT" = "1" ]; then + PIBOT_MODEL='apolloX' + elif [ "$PIBOT_INPUT" = "2" ]; then + PIBOT_MODEL='zeus' + PIBOT_MODEL_TYPE="omni" + elif [ "$PIBOT_INPUT" = "3" ]; then + PIBOT_MODEL='hera' + elif [ "$PIBOT_INPUT" = "4" ]; then + PIBOT_MODEL='hades' + PIBOT_MODEL_TYPE="omni" + elif [ "$PIBOT_INPUT" = "5" ]; then + PIBOT_MODEL='hadesX' + PIBOT_MODEL_TYPE="omni" + else + PIBOT_MODEL=$PIBOT_INPUT + fi +fi + +if [ $PIBOT_MODEL == 'apollo' ] || [ $PIBOT_MODEL == 'apolloX' ] || [ $PIBOT_MODEL == 'hera' ]; then + PIBOT_MODEL_TYPE="diff" +else + PIBOT_MODEL_TYPE="omni" +fi + +if [ "$PIBOT_BOARD" == "" ]; then + echo -e "\033[1;34mplease specify pibot driver board type:\033[1;32m + (0: arduino(mega2560), + 1: stm32f103, + 2: stm32f407, + other: user defined)\033[1;33m" + read -p "" PIBOT_INPUT + + if [ "$PIBOT_INPUT" = "0" ]; then + PIBOT_BOARD='arduino' + elif [ "$PIBOT_INPUT" = "1" ]; then + PIBOT_BOARD='stm32f1' + elif [ "$PIBOT_INPUT" = "2" ]; then + PIBOT_BOARD='stm32f4' + else + PIBOT_BOARD=$PIBOT_INPUT + fi +fi + +if [ $PIBOT_BOARD == 'arduino' ] || [ $PIBOT_BOARD == 'stm32f1' ]; then + PIBOT_DRIVER_BAUDRATE=115200 +else + PIBOT_DRIVER_BAUDRATE=921600 +fi + +PIBOT_FAKE_LIDAR=0 +if [ "$PIBOT_LIDAR" == "" ]; then + echo -e "\033[1;34mplease specify your pibot lidar:\033[1;32m + (0: not config, + 1: rplidar(a1,a2), + 2: rplidar(a3), + 3: eai(x4), + 4: eai(g4), + 5: eai(tg15/tg30/tg50), + 6: xtion, + 7: astra, + 8: kinectV1, + 9: kinectV2, + 10: rplidar(s1), + other: user defined)\033[1;33m" + read -p "" PIBOT_INPUT + + if [ "$PIBOT_INPUT" = "0" ]; then + PIBOT_LIDAR='none' + elif [ "$PIBOT_INPUT" = "1" ]; then + PIBOT_LIDAR='rplidar' + elif [ "$PIBOT_INPUT" = "2" ]; then + PIBOT_LIDAR='rplidar-a3' + elif [ "$PIBOT_INPUT" = "3" ]; then + PIBOT_LIDAR='eai-x4' + elif [ "$PIBOT_INPUT" = "4" ]; then + PIBOT_LIDAR='eai-g4' + elif [ "$PIBOT_INPUT" = "5" ]; then + PIBOT_LIDAR='eai-tgx' + elif [ "$PIBOT_INPUT" = "6" ]; then + PIBOT_LIDAR='xtion' + PIBOT_FAKE_LIDAR=1 + elif [ "$PIBOT_INPUT" = "7" ]; then + PIBOT_LIDAR='astra' + PIBOT_FAKE_LIDAR=1 + elif [ "$PIBOT_INPUT" = "8" ]; then + PIBOT_LIDAR='kinectV1' + PIBOT_FAKE_LIDAR=1 + elif [ "$PIBOT_INPUT" = "9" ]; then + PIBOT_LIDAR='kinectV2' + PIBOT_FAKE_LIDAR=1 + elif [ "$PIBOT_INPUT" = "10" ]; then + PIBOT_LIDAR='rplidar-s1' + else + PIBOT_LIDAR=$PIBOT_INPUT + fi +fi + +if [ "$PIBOT_LIDAR" = "xtion" ]; then + PIBOT_FAKE_LIDAR=1 +elif [ "$PIBOT_LIDAR" = "astra" ]; then + PIBOT_FAKE_LIDAR=1 +elif [ "$PIBOT_LIDAR" = "kinectV1" ]; then + PIBOT_FAKE_LIDAR=1 +elif [ "$PIBOT_LIDAR" = "kinectV2" ]; then + PIBOT_FAKE_LIDAR=1 + ln -s $PWD/third_party/iai_kinect2 $PWD/ros_ws/src/ +else + if [ -f $PWD/ros_ws/src/iai_kinect2 ]; then + rm $PWD/ros_ws/src/iai_kinect2 + fi +fi + +if [ $PIBOT_FAKE_LIDAR = 1 ]; then + echo "fake lidar: $PIBOT_LIDAR" + PIBOT_3DSENSOR='none' +else + if [ "$PIBOT_3DSENSOR" == "" ]; then + echo -e "\033[1;34mplease specify your pibot 3dsensor:\033[1;32m + (0: not config, + 1: xtion, + 2: astra, + 3: kinectV1, + 4: kinectV2, + 5: d435i, + other: user defined)\033[1;33m" + read -p "" PIBOT_INPUT + + if [ "$PIBOT_INPUT" = "0" ]; then + PIBOT_3DSENSOR='none' + elif [ "$PIBOT_INPUT" = "1" ]; then + PIBOT_3DSENSOR='xtion' + elif [ "$PIBOT_INPUT" = "2" ]; then + PIBOT_3DSENSOR='astra' + elif [ "$PIBOT_INPUT" = "3" ]; then + PIBOT_3DSENSOR='kinectV1' + elif [ "$PIBOT_INPUT" = "4" ]; then + PIBOT_3DSENSOR='kinectV2' + elif [ "$PIBOT_INPUT" = "5" ]; then + PIBOT_3DSENSOR='d435i' + else + PIBOT_3DSENSOR=$PIBOT_INPUT + fi + fi +fi + +echo "export PIBOT_HOME=${PIBOT_HOME_DIR}" >> ~/.pibotrc +echo "export ROS_IP=\`echo \$LOCAL_IP\`" >> ~/.pibotrc +echo "export ROS_HOSTNAME=\`echo \$LOCAL_IP\`" >> ~/.pibotrc +echo "export PIBOT_MODEL=${PIBOT_MODEL}" >> ~/.pibotrc +echo "export PIBOT_MODEL_TYPE=${PIBOT_MODEL_TYPE}" >> ~/.pibotrc +echo "export PIBOT_LIDAR=${PIBOT_LIDAR}" >> ~/.pibotrc +echo "export PIBOT_3DSENSOR=${PIBOT_3DSENSOR}" >> ~/.pibotrc +echo "export PIBOT_BOARD=${PIBOT_BOARD}" >> ~/.pibotrc +echo "export PIBOT_DRIVER_BAUDRATE=${PIBOT_DRIVER_BAUDRATE}" >> ~/.pibotrc +echo "export PIBOT_MAPS_DIR=~/maps" >> ~/.pibotrc +echo "export PIBOT_ASTRA_PID=0x\`lsusb | grep "2bc5:05" | awk '{print \$6}' | awk -F":" '{print \$2}'\`" >> ~/.pibotrc + +if [ "$PIBOT_ADDRESS" == "" ]; then + echo -e "\033[1;34mplease specify the current machine(ip:$LOCAL_IP) type:\033[1;32m + (0: pibot board, + \033[31m1: control PC or Virtual PC\033[1;34m)\033[1;33m" + read PIBOT_INPUT +elif [ $PIBOT_ADDRESS == $LOCAL_IP ] || [ $PIBOT_ADDRESS == "localhost" ]; then + PIBOT_INPUT="0" +else + PIBOT_INPUT=$PIBOT_ADDRESS +fi + +if [ "$PIBOT_INPUT" == "0" ]; then + ROS_MASTER_IP_STR="\`echo \$LOCAL_IP\`" + ROS_MASTER_IP=`echo $LOCAL_IP` +else + if [ "$PIBOT_ADDRESS" != "$LOCAL_IP" ]; then + echo -e "\033[1;34mplase specify the pibot board ip for commnication(e.g. 192.168.12.1):" + read -p "" PIBOT_INPUT + else + PIBOT_INPUT=$PIBOT_ADDRESS + fi + ROS_MASTER_IP_STR=`echo $PIBOT_INPUT` + ROS_MASTER_IP=`echo $PIBOT_INPUT` +fi + +echo "export ROS_MASTER_URI=`echo http://${ROS_MASTER_IP_STR}:11311`" >> ~/.pibotrc + +echo -e "\033[1;35m*****************************************************************" +echo "model: " $PIBOT_MODEL +echo "lidar: " $PIBOT_LIDAR +echo "local_ip: " ${LOCAL_IP} +echo "onboard_ip: " ${ROS_MASTER_IP} +echo "" +echo -e "please execute \033[1;36;4msource ~/.bashrc\033[1;35m to make the configure effective\033[0m" +echo -e "\033[1;35m*****************************************************************\033[0m" + +#echo "source $PIBOT_HOME_DIR/ros_ws/devel/setup.bash" >> ~/.pibotrc +content="#source pibot +if [ ! -f $PIBOT_HOME_DIR/ros_ws/devel/setup.bash ]; then + echo -e \"please run \033[1;36;4mcd $PIBOT_HOME_DIR/ros_ws && catkin_make\033[0m to compile pibot sdk\" +else + source $PIBOT_HOME_DIR/ros_ws/devel/setup.bash +fi +" +echo "${content}" >> ~/.pibotrc + +#alias +echo "alias pibot_bringup='roslaunch pibot_bringup bringup.launch'" >> ~/.pibotrc +echo "alias pibot_bringup_with_imu='roslaunch pibot_bringup bringup_with_imu.launch'" >> ~/.pibotrc +echo "alias pibot_lidar='roslaunch pibot_lidar ${PIBOT_LIDAR}.launch'" >> ~/.pibotrc +echo "alias pibot_base='roslaunch pibot_bringup robot.launch'" >> ~/.pibotrc +echo "alias pibot_base_with_imu='roslaunch pibot_bringup robot.launch use_imu:=true'" >> ~/.pibotrc +echo "alias pibot_control='roslaunch pibot_bringup keyboard_teleop.launch'" >> ~/.pibotrc +echo "alias pibot_joystick='roslaunch pibot_bringup joystick.launch'" >> ~/.pibotrc +echo "alias pibot_holonomic_joystick='roslaunch pibot_bringup joystick.launch holonomic:=true'" >> ~/.pibotrc + +echo "alias pibot_configure='rosrun rqt_reconfigure rqt_reconfigure'" >> ~/.pibotrc +echo "alias pibot_simulator='roslaunch pibot_simulator nav.launch'" >> ~/.pibotrc + +echo "alias pibot_gmapping='roslaunch pibot_navigation gmapping.launch'" >> ~/.pibotrc +echo "alias pibot_gmapping_with_imu='roslaunch pibot_navigation gmapping.launch use_imu:=true'" >> ~/.pibotrc +echo "alias pibot_save_map='roslaunch pibot_navigation save_map.launch'" >> ~/.pibotrc + +echo "alias pibot_naviagtion='roslaunch pibot_navigation nav.launch'" >> ~/.pibotrc +echo "alias pibot_naviagtion_with_imu='roslaunch pibot_navigation nav.launch use_imu:=true'" >> ~/.pibotrc +echo "alias pibot_view='roslaunch pibot_navigation view_nav.launch'" >> ~/.pibotrc + +echo "alias pibot_cartographer='roslaunch pibot_navigation cartographer.launch'" >> ~/.pibotrc +echo "alias pibot_cartographer_with_odom='roslaunch pibot_navigation cartographer_with_odom.launch'" >> ~/.pibotrc +echo "alias pibot_view_cartographer='roslaunch pibot_navigation view_cartographer.launch'" >> ~/.pibotrc + +echo "alias pibot_hector_mapping='roslaunch pibot_navigation hector_mapping.launch'" >> ~/.pibotrc +echo "alias pibot_hector_mapping_without_imu='roslaunch pibot_navigation hector_mapping_without_odom.launch'" >> ~/.pibotrc + +echo "alias pibot_karto_slam='roslaunch pibot_navigation karto_slam.launch'" >> ~/.pibotrc + +echo "alias pibot_3d_mapping='roslaunch pibot_slam_3d rtabmap.launch use_imu:=false localization:=false'" >> ~/.pibotrc +echo "alias pibot_3d_mapping_with_imu='roslaunch pibot_slam_3d rtabmap.launch use_imu:=true localization:=false'" >> ~/.pibotrc +echo "alias pibot_3d_nav='roslaunch pibot_slam_3d rtabmap.launch use_imu:=false localization:=true'" >> ~/.pibotrc +echo "alias pibot_3d_nav_with_imu='roslaunch pibot_slam_3d rtabmap.launch use_imu:=true localization:=true'" >> ~/.pibotrc +echo "alias pibot_3d_view_mapping='roslaunch pibot_slam_3d view.launch localization:=true'" >> ~/.pibotrc +echo "alias pibot_3d_view_nav='roslaunch pibot_slam_3d view.launch localization:=false'" >> ~/.pibotrc diff --git a/Code/RK3588/PIBot_ROS/pibot_install_ros.sh b/Code/RK3588/PIBot_ROS/pibot_install_ros.sh new file mode 100644 index 0000000..64ab34e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_install_ros.sh @@ -0,0 +1,141 @@ +#!/bin/bash +if [ ! -z "$PIBOT_HOME" ]; then + PIBOT_HOME_DIR=$PIBOT_HOME +else + PIBOT_HOME_DIR=~/pibot_ros +fi + +echo -e "\033[1;32mpibot home dir:$PIBOT_HOME_DIR" + +# http://wiki.ros.org/ROS/Installation/UbuntuMirrors +sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' +sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" >> /etc/apt/sources.list.d/ros-latest.list' +sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +sudo apt-get update + +code_name=$(lsb_release -sc) + +if [ "$code_name" = "trusty" ]; then + ROS_DISTRO="indigo" +elif [ "$code_name" = "xenial" ]; then + ROS_DISTRO="kinetic" +elif [ "$code_name" = "bionic" ] || [ "$code_name" = "stretch" ]; then + ROS_DISTRO="melodic" +elif [ "$code_name" = "focal" ] || [ "$code_name" = "buster" ]; then + ROS_DISTRO="noetic" +else + echo "PIBOT not support "$code_name + exit +fi + +echo "ros distro:" $ROS_DISTRO + +sudo apt-get install -y git cmake unzip vim build-essential udev inetutils-ping iproute2 hostapd + +sudo apt-get -y --allow-unauthenticated install ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-slam-gmapping ros-${ROS_DISTRO}-navigation \ + ros-${ROS_DISTRO}-xacro ros-${ROS_DISTRO}-robot-state-publisher \ + ros-${ROS_DISTRO}-joint-state-publisher ros-${ROS_DISTRO}-teleop-twist-* ros-${ROS_DISTRO}-control-msgs \ + ros-${ROS_DISTRO}-kdl-parser-py ros-${ROS_DISTRO}-tf2-geometry-msgs ros-${ROS_DISTRO}-hector-mapping \ + ros-${ROS_DISTRO}-robot-pose-ekf ros-${ROS_DISTRO}-slam-karto ros-${ROS_DISTRO}-hector-geotiff ros-${ROS_DISTRO}-hector-trajectory-server \ + ros-${ROS_DISTRO}-usb-cam ros-${ROS_DISTRO}-image-transport ros-${ROS_DISTRO}-image-transport-plugins \ + ros-${ROS_DISTRO}-depthimage-to-laserscan ros-${ROS_DISTRO}-openni2* \ + ros-${ROS_DISTRO}-robot-upstart ros-${ROS_DISTRO}-tf-conversions \ + ros-${ROS_DISTRO}-realsense2-camera ros-${ROS_DISTRO}-libuvc* \ + ros-${ROS_DISTRO}-camera-calibration ros-${ROS_DISTRO}-rtabmap* \ + ros-${ROS_DISTRO}-web-video-server ros-${ROS_DISTRO}-roslint ros-${ROS_DISTRO}-laser-filters + +if [ "$ROS_DISTRO" = "noetic" ]; then + sudo ln -sf /usr/bin/python3 /usr/bin/python + + # third + cd $PIBOT_HOME_DIR/third_party/libuvc && mkdir -p build && cd build && cmake .. && sudo make install + + cd $PIBOT_HOME_DIR + if [ ! -d $PWD/ros_package ]; then + mkdir ros_package + fi + cd ros_package + + # astra ros package + if [ -f $PWD/astra.tar.gz ]; then + tar xzvf $PWD/astra.tar.gz + else + git clone https://github.com/orbbec/ros_astra_launch.git + git clone https://github.com/orbbec/ros_astra_camera.git + fi + + # frontier_exploration ros package + # if [ -f $PWD/frontier_exploration.tar.gz ]; then + # tar xzvf $PWD/frontier_exploration.tar.gz + # else + # git clone -b $ROS_DISTRO-devel https://github.com/paulbovbel/frontier_exploration.git + # fi + + # camera_umd + # if [ -f $PWD/camera_umd.tar.gz ]; then + # tar xzvf $PWD/camera_umd.tar.gz + # else + # git clone https://github.com/ros-drivers/camera_umd.git + # fi + + cd .. + echo "ln -sf $PWD/ros_package ros_ws/src/ros_package" + if [ -f ros_ws/src/ros_package ]; then + rm ros_ws/src/ros_package + fi + + ln -snf $PWD/ros_package ros_ws/src/ros_package + sudo apt-get -y --allow-unauthenticated install python3-pip python3-serial +elif [ "$ROS_DISTRO" = "melodic" ]; then + # third + cd $PIBOT_HOME_DIR/third_party/libuvc && mkdir -p build && cd build && cmake .. && sudo make install + + cd $PIBOT_HOME_DIR + if [ ! -d $PWD/ros_package ]; then + mkdir ros_package + fi + cd ros_package + + # astra ros package + if [ -f $PWD/astra.tar.gz ]; then + tar xzvf $PWD/astra.tar.gz + else + git clone https://github.com/orbbec/ros_astra_launch.git + git clone https://github.com/orbbec/ros_astra_camera.git + fi + + # frontier_exploration ros package + # if [ -f $PWD/frontier_exploration.tar.gz ]; then + # tar xzvf $PWD/frontier_exploration.tar.gz + # else + # git clone -b $ROS_DISTRO-devel https://github.com/paulbovbel/frontier_exploration.git + # fi + cd .. + + echo "ln -sf $PWD/ros_package ros_ws/src/ros_package" + if [ -f ros_ws/src/ros_package ]; then + rm ros_ws/src/ros_package + fi + + ln -snf $PWD/ros_package ros_ws/src/ros_package + + sudo apt-get -y --allow-unauthenticated install python-pip python-serial \ + ros-${ROS_DISTRO}-freenect-* ros-${ROS_DISTRO}-orocos-kdl ros-${ROS_DISTRO}-camera-umd ros-${ROS_DISTRO}-cartographer-ros +else + sudo apt-get -y --allow-unauthenticated install python-pip python-serial \ + ros-${ROS_DISTRO}-freenect-* ros-${ROS_DISTRO}-orocos-kdl ros-${ROS_DISTRO}-camera-umd ros-${ROS_DISTRO}-cartographer-ros\ + ros-${ROS_DISTRO}-astra-launch ros-${ROS_DISTRO}-astra-camera ros-${ROS_DISTRO}-frontier-exploration +fi + +read -s -n1 -p "install ros gui tools?(y/N)" + +if [ "$REPLY" = "y" -o "$REPLY" = "Y" ]; then + sudo apt-get -y --allow-unauthenticated install ros-${ROS_DISTRO}-rviz ros-${ROS_DISTRO}-rqt-reconfigure ros-${ROS_DISTRO}-rqt-tf-tree \ + ros-${ROS_DISTRO}-image-view + + if [ "$ROS_DISTRO" = "noetic" ]; then + echo "please run ros_package/make_cartographer.sh to compile cartographer" + else + sudo apt-get -y --allow-unauthenticated install ros-${ROS_DISTRO}-cartographer-rviz + fi +fi diff --git a/Code/RK3588/PIBot_ROS/pibot_remove_upstart.sh b/Code/RK3588/PIBot_ROS/pibot_remove_upstart.sh new file mode 100644 index 0000000..3f14700 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_remove_upstart.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +sudo systemctl disable pibot +sudo systemctl is-enabled pibot diff --git a/Code/RK3588/PIBot_ROS/pibot_upstart/pibot.service b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot.service new file mode 100644 index 0000000..dfe87d1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot.service @@ -0,0 +1,11 @@ +[Unit] +Description=this is pibot service + +[Service] +Type=simple +ExecStart=/usr/bin/pibot_start +ExecStop=/usr/bin/pibot_stop +ExecRestart=/usr/bin/pibot_restart + +[Install] +WantedBy=multi-user.target diff --git a/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_restart.sh b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_restart.sh new file mode 100644 index 0000000..3d4690c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_restart.sh @@ -0,0 +1,4 @@ +#!/bin/bash +/usr/bin/pibot-stop +sleep 2 +/usr/bin/pibot-start diff --git a/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_start.sh b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_start.sh new file mode 100644 index 0000000..a1a45dd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_start.sh @@ -0,0 +1,33 @@ +#!/bin/bash + +log_file=/tmp/pibot-upstart.log +echo "$DATE: pibot-start" >> $log_file +pibotenv=/etc/pibotenv +. $pibotenv + +code_name=$(lsb_release -sc) + +if [ "$code_name" = "trusty" ]; then + ROS_DISTRO="indigo" +elif [ "$code_name" = "xenial" ]; then + ROS_DISTRO="kinetic" +elif [ "$code_name" = "bionic" ] || [ "$code_name" = "stretch" ]; then + ROS_DISTRO="melodic" +elif [ "$code_name" = "focal" ] || [ "$code_name" = "buster" ]; then + ROS_DISTRO="noetic" +else + echo "PIBOT not support $code_name" >> $log_file + exit +fi + +echo "SYS_DIST: $code_name" >> $log_file +echo "ROS_DIST: $ROS_DISTRO" >> $log_file +echo "LOCAL_IP: $LOCAL_IP" >> $log_file +echo "ROS_MASTER_URI: $ROS_MASTER_URI" >> $log_file +echo "ROS_IP: $ROS_IP" >> $log_file +echo "HOSTNAME: $ROS_HOSTNAME" >> $log_file +echo "PIBOT_MODEL: $PIBOT_MODEL" >> $log_file +echo "PIBOT_LIDAR: $PIBOT_LIDAR" >> $log_file +echo "PIBOT_BOARD: $PIBOT_BOARD" >> $log_file + +roslaunch pibot_navigation gmapping.launch diff --git a/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_stop.sh b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_stop.sh new file mode 100644 index 0000000..f8492d0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_upstart/pibot_stop.sh @@ -0,0 +1,38 @@ +#!/bin/bash +log_file=/tmp/pibot-upstart.log +echo "$DATE: pibot-stop" >> $log_file +pibotenv=/etc/pibotenv +. $pibotenv + +code_name=$(lsb_release -sc) + +if [ "$code_name" = "trusty" ]; then + ROS_DISTRO="indigo" +elif [ "$code_name" = "xenial" ]; then + ROS_DISTRO="kinetic" +elif [ "$code_name" = "bionic" ] || [ "$code_name" = "stretch" ]; then + ROS_DISTRO="melodic" +elif [ "$code_name" = "focal" ] || [ "$code_name" = "buster" ]; then + ROS_DISTRO="noetic" +else + echo "PIBOT not support $code_name" >> $log_file + exit +fi + +LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'` +echo $LOCAL_IP +echo "SYS_DIST: $code_name" >> $log_file +echo "ROS_DIST: $ROS_DISTRO" >> $log_file +echo "LOCAL_IP: $LOCAL_IP" >> $log_file +echo "ROS_MASTER_URI: $ROS_MASTER_URI" >> $log_file +echo "ROS_IP: $ROS_IP" >> $log_file +echo "HOSTNAME: $ROS_HOSTNAME" >> $log_file +echo "PIBOT_MODEL: $PIBOT_MODEL" >> $log_file +echo "PIBOT_LIDAR: $PIBOT_LIDAR" >> $log_file +echo "PIBOT_BOARD: $PIBOT_BOARD" >> $log_file + +for i in $( rosnode list ); do + rosnode kill $i; +done + +killall roslaunch diff --git a/Code/RK3588/PIBot_ROS/pibot_upstart/pibotenv b/Code/RK3588/PIBot_ROS/pibot_upstart/pibotenv new file mode 100644 index 0000000..24c8f11 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_upstart/pibotenv @@ -0,0 +1,22 @@ +#source ros +source /opt/ros/kinetic/setup.bash + +if [ ! -z "$PIBOT_HOME" ]; then + PIBOT_HOME_DIR=$PIBOT_HOME +else + PIBOT_HOME_DIR=/home/pibot/pibot_ros +fi + +LOCAL_IP=192.168.12.1 +export ROS_IP=$LOCAL_IP +export ROS_HOSTNAME=$LOCAL_IP +export PIBOT_MODEL=hades +export PIBOT_LIDAR=rplidar +export PIBOT_3DSENSOR=none +export PIBOT_BOARD=stm32f4 +export PIBOT_DRIVER_BAUDRATE=921600 +export ROS_MASTER_URI=http://$LOCAL_IP:11311 + +#source pibot +source $PIBOT_HOME_DIR/ros_ws/devel/setup.bash + diff --git a/Code/RK3588/PIBot_ROS/pibot_view_env.sh b/Code/RK3588/PIBot_ROS/pibot_view_env.sh new file mode 100644 index 0000000..4cb82a0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pibot_view_env.sh @@ -0,0 +1,31 @@ +#!/bin/bash + +code_name=$(lsb_release -sc) + +if [ "$code_name" = "trusty" ]; then + ROS_DISTRO="indigo" +elif [ "$code_name" = "xenial" ]; then + ROS_DISTRO="kinetic" +elif [ "$code_name" = "bionic" ] || [ "$code_name" = "stretch" ]; then + ROS_DISTRO="melodic" +elif [ "$code_name" = "focal" ] || [ "$code_name" = "buster" ]; then + ROS_DISTRO="noetic" +else + echo -e "\033[1;31m PIBOT not support "$code_name"\033[0m" + exit +fi + +LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'` + +echo -e "\033[1;33mPIBOT_ENV_INITIALIZED: "$PIBOT_ENV_INITIALIZED +echo -e "\033[1;34mSYS_DIST: "$code_name +echo -e "\033[1;33mROS_DIST: "$ROS_DISTRO +echo -e "\033[1;34mLOCAL_IP: "$LOCAL_IP +echo -e "\033[1;33mROS_MASTER_URI: "$ROS_MASTER_URI +echo -e "\033[1;34mROS_IP: "$ROS_IP +echo -e "\033[1;33mROS_HOSTNAME: "$ROS_HOSTNAME +echo -e "\033[1;34mPIBOT_MODEL: "$PIBOT_MODEL +echo -e "\033[1;33mPIBOT_LIDAR: "$PIBOT_LIDAR +echo -e "\033[1;34mPIBOT_BOARD: "$PIBOT_BOARD +echo -e "\033[1;33mPIBOT_3DSENSOR: "$PIBOT_3DSENSOR +echo -e "\033[1;35m*****************************************************************\033[0m" diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/__init__.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/__init__.py new file mode 100644 index 0000000..aa21836 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/__init__.py @@ -0,0 +1,17 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- +import pypibot.assistant +import pypibot.log as Logger +import pypibot.err +log=Logger.log +import sys +def createNamedLog(name): + return Logger.NamedLog(name) +class Object(): + pass +isDebug="-d" in sys.argv + +import platform +isWindows=False +if platform.system()=='Windows': + isWindows=True diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/assistant.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/assistant.py new file mode 100644 index 0000000..94683b0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/assistant.py @@ -0,0 +1,234 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- +import os, sys, inspect +import datetime +import signal +import threading +import time +# function: get directory of current script, if script is built +# into an executable file, get directory of the excutable file +def current_file_directory(): + path = os.path.realpath(sys.path[0]) # interpreter starter's path + if os.path.isfile(path): # starter is excutable file + path = os.path.dirname(path) + path = os.path.abspath(path) # return excutable file's directory + else: # starter is python script + caller_file = inspect.stack()[0][1] # function caller's filename + path = os.path.abspath(os.path.dirname(caller_file))# return function caller's file's directory + if path[-1]!=os.path.sep:path+=os.path.sep + return path + +"""格式化字符串""" +def formatString(string,*argv): + string=string%argv + if string.find('$(scriptpath)')>=0: + string=string.replace('$(scriptpath)',current_file_directory()) + if string.find('$(filenumber2)')>=0: + i=0 + path="" + while True: + path=string.replace('$(scriptpath)',"%02d"%i) + if not os.path.lexists(path):break + i+=1 + string=path + #8位日期（20140404） + if string.find('$(Date8)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Date8)', now.strftime("%Y%m%d")) + #6位日期（140404） + if string.find('$(Date6)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Date6)', now.strftime("%y%m%d")) + #6位时间（121212） + if string.find('$(Time6)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Time6)', now.strftime("%H%M%S")) + #4位时间（1212） + if string.find('$(Time4)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Time4)', now.strftime("%H%M")) + #文件编号2位（必须在最后） + if string.find('$(filenumber2)')>=0: + i=0 + path="" + while True: + path=string.replace('$(filenumber2)',"%02d"%i) + if not os.path.lexists(path):break + i+=1 + string=path + #文件编号3位（必须在最后） + if string.find('$(filenumber3)')>=0: + i=0 + path="" + while True: + path=string.replace('$(filenumber3)',"%03d"%i) + if not os.path.lexists(path):break + i+=1 + string=path + return string + +""" + 取得进程列表 + 格式：(PID,cmd) +""" +def getProcessList(): + processList = [] + try: + for line in os.popen("ps xa"): + fields = line.split() + # spid = fields[0] + pid = 0 + try:pid = int(fields[0]) + except:None + cmd = line[27:-1] + # print "PS:%d,%s"%(npid,process) + if pid != 0 and len(cmd) > 0: + processList.append((pid, cmd)) + except Exception as e: + print("getProcessList except:%s" % (e)) + return processList +def killCommand(cmd): + try: + processList = getProcessList() + for p in processList: + if p[1].find(cmd) != -1: + pid = p[0] + os.kill(pid, signal.SIGKILL) + except Exception as e: + print("killCommand ‘%s’ except:%s" % (cmd,e)) + +def check_pid(pid): + """ Check For the existence of a unix pid. """ + if pid == 0:return False + try: + os.kill(pid, 0) + except OSError: + return False + else: + return True + +SF=formatString + +#全局异常捕获 +def excepthook(excType, excValue, tb): + '''''write the unhandle exception to log''' + from log import log + import traceback + log.e('Unhandled Error: %s',''.join(traceback.format_exception(excType, excValue, tb))) + sys.exit(-1) + #sys.__excepthook__(type, value, trace) + #sys.__excepthook__(excType, excValue, tb) + +_defaultGlobalExcept=sys.excepthook + +def enableGlobalExcept(enable=True): + if enable: + sys.excepthook = excepthook + else: + sys.excepthook=_defaultGlobalExcept +# 默认启动全局异常处理 +enableGlobalExcept() +#创建线程 +def createThread(name,target,args=(),autoRun=True,daemon=True): + from log import log + def threadProc(): + log.i("thread %s started!",name) + try: + target(*args) + log.i("thread %s ended!",name) + except Exception as e: + log.e("thread %s crash!err=%s",name,e) + thd=threading.Thread(name=name,target=threadProc) + thd.setDaemon(daemon) + if autoRun:thd.start() + return thd + + +#定时器 +class Timer(): + def __init__(self, timer_proc, args=(),first=0,period=0,name="Timer"): + self.name=name + self.first=first + self.period=period + self.args=args + self.timer_proc=timer_proc + self.thdWork=None + self.stopFlag=False + from log import NamedLog + self.log=NamedLog(name) + def run(self): + if self.first>0: + time.sleep(self.first) + try: + self.timer_proc(*self.args) + except Exception as e: + self.log.error("timer proc crash!err=%s",e) + while self.period>0 and not self.stopFlag: + time.sleep(self.period) + try: + self.timer_proc(*self.args) + except Exception as e: + self.log.error("timer proc crash!err=%s",e) + def start(self): + if self.isAlive(): + self.log.d("already running!") + return True + self.stopFlag=False + self.thdWork=threading.Thread(name=self.name,target=self.run) + self.thdWork.setDaemon(True) + self.thdWork.start() + def stop(self,timeout=3): + if self.isAlive(): + self.stopFlag=True + try: + self.thdWork.join(timeout) + except Exception as e: + self.log.e("stop timeout!") + + def isAlive(self): + return self.thdWork and self.thdWork.isAlive() +#计时器 +class Ticker(): + def __init__(self): + self.reset() + # 片段,可以判断时长是否在一个特定毫秒段内 + self.section=[] + def reset(self): + self.tick=time.time() + self.end=0 + def stop(self): + self.end=time.time() + @property + def ticker(self): + if self.end==0: + return int((time.time()-self.tick)*1000) + else: + return int((self.end-self.tick)*1000) + def addSection(self,a,b): + a,b=int(a),int(b) + assert a=a and tick<=b: + return True + return False + def __call__(self): + return self.ticker +def waitExit(): + import log + log.log.i("start waiting to exit...") + try: + while(True): + time.sleep(1) + except Exception as e: + log.log.w("recv exit sign!") + +def is_python3(): + return sys.hexversion > 0x03000000 diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/configer.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/configer.py new file mode 100644 index 0000000..7bb3b9f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/configer.py @@ -0,0 +1,56 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +import ConfigParser +from log import PLOG +import os +def getdefaultfilename(): + pass +def openconfiger(filename): + return configer(filename) +class configer: + def __init__(self,fullfilepath): + self._filepath=fullfilepath + if not os.path.isdir(os.path.dirname(fullfilepath)): + os.makedirs(os.path.dirname(fullfilepath)) + self._conf=ConfigParser.ConfigParser() + if os.path.isfile(fullfilepath): + try: + self._conf.readfp(open(fullfilepath,"r")) + except Exception,e: + PLOG.error("配置文件'%s'打开失败,err=%s"%(self._filepath,e)) + def save(self): + try: + self._conf.write(open(self._filepath,"w")) + except Exception,e: + PLOG.error("配置文件'%s'保存失败,err=%s"%(self._filepath,e)) + + def changeConfValue(self,section,option,value): + if self._conf.has_section(section): + self._conf.set(section,option,value) + else: + self._conf.add_section(section) + self._conf.set(section,option,value) + + def _readvalue(self,fn,section,option,default): + result=default + if self._conf.has_section(section): + if self._conf.has_option(section,option): + result=fn(section,option) + PLOG.debug("Option[%s][%s]=%s"%(section,option,str(result))) + else: + self._conf.set(section,option,str(default)) + result=default + else: + self._conf.add_section(section) + self._conf.set(section,option,str(default)) + result=default + return result + def getstr(self,section,option,default=""): + return self._readvalue(self._conf.get, section, option, default) + def getint(self,section,option,default=0): + return self._readvalue(self._conf.getint, section, option, default) + def getfloat(self,section,option,default=0.0): + return self._readvalue(self._conf.getfloat, section, option, default) + def getboolean(self,section,option,default=False): + return self._readvalue(self._conf.getboolean, section, option, default) diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/daemon.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/daemon.py new file mode 100644 index 0000000..1ff78dc --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/daemon.py @@ -0,0 +1,140 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import sys, os, time, atexit +from signal import SIGTERM + +def check_pid(pid): + """ Check For the existence of a unix pid. """ + if pid == 0:return False + try: + os.kill(pid, 0) + except OSError: + return False + else: + return True + +class daemon: + """ + A generic daemon class. + + Usage: subclass the Daemon class and override the run() method + """ + def __init__(self, pidfile, stdin='/dev/null', stdout='/dev/null', stderr='/dev/null'): + self.stdin = stdin + self.stdout = stdout + self.stderr = stderr + self.pidfile = pidfile + + def daemonize(self): + """ + do the UNIX double-fork magic, see Stevens' "Advanced + Programming in the UNIX Environment" for details (ISBN 0201563177) + http://www.erlenstar.demon.co.uk/unix/faq_2.html#SEC16 + """ + try: + pid = os.fork() + if pid > 0: + # exit first parent + sys.exit(0) + except OSError, e: + sys.stderr.write("fork #1 failed: %d (%s)\n" % (e.errno, e.strerror)) + sys.exit(1) + + # decouple from parent environment + os.chdir("/") + os.setsid() + os.umask(0) + + # do second fork + try: + pid = os.fork() + if pid > 0: + # exit from second parent + sys.exit(0) + except OSError, e: + sys.stderr.write("fork #2 failed: %d (%s)\n" % (e.errno, e.strerror)) + sys.exit(1) + + # redirect standard file descriptors + sys.stdout.flush() + sys.stderr.flush() + si = file(self.stdin, 'r') + so = file(self.stdout, 'a+') + se = file(self.stderr, 'a+', 0) + os.dup2(si.fileno(), sys.stdin.fileno()) + os.dup2(so.fileno(), sys.stdout.fileno()) + os.dup2(se.fileno(), sys.stderr.fileno()) + + # write pidfile + atexit.register(self.delpid) + pid = str(os.getpid()) + file(self.pidfile, 'w+').write("%s\n" % pid) + + def delpid(self): + os.remove(self.pidfile) + + def start(self): + """ + Start the daemon + """ + # Check for a pidfile to see if the daemon already runs + try: + pf = file(self.pidfile, 'r') + pid = int(pf.read().strip()) + pf.close() + except IOError: + pid = None + + if pid and check_pid(pid): + message = "pidfile %s already exist. Daemon already running?\n" + sys.stderr.write(message % self.pidfile) + sys.exit(1) + print("daemon start...") + # Start the daemon + self.daemonize() + self.run() + + def stop(self): + """ + Stop the daemon + """ + # Get the pid from the pidfile + try: + pf = file(self.pidfile, 'r') + pid = int(pf.read().strip()) + pf.close() + except IOError: + pid = None + + if not pid: + message = "pidfile %s does not exist. Daemon not running?\n" + sys.stderr.write(message % self.pidfile) + return # not an error in a restart + + # Try killing the daemon process + try: + while 1: + os.kill(pid, SIGTERM) + time.sleep(0.1) + except OSError, err: + err = str(err) + if err.find("No such process") > 0: + if os.path.exists(self.pidfile): + os.remove(self.pidfile) + else: + print(str(err)) + sys.exit(1) + + def restart(self): + """ + Restart the daemon + """ + self.stop() + self.start() + + def run(self): + """ + You should override this method when you subclass Daemon. It will be called after the process has been + daemonized by start() or restart(). + """ diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/err.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/err.py new file mode 100644 index 0000000..d812de9 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/err.py @@ -0,0 +1,58 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +# 异常类 +class PibotError(Exception): + def __init__(self, errcode, errmsg): + self.errcode = errcode + self.errmsg = errmsg + #Exception.__init__(self,self.__str__()) + + def msg(self, msg): + if not msg is None:return PibotError(self.errcode, msg) + return PibotError(8,"unknow error") + def __str__(self): + return "PibotError:%s(%d)"%(self.errmsg,self.errcode) + @property + def message(self): + return str(self) +# 声明 +# 成功 +success=PibotError(0,"null") +# 通用失败 +fail=PibotError(1,"fail") +# 参数无效 +invalidParameter=PibotError(2,"invalid parameter") +# 不支持 +noSupport=PibotError(3,"no support") +# 不存在 +noExist=PibotError(4,"no exist") +# 超时 +timeout=PibotError(5,"timeout") +# 繁忙 +busy=PibotError(6,"busy") +# 缺少参数 +missParameter=PibotError(7,"miss parameter") +# 系统错误(通用错误) +systemError=PibotError(8,"system error") +# 密码错误 +invalidPassword=PibotError(9,"invalid password") +# 编码失败 +encodeFailed=PibotError(10,"encode failed") +# 数据库操作失败 +dbOpertationFailed=PibotError(11,"db error") +# 已占用 +occupied=PibotError(12,"occupied") +# session不存在 +noSession = PibotError(13,'cannot find session') +#没有找到 +noFound = PibotError(14, "no found") +#已经存在 +existed = PibotError(15, "existed") +#已经锁定 +locked = PibotError(16, "locked") +#已经过期 +expired = PibotError(17, "is expired") +#无效的参数 +invalidParameter = PibotError(18, "invalid parameter") + diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/log.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/log.py new file mode 100644 index 0000000..c031d4a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/log.py @@ -0,0 +1,259 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- +import sys,os +import datetime +import threading +import pypibot.assistant as assistant +import platform +if assistant.is_python3(): + import _thread +else: + import thread +import traceback +""" +%a Locale’s abbreviated weekday name. +%A Locale’s full weekday name. +%b Locale’s abbreviated month name. +%B Locale’s full month name. +%c Locale’s appropriate date and time representation. +%d Day of the month as a decimal number [01,31]. +%H Hour (24-hour clock) as a decimal number [00,23]. +%I Hour (12-hour clock) as a decimal number [01,12]. +%j Day of the year as a decimal number [001,366]. +%m Month as a decimal number [01,12]. +%M Minute as a decimal number [00,59]. +%p Locale’s equivalent of either AM or PM. (1) +%S Second as a decimal number [00,61]. (2) +%U Week number of the year (Sunday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Sunday are considered to be in week 0. (3) +%w Weekday as a decimal number [0(Sunday),6]. +%W Week number of the year (Monday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Monday are considered to be in week 0. (3) +%x Locale’s appropriate date representation. +%X Locale’s appropriate time representation. +%y Year without century as a decimal number [00,99]. +%Y Year with century as a decimal number. +%Z Time zone name (no characters if no time zone exists). +%% A literal '%' character. + +""" +isWindows=False +if platform.system()=='Windows': + isWindows=True +defaultEncodeing="utf8" +if "-utf8" in sys.argv: + defaultEncodeing="utf-8" +if "-gbk" in sys.argv: + defaultEncodeing="gbk" + +TRACE=5 +DEBUG=4 +INFORMATION=3 +WARNING=2 +ERROR=1 +NONE=0 + +MAX_MSG_SIZE = 4096 + +def getLevelFromString(level): + level=level.lower() + if level=='t' or level=='trace':return 5 + elif level=='d' or level=='debug':return 4 + elif level=='i' or level=='info':return 3 + elif level=='w' or level=='wran':return 2 + elif level=='e' or level=='error':return 1 + else :return 0 +def getLevelString(level): + if level==TRACE:return "T" + elif level==DEBUG:return "D" + elif level==INFORMATION:return "I" + elif level==WARNING:return "W" + elif level==ERROR:return "E" + else:return "N" +class PibotLog: + def __init__(self): + self.isEnableControlLog=True + self.fileTemple=None + self.filePath="" + self.level=5 + self._lock=threading.RLock() + self.fd=None + self.fd_day=-1 + def setLevel(self,level): + self.level=getLevelFromString(level) + def enableControllog(self,enable): + self.isEnableControlLog=enable + def enableFileLog(self,fileName): + self.fileTemple=fileName + self.updateFilelog() + def updateFilelog(self): + fn=assistant.SF(self.fileTemple) + if fn!=self.filePath: + self.i("new log file:%s",fn) + if self.fd: + self.fd.close() + self.fd=None + self.fd_day=-1 + self.filePath="" + try: + path=os.path.dirname(fn) + if path!="" and not os.path.isdir(path):os.makedirs(path) + self.fd=open(fn,mode="w") + try: + linkfn = fn.split(".log.", 1)[0] + ".INFO" + if os.path.exists(linkfn): + os.remove(linkfn) + (filepath, tempfilename) = os.path.split(fn) + os.symlink(tempfilename, linkfn) + except: + pass + self.fd_day=datetime.datetime.now().day + self.filePath=fn + except Exception as e: + print("open file fail!file=%s,err=%s"%(fn,e)) + def _output(self,level,msg,args): + if self.level0: + t=[] + for arg in args: + if isinstance(arg,Exception): + t.append(traceback.format_exc(arg).decode('utf-8')) + elif isinstance(arg,bytes) : + t.append(arg.decode('utf-8')) + else: + t.append(arg) + args=tuple(t) + try: + msg=msg%args + except: + try: + for arg in args: + msg=msg+str(arg)+" " + except Exception as e: + msg=msg+"==LOG ERROR==>%s"%(e) + if len(msg)>MAX_MSG_SIZE:msg=msg[0:MAX_MSG_SIZE] + now=datetime.datetime.now() + msg=msg+"\r\n" + if assistant.is_python3(): + id = _thread.get_ident() + else: + id = thread.get_ident() + s="[%s] %04d-%02d-%02d %02d:%02d:%02d.%03d (0x%04X):%s"%(getLevelString(level),now.year,now.month,now.day,now.hour,now.minute,now.second,now.microsecond/1000,(id>>8)&0xffff,msg) + prefix='' + suffix='' + if not isWindows: + suffix='\033[0m' + if level==TRACE: + prefix='\033[0;37m' + elif level==DEBUG: + prefix='\033[1m' + elif level==INFORMATION: + prefix='\033[0;32m' + elif level==WARNING: + prefix='\033[0;33m' + elif level==ERROR: + prefix='\033[0;31m' + else: + pass + self._lock.acquire() + try: + if self.isEnableControlLog: + sys.stdout.write((prefix+s+suffix)) + if self.fd: + if self.fd_day!=now.day: + self.updateFilelog() + if assistant.is_python3(): + self.fd.write(s) + else: + self.fd.write(s.encode('utf-8')) + self.fd.flush() + finally: + self._lock.release() + except Exception as e: + if assistant.is_python3(): + print(e) + else: + print("PibotLog._output crash!err=%s"%traceback.format_exc(e)) + + def trace(self,msg,*args): + self._output(TRACE,msg,args) + def t(self,msg,*args): + self._output(TRACE,msg,args) + def debug(self,msg,*args): + self._output(DEBUG, msg,args) + def d(self,msg,*args): + self._output(DEBUG, msg,args) + def info(self,msg,*args): + self._output(INFORMATION, msg,args) + def i(self,msg,*args): + self._output(INFORMATION, msg,args) + def warn(self,msg,*args): + self._output(WARNING, msg,args) + def w(self,msg,*args): + self._output(WARNING, msg,args) + def error(self,msg,*args): + self._output(ERROR, msg,args) + def e(self,msg,*args): + self._output(ERROR, msg,args) + def _log(self,level,msg,args): + self._output(level, msg,args) + def createNamedLog(self,name): + return NamedLog(name) +log=PibotLog() +class NamedLog: + def __init__(self,name=None): + global log + self.name='' + if name: + self.name='['+name+']' + self.log=log + def trace(self,msg,*args): + msg=self.name+msg + self.log._log(TRACE,msg,args) + def t(self,msg,*args): + msg=self.name+msg + self.log._log(TRACE,msg,args) + def debug(self,msg,*args): + msg=self.name+msg + self.log._log(DEBUG, msg,args) + def d(self,msg,*args): + msg=self.name+msg + self.log._log(DEBUG, msg,args) + def info(self,msg,*args): + msg=self.name+msg + self.log._log(INFORMATION, msg,args) + def i(self,msg,*args): + msg=self.name+msg + self.log._log(INFORMATION, msg,args) + def warn(self,msg,*args): + msg=self.name+msg + self.log._log(WARNING, msg,args) + def w(self,msg,*args): + msg=self.name+msg + self.log._log(WARNING, msg,args) + def error(self,msg,*args): + msg=self.name+msg + self.log._log(ERROR, msg,args) + def e(self,msg,*args): + msg=self.name+msg + self.log._log(ERROR, msg,args) + +if __name__ == "__main__": + log.trace("1%s","hello") + log.debug("2%d",12) + try: + raise Exception("EXC") + except Exception as e: + log.info("3%s",e) + log.warn("1") + log.error("1") + #log.enableFileLog("$(scriptpath)test_$(Date8)_$(filenumber2).log") + log.trace("1") + log.debug("1") + log.info("1") + log.warn("1") + log.error("1") + log=NamedLog("test") + log.d("1") + log.i("1") + log.warn("1") + log.error("1=%d,%s",100,e) diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/mapconvert.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/mapconvert.py new file mode 100644 index 0000000..0d27ec4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/mapconvert.py @@ -0,0 +1,35 @@ +import cv2 +import numpy as np + +def map_server_to_cv2(data): + # print(data.info.height, data.info.width) + data = np.reshape(data.data, (data.info.height, data.info.width)) + data = np.flipud(data) + + # -1 --> 205 + # 0 --> 255 + # 100--> 0 + image = np.where(data == -1, 205, 255 - (255.0 * data / 100)).astype(np.uint8) + + #cv2.imshow("cv2_map", data) + return image + + +def cv2_to_map_server(image): + image = np.flipud(image) + + # 205 --> -1 + # 255 --> 0 + # 0 --> 100 + data = np.where(image == 205, -1, (255 - image) * 100.0 / 255).astype(np.int8).flatten() + + return list(data) + # pub_data = OccupancyGrid() + # pub_data.header.frame_id = "map" + # pub_data.header.stamp = rospy.Time.now() + # pub_data.info = map_data.info + # pub_data.data = list(data) + + # print(len(pub_data.data), pub_data.info.height * pub_data.info.width) + + # map_publisher.publish(pub_data) \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/pypibot/pypibot/proxy.py b/Code/RK3588/PIBot_ROS/pypibot/pypibot/proxy.py new file mode 100644 index 0000000..5187c22 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/pypibot/proxy.py @@ -0,0 +1,38 @@ +from pypibot import log + +import threading +import zmq + +class MqProxy: + def __init__(self, sub_addr, pub_addr): + self.thd = None + self.sub_addr = sub_addr + self.pub_addr = pub_addr + + def _run(self): + context = zmq.Context() + + frontend = context.socket(zmq.XSUB) + frontend.bind(self.sub_addr) + # frontend.bind("tcp://*:5556") + backend = context.socket(zmq.XPUB) + backend.bind(self.pub_addr) + # backend.bind("tcp://*:5557") + try: + zmq.proxy(frontend, backend) + except KeyboardInterrupt: + pass + + frontend.close() + backend.close() + context.term() + + def start(self): + if self.thd is None: + log.i("mq proxy starting...") + self.thd=threading.Thread(target=self._run, name="proxy") + self.thd.setDaemon(True) + self.thd.start() + + def stop(self): + pass diff --git a/Code/RK3588/PIBot_ROS/pypibot/transport/dataholder.py b/Code/RK3588/PIBot_ROS/pypibot/transport/dataholder.py new file mode 100644 index 0000000..51796a2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/transport/dataholder.py @@ -0,0 +1,240 @@ +import struct + +params_size=29 + +# main board +class MessageID: + ID_GET_VERSION = 0 + ID_SET_ROBOT_PARAMETER = 1 + ID_GET_ROBOT_PARAMETER = 2 + ID_INIT_ODOM = 3 + ID_SET_VEL = 4 + ID_GET_ODOM = 5 + ID_GET_PID_DEBUG = 6 + ID_GET_IMU = 7 + ID_GET_ENCODER_COUNT = 8 + ID_SET_MOTOR_PWM = 9 + +class RobotMessage: + def pack(self): + return b'' + + def unpack(self): + return True + +class RobotFirmwareInfo(RobotMessage): + def __init__(self): + self.version = '' + self.build_time = '' + + def unpack(self, data): + try: + upk = struct.unpack('16s16s', bytes(data)) + except: + return False + [self.version, self.build_time] = upk + return True + +class RobotImuType: + IMU_TYPE_GY65 = 49 + IMU_TYPE_GY85 = 69 + IMU_TYPE_GY87 = 71 + +class RobotModelType: + MODEL_TYPE_2WD_DIFF = 1 + MODEL_TYPE_4WD_DIFF = 2 + MODEL_TYPE_3WD_OMNI = 101 + MODEL_TYPE_4WD_OMNI = 102 + MODEL_TYPE_4WD_MECANUM = 201 + +class RobotParameters(): + def __init__(self, wheel_diameter=0, \ + wheel_track=0, \ + encoder_resolution=0, \ + do_pid_interval=0, \ + kp=0, \ + ki=0, \ + kd=0, \ + ko=0, \ + cmd_last_time=0, \ + max_v_liner_x=0, \ + max_v_liner_y=0, \ + max_v_angular_z=0, \ + imu_type=0, \ + motor_ratio=0, \ + model_type=0, \ + motor_nonexchange_flag=255, \ + encoder_nonexchange_flag=255, \ + ): + self.wheel_diameter = wheel_diameter + self.wheel_track = wheel_track + self.encoder_resolution = encoder_resolution + self.do_pid_interval = do_pid_interval + self.kp = kp + self.ki = ki + self.kd = kd + self.ko = ko + self.cmd_last_time = cmd_last_time + self.max_v_liner_x = max_v_liner_x + self.max_v_liner_y = max_v_liner_y + self.max_v_angular_z = max_v_angular_z + self.imu_type = imu_type + self.motor_ratio = motor_ratio + self.model_type = model_type + self.motor_nonexchange_flag = motor_nonexchange_flag + self.encoder_nonexchange_flag = encoder_nonexchange_flag + reserve=b'\xff' + self.reserve=b'' + for i in range(64-params_size): + self.reserve+=reserve +robotParam = RobotParameters() + +class GetRobotParameters(RobotMessage): + def __init__(self): + self.param = robotParam + + def unpack(self, data): + #print(bytes(data), len(bytes(data))) + upk = struct.unpack('<3H1B8H1B1H3B%ds'%(64-params_size), bytes(data)) + + [self.param.wheel_diameter, + self.param.wheel_track, + self.param.encoder_resolution, + self.param.do_pid_interval, + self.param.kp, + self.param.ki, + self.param.kd, + self.param.ko, + self.param.cmd_last_time, + self.param.max_v_liner_x, + self.param.max_v_liner_y, + self.param.max_v_angular_z, + self.param.imu_type, + self.param.motor_ratio, + self.param.model_type, + self.param.motor_nonexchange_flag, + self.param.encoder_nonexchange_flag, + self.param.reserve] = upk + return True + +class SetRobotParameters(RobotMessage): + def __init__(self): + self.param = robotParam + + def pack(self): + data = [self.param.wheel_diameter, + self.param.wheel_track, + self.param.encoder_resolution, + self.param.do_pid_interval, + self.param.kp, + self.param.ki, + self.param.kd, + self.param.ko, + self.param.cmd_last_time, + self.param.max_v_liner_x, + self.param.max_v_liner_y, + self.param.max_v_angular_z, + self.param.imu_type, + self.param.motor_ratio, + self.param.model_type, + self.param.motor_nonexchange_flag, + self.param.encoder_nonexchange_flag, + self.param.reserve] + + print(data) + pk = struct.pack('<3H1B8H1B1H3B%ds'%(64-(3*2+1+8*2+1+2+3)), *data) + return pk + + def unpack(self, data): + return True + +class RobotVel(RobotMessage): + def __init__(self): + self.v_liner_x = 0 + self.v_liner_y = 0 + self.v_angular_z = 0 + + def pack(self): + data = [self.v_liner_x, + self.v_liner_y, + self.v_angular_z] + pk = struct.pack('3h', *data) + return pk + + def unpack(self, data): + return True + +#todo the rest of the message classes +class RobotOdom(RobotMessage): + def __init__(self): + self.v_liner_x = 0 + self.v_liner_y = 0 + self.v_angular_z = 0 + self.x = 0 + self.y = 0 + self.yaw = 0 + + def unpack(self, data): + try: + upk = struct.unpack('<3H2l1H', bytes(data)) + except: + return False + [self.v_liner_x, + self.v_liner_y, + self.v_angular_z, + self.x, + self.y, + self.yaw] = upk + return True + +class RobotPIDData(RobotMessage): + pass + +class RobotIMU(RobotMessage): + def __init__(self): + self.imu = [0]*9 + + def unpack(self, data): + try: + upk = struct.unpack('<9f', bytes(data)) + except: + return False + + self.imu = upk + return True + +class RobotEncoderCount(RobotMessage): + def __init__(self): + self.encoder = [0]*4 + + def unpack(self, data): + try: + upk = struct.unpack('<4f', bytes(data)) + except: + return False + + self.encoder = upk + return True + +class RobotMotorPWM(RobotMessage): + def __init__(self): + self.pwm = [0]*4 + + def pack(self): + pk = struct.pack('4h', *self.pwm) + return pk + + def unpack(self, data): + return True + +BoardDataDict = {MessageID.ID_GET_VERSION:RobotFirmwareInfo(), + MessageID.ID_GET_ROBOT_PARAMETER:GetRobotParameters(), + MessageID.ID_SET_ROBOT_PARAMETER:SetRobotParameters(), + MessageID.ID_SET_VEL:RobotVel(), + MessageID.ID_GET_ODOM:RobotOdom(), + MessageID.ID_GET_PID_DEBUG: RobotPIDData(), + MessageID.ID_GET_IMU: RobotIMU(), + MessageID.ID_GET_ENCODER_COUNT: RobotEncoderCount(), + MessageID.ID_SET_MOTOR_PWM: RobotMotorPWM(), + } + diff --git a/Code/RK3588/PIBot_ROS/pypibot/transport/main.py b/Code/RK3588/PIBot_ROS/pypibot/transport/main.py new file mode 100644 index 0000000..6bd5515 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/transport/main.py @@ -0,0 +1,115 @@ +import platform +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from transport import Transport +from dataholder import MessageID +import params +import time +import signal + +#for linux +port="/dev/pibot" + +#for windows +#port="com3" + +pypibot.assistant.enableGlobalExcept() +#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") +log.setLevel("i") + +run_flag = True + +def exit(signum, frame): + global run_flag + run_flag = False + +if __name__ == '__main__': + signal.signal(signal.SIGINT, exit) + + mboard = Transport(port, params.pibotBaud) + if not mboard.start(): + log.error("can not open %s"%port) + sys.exit() + + DataHolder = mboard.getDataHolder() + + for num in range(0,3): + log.info("****************get robot version*****************") + boardVersion = DataHolder[MessageID.ID_GET_VERSION] + p = mboard.request(MessageID.ID_GET_VERSION) + if p: + log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) + break + else: + log.error('read firmware version err\r\n') + import time + time.sleep(1) + if num == 2: + log.error('please check connection or baudrate\r\n') + sys.exit() + + # get robot parameter + robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] + p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) + if p: + log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ + %(robotParam.param.model_type, \ + robotParam.param.wheel_diameter, \ + robotParam.param.wheel_track, \ + robotParam.param.encoder_resolution + )) + + log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ + %(robotParam.param.do_pid_interval, \ + robotParam.param.kp, \ + robotParam.param.ki, \ + robotParam.param.kd, \ + robotParam.param.ko)) + + log.info("cmd_last_time:%d imu_type:%d" \ + %(robotParam.param.cmd_last_time,\ + robotParam.param.imu_type + )) + + log.info("max_v:%d %d %d\r\n" \ + %(robotParam.param.max_v_liner_x,\ + robotParam.param.max_v_liner_y, \ + robotParam.param.max_v_angular_z + )) + + log.info("motor flag:%d encoder flag: %d\r\n" \ + %(robotParam.param.motor_nonexchange_flag,\ + robotParam.param.encoder_nonexchange_flag + )) + else: + log.error('get params err\r\n') + quit(1) + + log.info("****************get odom&imu*****************") + while run_flag: + robotOdom = DataHolder[MessageID.ID_GET_ODOM] + p = mboard.request(MessageID.ID_GET_ODOM) + if p: + log.info('request get odom success, vx=%d vy=%d vangular=%d, x=%d y=%d yaw=%d'%(robotOdom.v_liner_x, \ + robotOdom.v_liner_y, \ + robotOdom.v_angular_z, \ + robotOdom.x, \ + robotOdom.y, \ + robotOdom.yaw)) + else: + log.error('get odom err') + quit(1) + + robotIMU = DataHolder[MessageID.ID_GET_IMU].imu + p = mboard.request(MessageID.ID_GET_IMU) + if p: + log.info('get imu success, imu=[%f %f %f %f %f %f %f %f %f]'%(robotIMU[0], robotIMU[1], robotIMU[2], \ + robotIMU[3], robotIMU[4], robotIMU[5], \ + robotIMU[6], robotIMU[7], robotIMU[8])) + else: + log.error('get imu err') + quit(1) + + time.sleep(0.1) diff --git a/Code/RK3588/PIBot_ROS/pypibot/transport/params.py b/Code/RK3588/PIBot_ROS/pypibot/transport/params.py new file mode 100644 index 0000000..d87367f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/transport/params.py @@ -0,0 +1,75 @@ +import dataholder +import os +from dataholder import RobotImuType +from dataholder import RobotModelType + +pibotModel = os.environ['PIBOT_MODEL'] +boardType = os.environ['PIBOT_BOARD'] +pibotBaud = os.environ['PIBOT_DRIVER_BAUDRATE'] + +print(pibotModel) +print(boardType) +print(pibotBaud) + +pibotParam = dataholder.RobotParameters() + +if pibotModel == "apollo" and boardType == "arduino": + pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ + 75, 2500, 0, 10, \ + 250, 40, 0, 200, \ + RobotImuType.IMU_TYPE_GY85, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apollo" and boardType == "stm32f1": + pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apollo" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 40, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "zeus" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(58, 230, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_3WD_OMNI) +elif pibotModel == "hades" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(76, 470, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_4WD_MECANUM) +elif pibotModel == "hadesX" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(150, 565, 44, 10, \ + 250, 2750, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 72, \ + RobotModelType.MODEL_TYPE_4WD_MECANUM) +elif pibotModel == "hera" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(82, 338, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_4WD_DIFF) +elif pibotModel == "apolloX" and boardType == "arduino": + pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ + 75, 2500, 0, 10, \ + 250, 40, 0, 200, \ + RobotImuType.IMU_TYPE_GY85, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apolloX" and boardType == "stm32f1": + pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ + 250, 1200, 0, 10, \ + 250, 50, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apolloX" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ + 250, 1200, 0, 10, \ + 250, 50, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/pypibot/transport/set_default_params.py b/Code/RK3588/PIBot_ROS/pypibot/transport/set_default_params.py new file mode 100644 index 0000000..096b17c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/transport/set_default_params.py @@ -0,0 +1,90 @@ +import platform +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from transport import Transport +from dataholder import MessageID +import params + +#for linux +port="/dev/pibot" + +#for windows +#port="com3" + +pypibot.assistant.enableGlobalExcept() +#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") +log.setLevel("i") + +if __name__ == '__main__': + mboard = Transport(port, params.pibotBaud) + if not mboard.start(): + log.error("can not open %s"%port) + sys.exit() + + DataHolder = mboard.getDataHolder() + + for num in range(0,3): + log.info("****************get robot version*****************") + boardVersion = DataHolder[MessageID.ID_GET_VERSION] + p = mboard.request(MessageID.ID_GET_VERSION) + if p: + log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) + break + else: + log.error('read firmware version err\r\n') + import time + time.sleep(1) + if num == 2: + log.error('please check connection or baudrate\r\n') + sys.exit() + + # set robot parameter + log.info("****************set robot parameter*****************") + + DataHolder[MessageID.ID_SET_ROBOT_PARAMETER].param = params.pibotParam + + p = mboard.request(MessageID.ID_SET_ROBOT_PARAMETER) + if p: + log.info('set parameter success') + else: + log.error('set parameter err') + quit(1) + + # get robot parameter + robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] + p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) + if p: + log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ + %(robotParam.param.model_type, \ + robotParam.param.wheel_diameter, \ + robotParam.param.wheel_track, \ + robotParam.param.encoder_resolution + )) + + log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ + %(robotParam.param.do_pid_interval, \ + robotParam.param.kp, \ + robotParam.param.ki, \ + robotParam.param.kd, \ + robotParam.param.ko)) + + log.info("cmd_last_time:%d imu_type:%d" \ + %(robotParam.param.cmd_last_time,\ + robotParam.param.imu_type + )) + + log.info("max_v:%d %d %d\r\n" \ + %(robotParam.param.max_v_liner_x,\ + robotParam.param.max_v_liner_y, \ + robotParam.param.max_v_angular_z + )) + + log.info("motor flag:%d encoder flag: %d\r\n" \ + %(robotParam.param.motor_nonexchange_flag,\ + robotParam.param.encoder_nonexchange_flag + )) + else: + log.error('get param err\r\n') + quit(1) \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/pypibot/transport/test_motors.py b/Code/RK3588/PIBot_ROS/pypibot/transport/test_motors.py new file mode 100644 index 0000000..d5e0daa --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/transport/test_motors.py @@ -0,0 +1,122 @@ +import platform +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from transport import Transport +from dataholder import MessageID +import params +import signal + +#for linux +port="/dev/pibot" + +#for windows +#port="com3" + +pypibot.assistant.enableGlobalExcept() +#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") +log.setLevel("i") + +run_flag = True + +def exit(signum, frame): + global run_flag + run_flag = False + +if __name__ == '__main__': + signal.signal(signal.SIGINT, exit) + + mboard = Transport(port, params.pibotBaud) + if not mboard.start(): + log.error("can not open %s"%port) + sys.exit() + + pwm=[0]*4 + for i in range(len(sys.argv)-1): + pwm[i] = int(sys.argv[i+1]) + + DataHolder = mboard.getDataHolder() + + for num in range(0,3): + log.info("****************get robot version*****************") + boardVersion = DataHolder[MessageID.ID_GET_VERSION] + p = mboard.request(MessageID.ID_GET_VERSION) + if p: + log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) + break + else: + log.error('read firmware version err\r\n') + import time + time.sleep(1) + if num == 2: + log.error('please check connection or baudrate\r\n') + sys.exit() + + # get robot parameter + robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] + p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) + if p: + log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ + %(robotParam.param.model_type, \ + robotParam.param.wheel_diameter, \ + robotParam.param.wheel_track, \ + robotParam.param.encoder_resolution + )) + + log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ + %(robotParam.param.do_pid_interval, \ + robotParam.param.kp, \ + robotParam.param.ki, \ + robotParam.param.kd, \ + robotParam.param.ko)) + + log.info("cmd_last_time:%d imu_type:%d" \ + %(robotParam.param.cmd_last_time,\ + robotParam.param.imu_type + )) + + log.info("max_v:%d %d %d\r\n" \ + %(robotParam.param.max_v_liner_x,\ + robotParam.param.max_v_liner_y, \ + robotParam.param.max_v_angular_z + )) + + log.info("motor flag:%d encoder flag: %d\r\n" \ + %(robotParam.param.motor_nonexchange_flag,\ + robotParam.param.encoder_nonexchange_flag + )) + else: + log.error('get params err\r\n') + quit(1) + + DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = pwm + + p = mboard.request(MessageID.ID_SET_MOTOR_PWM) + if p: + log.info('set pwm success') + else: + log.error('set pwm err') + quit(1) + + log.info("****************get encoder count*****************") + while run_flag: + robotEncoder = DataHolder[MessageID.ID_GET_ENCODER_COUNT].encoder + p = mboard.request(MessageID.ID_GET_ENCODER_COUNT) + if p: + log.info('encoder count: %s'%(('\t\t').join([str(x) for x in robotEncoder]))) + else: + log.error('get encoder count err') + quit(1) + + import time + time.sleep(0.5) + + DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = [0]*4 + + p = mboard.request(MessageID.ID_SET_MOTOR_PWM) + if p: + log.info('set pwm success') + else: + log.error('set pwm err') + quit(1) \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/pypibot/transport/transport.py b/Code/RK3588/PIBot_ROS/pypibot/transport/transport.py new file mode 100644 index 0000000..4d9a8e3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/pypibot/transport/transport.py @@ -0,0 +1,197 @@ +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from pypibot import assistant + +import serial +import threading +import struct +import time +from dataholder import MessageID, BoardDataDict +FIX_HEAD = 0x5a + +class Recstate(): + WAITING_HD = 0 + WAITING_MSG_ID = 1 + RECEIVE_LEN = 2 + RECEIVE_PACKAGE = 3 + RECEIVE_CHECK = 4 + +def checksum(d): + sum = 0 + if assistant.is_python3(): + for i in d: + sum += i + sum = sum&0xff + else: + for i in d: + sum += ord(i) + sum = sum&0xff + return sum + + +class Transport: + def __init__(self, port, baudrate=921600): + self._Port = port + self._Baudrate = baudrate + self._KeepRunning = False + self.receive_state = Recstate.WAITING_HD + self.rev_msg = [] + self.rev_data = [] + self.wait_event = threading.Event() + + def getDataHolder(self): + return BoardDataDict + + def start(self): + try: + self._Serial = serial.Serial(port=self._Port, baudrate=self._Baudrate, timeout=0.2) + self._KeepRunning = True + self._ReceiverThread = threading.Thread(target=self._Listen) + self._ReceiverThread.setDaemon(True) + self._ReceiverThread.start() + return True + except: + return False + + def Stop(self): + self._KeepRunning = False + time.sleep(0.1) + self._Serial.close() + + def _Listen(self): + while self._KeepRunning: + if self.receiveFiniteStates(self._Serial.read()): + self.packageAnalysis() + + def receiveFiniteStates(self, s): + if len(s) == 0: + return False + val = s[0] + val_int = val + if not assistant.is_python3(): + val_int = ord(val) + + if self.receive_state == Recstate.WAITING_HD: + if val_int == FIX_HEAD: + log.trace('got head') + self.rev_msg = [] + self.rev_data =[] + self.rev_msg.append(val) + self.receive_state = Recstate.WAITING_MSG_ID + elif self.receive_state == Recstate.WAITING_MSG_ID: + log.trace('got msg id') + self.rev_msg.append(val) + self.receive_state = Recstate.RECEIVE_LEN + elif self.receive_state == Recstate.RECEIVE_LEN: + log.trace('got len:%d', val_int) + self.rev_msg.append(val) + if val_int == 0: + self.receive_state = Recstate.RECEIVE_CHECK + else: + self.receive_state = Recstate.RECEIVE_PACKAGE + elif self.receive_state == Recstate.RECEIVE_PACKAGE: + # if assistant.is_python3(): + # self.rev_data.append((chr(val)).encode('latin1')) + # else: + self.rev_data.append(val) + r = False + if assistant.is_python3(): + r = len(self.rev_data) == int(self.rev_msg[-1]) + else: + r = len(self.rev_data) == ord(self.rev_msg[-1]) + + if r: + self.rev_msg.extend(self.rev_data) + self.receive_state = Recstate.RECEIVE_CHECK + elif self.receive_state == Recstate.RECEIVE_CHECK: + log.trace('got check') + self.receive_state = Recstate.WAITING_HD + if val_int == checksum(self.rev_msg): + log.trace('got a complete message') + return True + else: + self.receive_state = Recstate.WAITING_HD + + # continue receiving + return False + + def packageAnalysis(self): + if assistant.is_python3(): + in_msg_id = int(self.rev_msg[1]) + else: + in_msg_id = ord(self.rev_msg[1]) + if assistant.is_python3(): + log.debug("recv body:" + " ".join("{:02x}".format(c) for c in self.rev_data)) + r = BoardDataDict[in_msg_id].unpack(bytes(self.rev_data)) + else: + log.debug("recv body:" + " ".join("{:02x}".format(ord(c)) for c in self.rev_data)) + r = BoardDataDict[in_msg_id].unpack(''.join(self.rev_data)) + if r: + self.res_id = in_msg_id + if in_msg_id<100: + self.set_response() + else:#notify + log.debug('msg %d'%self.rev_msg[4],'data incoming') + pass + else: + log.debug ('error unpacking pkg') + + def request(self, id, timeout=0.5): + if not self.write(id): + log.debug ('Serial send error!') + return False + if self.wait_for_response(timeout): + if id == self.res_id: + log.trace ('OK') + else: + log.error ('Got unmatched response!') + else: + log.error ('Request got no response!') + return False + # clear response + self.res_id = None + return True + + def write(self, id): + cmd = self.make_command(id) + if assistant.is_python3(): + log.d("write:" + " ".join("{:02x}".format(c) for c in cmd)) + else: + log.d("write:" + " ".join("{:02x}".format(ord(c)) for c in cmd)) + self._Serial.write(cmd) + return True + + def wait_for_response(self, timeout): + self.wait_event.clear() + return self.wait_event.wait(timeout) + + def set_response(self): + self.wait_event.set() + + def make_command(self, id): + #print(DataDict[id]) + data = BoardDataDict[id].pack() + l = [FIX_HEAD, id, len(data)] + head = struct.pack("3B", *l) + body = head + data + + if assistant.is_python3(): + return body + chr(checksum(body)).encode('latin1') + else: + return body + chr(checksum(body)) + + +if __name__ == '__main__': + + mboard = Transport('com10') + if not mboard.start(): + import sys + sys.exit() + + p = mboard.request(MessageID.ID_GET_VERSION) + log.i("result=%s"%p) + print('Version =[',mboard.getDataHolder()[MessageID.ID_GET_VERSION].version.decode(), mboard.getDataHolder()[MessageID.ID_GET_VERSION].build_time.decode(),"]\r\n") + + diff --git a/Code/RK3588/PIBot_ROS/ros_package/abseil-cpp.tar.gz b/Code/RK3588/PIBot_ROS/ros_package/abseil-cpp.tar.gz new file mode 100644 index 0000000..cec7e01 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_package/abseil-cpp.tar.gz differ diff --git a/Code/RK3588/PIBot_ROS/ros_package/astra.tar.gz b/Code/RK3588/PIBot_ROS/ros_package/astra.tar.gz new file mode 100644 index 0000000..94f54e1 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_package/astra.tar.gz differ diff --git a/Code/RK3588/PIBot_ROS/ros_package/cartographer.tar.gz b/Code/RK3588/PIBot_ROS/ros_package/cartographer.tar.gz new file mode 100644 index 0000000..229cfbb Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_package/cartographer.tar.gz differ diff --git a/Code/RK3588/PIBot_ROS/ros_package/cartographer_ros.tar.gz 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a/Code/RK3588/PIBot_ROS/ros_ws/.catkin_workspace b/Code/RK3588/PIBot_ROS/ros_ws/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/.gitignore b/Code/RK3588/PIBot_ROS/ros_ws/src/.gitignore new file mode 100644 index 0000000..f02bc4e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/.gitignore @@ -0,0 +1 @@ +ros_package \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/.gitignore b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/.gitignore new file mode 100644 index 0000000..db8eded --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/.gitignore @@ -0,0 +1,5 @@ +*.pyc +.project +.cproject +.pydevproject +.vscode diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/LICENSE b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/LICENSE new file mode 100644 index 0000000..a775076 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/LICENSE @@ -0,0 +1,25 @@ +Copyright (c) 2008-2011 Vanadium Labs LLC. +All right reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE +OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/README.md b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/README.md new file mode 100644 index 0000000..b818f1a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/README.md @@ -0,0 +1,3 @@ +## Arbotix Drivers + +This repository contains the Arbotix ROS drivers, catkinized, and ready for ROS Noetic. diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CHANGELOG.rst new file mode 100644 index 0000000..7b67397 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CHANGELOG.rst @@ -0,0 +1,30 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package arbotix +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.11.0 (2020-12-29) +------------------- + +0.10.0 (2014-07-14) +------------------- + +0.9.2 (2014-02-12) +------------------ + +0.9.1 (2014-01-28) +------------------ + +0.9.0 (2013-08-22) +------------------ + +0.8.2 (2013-03-28) +------------------ +* update metapackage + +0.8.1 (2013-03-09) +------------------ + +0.8.0 (2013-02-21) +------------------ +* fix package.xml +* add metapackage for arbotix diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CMakeLists.txt new file mode 100644 index 0000000..802c7ac --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.0.2) +project(arbotix) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/package.xml new file mode 100644 index 0000000..b8bab7f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/package.xml @@ -0,0 +1,23 @@ + + arbotix + 0.11.0 + ArbotiX Drivers + Michael Ferguson + Michael Ferguson + BSD + http://ros.org/wiki/arbotix + + catkin + + arbotix_msgs + arbotix_python + arbotix_sensors + arbotix_controllers + arbotix_firmware + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CHANGELOG.rst new file mode 100644 index 0000000..fd7b8bd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CHANGELOG.rst @@ -0,0 +1,42 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package arbotix_controllers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.11.0 (2020-12-29) +------------------- +* Update all python shebangs to python3 + rosdep dependency (`#48 `_) + Co-authored-by: Murat Calis +* Merge pull request `#22 `_ from corot/indigo-devel + roslib.load_manifest should not be used on catkin packages +* roslib.load_manifest should not be used on catkin packages according to http://wiki.ros.org/PyStyleGuide +* Contributors: Jorge Santos, Michael Ferguson, calismurat + +0.10.0 (2014-07-14) +------------------- +* Set queue_size=5 on all publishers +* Check if command exceeds opening limits +* Contributors: Jorge Santos + +0.9.2 (2014-02-12) +------------------ +* cleanup gripper controllers, mark deprecations +* Contributors: Michael Ferguson + +0.9.1 (2014-01-28) +------------------ + +0.9.0 (2013-08-22) +------------------ +* fix joint_states subscriber +* fix name of singlesided model +* add new gripper action controller + +0.8.2 (2013-03-28) +------------------ + +0.8.1 (2013-03-09) +------------------ + +0.8.0 (2013-02-21) +------------------ +* import drivers and catkinize diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CMakeLists.txt new file mode 100644 index 0000000..f431303 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(arbotix_controllers) + +find_package(catkin REQUIRED) +catkin_package() + +install( + PROGRAMS + bin/gripper_controller + bin/one_side_gripper_controller.py + bin/parallel_gripper_controller.py + bin/parallel_single_servo_controller.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller new file mode 100644 index 0000000..2081df9 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller @@ -0,0 +1,211 @@ +#!/usr/bin/env python + +""" + gripper_controller - action based controller for grippers. + Copyright (c) 2011-2014 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy, actionlib +import thread + +from control_msgs.msg import GripperCommandAction +from sensor_msgs.msg import JointState +from std_msgs.msg import Float64 +from math import asin + +class TrapezoidGripperModel: + """ A simple gripper with two opposing servos to open/close non-parallel jaws. """ + + def __init__(self): + # trapezoid model: base width connecting each gripper's rotation point + # + length of gripper fingers to computation point + # = compute angles based on a desired width at comp. point + self.pad_width = rospy.get_param('~pad_width', 0.01) + self.finger_length = rospy.get_param('~finger_length', 0.02) + self.min_opening = rospy.get_param('~min_opening', 0.0) + self.max_opening = rospy.get_param('~max_opening', 0.09) + self.center_l = rospy.get_param('~center_left', 0.0) + self.center_r = rospy.get_param('~center_right', 0.0) + self.invert_l = rospy.get_param('~invert_left', False) + self.invert_r = rospy.get_param('~invert_right', False) + + self.left_joint = rospy.get_param('~joint_left', 'l_gripper_joint') + self.right_joint = rospy.get_param('~joint_right', 'r_gripper_joint') + + # publishers + self.l_pub = rospy.Publisher(self.left_joint+'/command', Float64, queue_size=5) + self.r_pub = rospy.Publisher(self.right_joint+'/command', Float64, queue_size=5) + + def setCommand(self, command): + # check limits + if command.position > self.max_opening or command.position < self.min_opening: + rospy.logerr("Command (%f) exceeds opening limits (%f, %f)", + command.position, self.max_opening, self.min_opening) + return False + # compute angles + angle = asin((command.position - self.pad_width)/(2*self.finger_length)) + if self.invert_l: + l = -angle + self.center_l + else: + l = angle + self.center_l + if self.invert_r: + r = angle + self.center_r + else: + r = -angle + self.center_r + # publish msgs + lmsg = Float64(l) + rmsg = Float64(r) + self.l_pub.publish(lmsg) + self.r_pub.publish(rmsg) + return True + + def getPosition(self, js): + left = right = 0 + for i in range(len(js.name)): + if js.name[i] == self.left_joint: + left = js.position[i] + elif js.name[i] == self.right_joint: + right = js.position[i] + # TODO + + return 0.0 + + def getEffort(self, joint_states): + return 1.0 + +class ParallelGripperModel: + """ One servo to open/close parallel jaws, typically via linkage. """ + + def __init__(self): + self.center = rospy.get_param('~center', 0.0) + self.scale = rospy.get_param('~scale', 1.0) + self.joint = rospy.get_param('~joint', 'gripper_joint') + + # publishers + self.pub = rospy.Publisher(self.joint+'/command', Float64, queue_size=5) + + def setCommand(self, command): + self.pub.publish((command.position * self.scale) + self.center) + + def getPosition(self, joint_states): + return 0.0 + + def getEffort(self, joint_states): + return 1.0 + + +class OneSideGripperModel: + """ Simplest of grippers, one servo opens or closes to achieve a particular size opening. """ + + def __init__(self): + self.pad_width = rospy.get_param('~pad_width', 0.01) + self.finger_length = rospy.get_param('~finger_length', 0.02) + self.min_opening = rospy.get_param('~min_opening', 0.0) + self.max_opening = rospy.get_param('~max_opening', 0.09) + self.center = rospy.get_param('~center', 0.0) + self.invert = rospy.get_param('~invert', False) + self.joint = rospy.get_param('~joint', 'gripper_joint') + + # publishers + self.pub = rospy.Publisher(self.joint+'/command', Float64, queue_size=5) + + def setCommand(self, command): + """ Take an input command of width to open gripper. """ + # check limits + if command.position > self.max_opening or command.position < self.min_opening: + rospy.logerr("Command (%f) exceeds opening limits (%f, %f)", + command.position, self.max_opening, self.min_opening) + return False + # compute angle + angle = asin((command.position - self.pad_width)/(2*self.finger_length)) + # publish message + if self.invert: + self.pub.publish(-angle + self.center) + else: + self.pub.publish(angle + self.center) + + def getPosition(self, joint_states): + # TODO + return 0.0 + + def getEffort(self, joint_states): + # TODO + return 1.0 + + +class GripperActionController: + """ The actual action callbacks. """ + def __init__(self): + rospy.init_node('gripper_controller') + + # setup model + try: + model = rospy.get_param('~model') + except: + rospy.logerr('no model specified, exiting') + exit() + if model == 'dualservo': + self.model = TrapezoidGripperModel() + elif model == 'parallel': + self.model = ParallelGripperModel() + elif model == 'singlesided': + self.model = OneSideGripperModel() + else: + rospy.logerr('unknown model specified, exiting') + exit() + + # subscribe to joint_states + rospy.Subscriber('joint_states', JointState, self.stateCb) + + # subscribe to command and then spin + self.server = actionlib.SimpleActionServer('~gripper_action', GripperCommandAction, execute_cb=self.actionCb, auto_start=False) + self.server.start() + rospy.spin() + + def actionCb(self, goal): + """ Take an input command of width to open gripper. """ + rospy.loginfo('Gripper controller action goal recieved:%f' % goal.command.position) + # send command to gripper + self.model.setCommand(goal.command) + # publish feedback + while True: + if self.server.is_preempt_requested(): + self.server.set_preemtped() + rospy.loginfo('Gripper Controller: Preempted.') + return + # TODO: get joint position, break when we have reached goal + break + self.server.set_succeeded() + rospy.loginfo('Gripper Controller: Succeeded.') + + def stateCb(self, msg): + self.state = msg + +if __name__=='__main__': + try: + GripperActionController() + except rospy.ROSInterruptException: + rospy.loginfo('Hasta la Vista...') + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py new file mode 100644 index 0000000..725c612 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py @@ -0,0 +1,212 @@ +#!/usr/bin/env python + +""" + gripper_controller - action based controller for grippers. + Copyright (c) 2011-2014 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy, actionlib +import thread + +from control_msgs.msg import GripperCommandAction +from sensor_msgs.msg import JointState +from std_msgs.msg import Float64 +from math import asin + +class TrapezoidGripperModel: + """ A simple gripper with two opposing servos to open/close non-parallel jaws. """ + + def __init__(self): + # trapezoid model: base width connecting each gripper's rotation point + # + length of gripper fingers to computation point + # = compute angles based on a desired width at comp. point + self.pad_width = rospy.get_param('~pad_width', 0.01) + self.finger_length = rospy.get_param('~finger_length', 0.02) + self.min_opening = rospy.get_param('~min_opening', 0.0) + self.max_opening = rospy.get_param('~max_opening', 0.09) + self.center_l = rospy.get_param('~center_left', 0.0) + self.center_r = rospy.get_param('~center_right', 0.0) + self.invert_l = rospy.get_param('~invert_left', False) + self.invert_r = rospy.get_param('~invert_right', False) + + self.left_joint = rospy.get_param('~joint_left', 'l_gripper_joint') + self.right_joint = rospy.get_param('~joint_right', 'r_gripper_joint') + + # publishers + self.l_pub = rospy.Publisher(self.left_joint+'/command', Float64, queue_size=5) + self.r_pub = rospy.Publisher(self.right_joint+'/command', Float64, queue_size=5) + + def setCommand(self, command): + # check limits + if command.position > self.max_opening or command.position < self.min_opening: + rospy.logerr("Command (%f) exceeds opening limits (%f, %f)", + command.position, self.max_opening, self.min_opening) + return False + # compute angles + angle = asin((command.position - self.pad_width)/(2*self.finger_length)) + if self.invert_l: + l = -angle + self.center_l + else: + l = angle + self.center_l + if self.invert_r: + r = angle + self.center_r + else: + r = -angle + self.center_r + # publish msgs + lmsg = Float64(l) + rmsg = Float64(r) + self.l_pub.publish(lmsg) + self.r_pub.publish(rmsg) + return True + + def getPosition(self, js): + left = right = 0 + for i in range(len(js.name)): + if js.name[i] == self.left_joint: + left = js.position[i] + elif js.name[i] == self.right_joint: + right = js.position[i] + # TODO + + return 0.0 + + def getEffort(self, joint_states): + return 1.0 + +class ParallelGripperModel: + """ One servo to open/close parallel jaws, typically via linkage. """ + + def __init__(self): + self.center = rospy.get_param('~center', 0.0) + self.scale = rospy.get_param('~scale', 1.0) + self.joint = rospy.get_param('~joint', 'gripper_joint') + + # publishers + self.pub = rospy.Publisher(self.joint+'/command', Float64, queue_size=5) + + def setCommand(self, command): + self.pub.publish((command.position * self.scale) + self.center) + + def getPosition(self, joint_states): + return 0.0 + + def getEffort(self, joint_states): + return 1.0 + + +class OneSideGripperModel: + """ Simplest of grippers, one servo opens or closes to achieve a particular size opening. """ + + def __init__(self): + self.pad_width = rospy.get_param('~pad_width', 0.01) + self.finger_length = rospy.get_param('~finger_length', 0.02) + self.min_opening = rospy.get_param('~min_opening', 0.0) + self.max_opening = rospy.get_param('~max_opening', 0.09) + self.center = rospy.get_param('~center', 0.0) + self.invert = rospy.get_param('~invert', False) + self.joint = rospy.get_param('~joint', 'gripper_joint') + + # publishers + self.pub = rospy.Publisher(self.joint+'/command', Float64, queue_size=5) + + def setCommand(self, command): + """ Take an input command of width to open gripper. """ + # check limits + if command.position > self.max_opening or command.position < self.min_opening: + rospy.logerr("Command (%f) exceeds opening limits (%f, %f)", + command.position, self.max_opening, self.min_opening) + return False + # compute angle + angle = asin((command.position - self.pad_width)/(2*self.finger_length)) + # publish message + if self.invert: + self.pub.publish(-angle + self.center) + else: + self.pub.publish(angle + self.center) + + def getPosition(self, joint_states): + # TODO + return 0.0 + + def getEffort(self, joint_states): + # TODO + return 1.0 + + +class GripperActionController: + """ The actual action callbacks. """ + def __init__(self): + rospy.init_node('gripper_controller') + + # setup model + try: + model = rospy.get_param('~model') + except: + rospy.logerr('no model specified, exiting') + exit() + if model == 'dualservo': + self.model = TrapezoidGripperModel() + elif model == 'parallel': + self.model = ParallelGripperModel() + elif model == 'singlesided': + self.model = OneSideGripperModel() + else: + rospy.logerr('unknown model specified, exiting') + exit() + + # subscribe to joint_states + rospy.Subscriber('joint_states', JointState, self.stateCb) + + # subscribe to command and then spin + self.server = actionlib.SimpleActionServer('~gripper_action', GripperCommandAction, execute_cb=self.actionCb, auto_start=False) + self.server.start() + rospy.spin() + + def actionCb(self, goal): + """ Take an input command of width to open gripper. """ + rospy.loginfo('Gripper controller action goal recieved:%f' % goal.command.position) + # send command to gripper + self.model.setCommand(goal.command) + # publish feedback + while True: + if self.server.is_preempt_requested(): + self.server.set_preemtped() + rospy.loginfo('Gripper Controller: Preempted.') + return + # TODO: get joint position, break when we have reached goal + break + self.server.set_succeeded() + rospy.loginfo('Gripper Controller: Succeeded.') + + def stateCb(self, msg): + self.state = msg + +if __name__=='__main__': + try: + rospy.logwarn("Please use gripper_controller (no .py)") + GripperActionController() + except rospy.ROSInterruptException: + rospy.loginfo('Hasta la Vista...') + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py new file mode 100644 index 0000000..ccba46a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python + +""" + one_side_gripper_controller.py - controls a gripper built with one servo + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy +import thread + +from std_msgs.msg import Float64 +from math import asin + +class OneSideGripperController: + """ A simple controller that operates a servos to + open/close to a particular size opening. """ + def __init__(self): + rospy.init_node("one_side_gripper_controller") + rospy.logwarn("one_side_gripper_controller.py is deprecated and will be removed in ROS Indigo, please use gripper_controller") + + self.pad_width = rospy.get_param("~pad_width", 0.01) + self.finger_length = rospy.get_param("~finger_length", 0.02) + self.center = rospy.get_param("~center", 0.0) + self.invert = rospy.get_param("~invert", False) + + # publishers + self.pub = rospy.Publisher("gripper_joint/command", Float64, queue_size=5) + + # subscribe to command and then spin + rospy.Subscriber("~command", Float64, self.commandCb) + rospy.spin() + + def commandCb(self, msg): + """ Take an input command of width to open gripper. """ + # check limits + #if msg.data > self.max_opening or msg.data < self.min_opening: + # rospy.logerr("Command exceeds limits.") + # return + # compute angle + angle = asin((msg.data - self.pad_width)/(2*self.finger_length)) + # publish message + if self.invert: + self.pub.publish(-angle + self.center) + else: + self.pub.publish(angle + self.center) + +if __name__=="__main__": + try: + OneSideGripperController() + except rospy.ROSInterruptException: + rospy.loginfo("Hasta la Vista...") + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py new file mode 100644 index 0000000..8959016 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py @@ -0,0 +1,99 @@ +#!/usr/bin/env python + +""" + parallel_gripper_controller.py - controls a gripper built of two servos + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy, actionlib +import thread + +from control_msgs.msg import GripperCommandAction +from std_msgs.msg import Float64 +from math import asin + +class ParallelGripperActionController: + """ A simple controller that operates two opposing servos to + open/close to a particular size opening. """ + def __init__(self): + rospy.init_node('gripper_controller') + rospy.logwarn("parallel_gripper_action_controller.py is deprecated and will be removed in ROS Indigo, please use gripper_controller") + + # trapezoid model: base width connecting each gripper's rotation point + # + length of gripper fingers to computation point + # = compute angles based on a desired width at comp. point + self.pad_width = rospy.get_param('~pad_width', 0.01) + self.finger_length = rospy.get_param('~finger_length', 0.02) + self.min_opening = rospy.get_param('~min', 0.0) + self.max_opening = rospy.get_param('~max', 2*self.finger_length) + + self.center_l = rospy.get_param('~center_left', 0.0) + self.center_r = rospy.get_param('~center_right', 0.0) + self.invert_l = rospy.get_param('~invert_left', False) + self.invert_r = rospy.get_param('~invert_right', False) + + # publishers + self.l_pub = rospy.Publisher('l_gripper_joint/command', Float64, queue_size=5) + self.r_pub = rospy.Publisher('r_gripper_joint/command', Float64, queue_size=5) + + # subscribe to command and then spin + self.server = actionlib.SimpleActionServer('~gripper_action', GripperCommandAction, execute_cb=self.actionCb, auto_start=False) + self.server.start() + rospy.spin() + + def actionCb(self, goal): + """ Take an input command of width to open gripper. """ + rospy.loginfo('Gripper controller action goal recieved:%f' % goal.command.position) + command = goal.command.position + # check limits + if command > self.max_opening: + command = self.max_opening + if command < self.min_opening: + command = self.min_opening + # compute angles + angle = asin((command - self.pad_width)/(2*self.finger_length)) + if self.invert_l: + l = -angle + self.center_l + else: + l = angle + self.center_l + if self.invert_r: + r = angle + self.center_r + else: + r = -angle + self.center_r + # publish msgs + lmsg = Float64(l) + rmsg = Float64(r) + self.l_pub.publish(lmsg) + self.r_pub.publish(rmsg) + rospy.sleep(5.0) + self.server.set_succeeded() + rospy.loginfo('Gripper Controller: Done.') + +if __name__=='__main__': + try: + ParallelGripperActionController() + except rospy.ROSInterruptException: + rospy.loginfo('Hasta la Vista...') + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py new file mode 100644 index 0000000..9d0632a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py @@ -0,0 +1,91 @@ +#!/usr/bin/env python + +""" + parallel_gripper_controller.py - controls a gripper built of two servos + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy +import thread + +from std_msgs.msg import Float64 +from math import asin + +class ParallelGripperController: + """ A simple controller that operates two opposing servos to + open/close to a particular size opening. """ + def __init__(self): + rospy.init_node("parallel_gripper_controller") + rospy.logwarn("parallel_gripper_controller.py is deprecated and will be removed in ROS Indigo, please use gripper_controller") + + # trapezoid model: base width connecting each gripper's rotation point + # + length of gripper fingers to computation point + # = compute angles based on a desired width at comp. point + self.pad_width = rospy.get_param("~pad_width", 0.01) + self.finger_length = rospy.get_param("~finger_length", 0.02) + self.min_opening = rospy.get_param("~min", 0.0) + self.max_opening = rospy.get_param("~max", 2*self.finger_length) + + self.center_l = rospy.get_param("~center_left", 0.0) + self.center_r = rospy.get_param("~center_right", 0.0) + self.invert_l = rospy.get_param("~invert_left", False) + self.invert_r = rospy.get_param("~invert_right", False) + + # publishers + self.l_pub = rospy.Publisher("l_gripper_joint/command", Float64, queue_size=5) + self.r_pub = rospy.Publisher("r_gripper_joint/command", Float64, queue_size=5) + + # subscribe to command and then spin + rospy.Subscriber("~command", Float64, self.commandCb) + rospy.spin() + + def commandCb(self, msg): + """ Take an input command of width to open gripper. """ + # check limits + if msg.data > self.max_opening or msg.data < self.min_opening: + rospy.logerr("Command exceeds limits.") + return + # compute angles + angle = asin((msg.data - self.pad_width)/(2*self.finger_length)) + if self.invert_l: + l = -angle + self.center_l + else: + l = angle + self.center_l + if self.invert_r: + r = angle + self.center_r + else: + r = -angle + self.center_r + # publish msgs + lmsg = Float64(l) + rmsg = Float64(r) + self.l_pub.publish(lmsg) + self.r_pub.publish(rmsg) + +if __name__=="__main__": + try: + ParallelGripperController() + except rospy.ROSInterruptException: + rospy.loginfo("Hasta la Vista...") + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py new file mode 100644 index 0000000..12528cb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py @@ -0,0 +1,133 @@ +#!/usr/bin/env python + +""" + parallel_single_servo_controller.py - controls a single-servo parallel-jaw gripper + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy, tf +import thread + +from std_msgs.msg import Float64 +from sensor_msgs.msg import JointState +from math import asin + +class ParallelGripperController: + """ A simple controller that operates a single servo parallel jaw gripper. """ + def __init__(self): + rospy.init_node("gripper_controller") + + # TODO: load calibration data. Form: opening->servo angle + self.calib = { 0.0000 : 1.8097, 0.0159: 1.2167, 0.0254 : 0.8997, 0.0381 : 0.4499, 0.042 : 0.1943 } + #self.calib = { 0.0000 : 866, 0.0159: 750, 0.0254 : 688, 0.0381 : 600, 0.042 : 550 } + + # parameters + self.min = rospy.get_param("~min", 0.0) + self.max = rospy.get_param("~max", 0.042) + self.center = rospy.get_param("~center", 512) + self.invert = rospy.get_param("~invert", False) + + # publishers + self.commandPub = rospy.Publisher("gripper_joint/command", Float64, queue_size=5) + self.br = tf.TransformBroadcaster() + + # current width of gripper + self.width = 0.0 + + # subscribe to command and then spin + rospy.Subscriber("~command", Float64, self.commandCb) + rospy.Subscriber("joint_states", JointState, self.stateCb) + + r = rospy.Rate(15) + while not rospy.is_shutdown(): + # output tf + self.br.sendTransform((0, -self.width/2.0, 0), + tf.transformations.quaternion_from_euler(0, 0, 0), + rospy.Time.now(), + "gripper_left_link", + "gripper_link") + self.br.sendTransform((0, self.width/2.0, 0), + tf.transformations.quaternion_from_euler(0, 0, 0), + rospy.Time.now(), + "gripper_right_link", + "gripper_link") + r.sleep() + + def getCommand(self, width): + """ Get servo command for an opening width. """ + keys = self.calib.keys(); keys.sort() + # find end points of segment + low = keys[0]; + high = keys[-1] + for w in keys[1:-1]: + if w > low and w < width: + low = w + if w < high and w > width: + high = w + # linear interpolation + scale = (width-low)/(high-low) + return ((self.calib[high]-self.calib[low])*scale) + self.calib[low] + + def getWidth(self, command): + """ Get opening width for a particular servo command. """ + reverse_calib = dict() + for k, v in self.calib.items(): + reverse_calib[v] = k + keys = reverse_calib.keys(); keys.sort() + # find end points of segment + low = keys[0] + high = keys[-1] + for c in keys[1:-1]: + if c > low and c < command: + low = c + if c < high and c > command: + high = c + # linear interpolation + scale = (command-low)/(high-low) + return ((reverse_calib[high]-reverse_calib[low])*scale) + reverse_calib[low] + + def commandCb(self, msg): + """ Take an input command of width to open gripper. """ + # check limits + if msg.data > self.max or msg.data < self.min: + rospy.logerr("Command exceeds limits.") + return + # compute angle + self.commandPub.publish( Float64( self.getCommand(msg.data) ) ) + + def stateCb(self, msg): + """ The callback that listens for joint_states. """ + try: + index = msg.name.index("gripper_joint") + except ValueError: + return + self.width = self.getWidth(msg.position[index]) + +if __name__=="__main__": + try: + ParallelGripperController() + except rospy.ROSInterruptException: + rospy.loginfo("Hasta la Vista...") + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/package.xml new file mode 100644 index 0000000..c24480e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/package.xml @@ -0,0 +1,17 @@ + + arbotix_controllers + 0.11.0 + + Extends the arbotix_python package with a number of more sophisticated ROS wrappers for common devices. + + Michael Ferguson + Michael Ferguson + BSD + http://ros.org/wiki/arbotix_controllers + + catkin + + arbotix_python + trajectory_msgs + tf + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CHANGELOG.rst new file mode 100644 index 0000000..92eb8bb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CHANGELOG.rst @@ -0,0 +1,28 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package arbotix_firmware +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.11.0 (2020-12-29) +------------------- + +0.10.0 (2014-07-14) +------------------- + +0.9.2 (2014-02-12) +------------------ + +0.9.1 (2014-01-28) +------------------ + +0.9.0 (2013-08-22) +------------------ + +0.8.2 (2013-03-28) +------------------ + +0.8.1 (2013-03-09) +------------------ + +0.8.0 (2013-02-21) +------------------ +* import drivers and catkinize diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CMakeLists.txt new file mode 100644 index 0000000..bfadd94 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 3.0.2) +project(arbotix_firmware) + +find_package(catkin REQUIRED) +catkin_package() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/package.xml new file mode 100644 index 0000000..de74e08 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/package.xml @@ -0,0 +1,13 @@ + + arbotix_firmware + 0.11.0 + + Firmware source code for ArbotiX ROS bindings. + + Michael Ferguson + Michael Ferguson + BSD + http://ros.org/wiki/arbotix_firmware + + catkin + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/diff_controller.h b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/diff_controller.h new file mode 100644 index 0000000..4b58bdf --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/diff_controller.h @@ -0,0 +1,148 @@ +/* + ArbotiX Firmware for ROS driver + Copyright (c) 2009-2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include +#include + +/* Register Storage */ +int left_pwm; +int right_pwm; +int left_speed; +int right_speed; + +/* PID Parameters */ +int Kp; +int Kd; +int Ki; +int Ko; // output scale +int maxAccel; // maximum acceleration per frame (ticks) + +/* PID modes */ +unsigned int PIDmode; +#define PID_NONE 0 +#define PID_SPEED 1 + +#define FRAME_RATE 33 // frame rate in millis (30Hz) +#define FRAMES 30 +unsigned long f_time; // last frame + +unsigned char moving = 0; // base in motion +unsigned char paused = 0; // base was in motion, can resume +#define MAXOUTPUT 255 // motor PWM + +/* Setpoint Info For a Motor */ +typedef struct{ + int Velocity; // desired actual speed (count/frame) + long Encoder; // actual reading + long PrevEnc; // last reading + int PrevErr; + int Ierror; + int output; // last motor setting +} SetPointInfo; + +SetPointInfo left, right; + +/* Initialize PID parameters to something known */ +void setupPID(){ + // Default values for the PR-MINI + Kp = 25; + Kd = 30; + Ki = 0; + Ko = 100; + maxAccel = 50; + f_time = 0; +} + +/* PID control of motor speed */ +void DoPid(SetPointInfo * p){ + long Perror; + long output; + + Perror = p->Velocity - (p->Encoder-p->PrevEnc); + + // Derivative error is the delta Perror + output = (Kp*Perror + Kd*(Perror - p->PrevErr) + Ki*p->Ierror)/Ko; + p->PrevErr = Perror; + p->PrevEnc = p->Encoder; + + output += p->output; + // Accumulate Integral error *or* Limit output. + // Stop accumulating when output saturates + if (output >= MAXOUTPUT) + output = MAXOUTPUT; + else if (output <= -MAXOUTPUT) + output = -MAXOUTPUT; + else + p->Ierror += Perror; + + p->output = output; +} + +/* Clear accumulators */ +void ClearPID(){ + PIDmode = 0; moving = 0; + left.PrevErr = 0; + left.Ierror = 0; + left.output = 0; + right.PrevErr = 0; + right.Ierror = 0; + right.output = 0; +} + +/* This is called by the main loop, does a X HZ PID loop. */ +void updatePID(){ + if((moving > 0) && (PIDmode > 0)){ // otherwise, just return + unsigned long j = millis(); + if(j > f_time){ + // update encoders + left.Encoder = Encoders.left; + right.Encoder = Encoders.right; + // do PID update on PWM + DoPid(&left); + DoPid(&right); + // set updated motor outputs + if(PIDmode > 0){ + drive.set(left.output, right.output); + } + // update timing + f_time = j + FRAME_RATE; + } + } +} + +void clearAll(){ + PIDmode = 0; + left.Encoder = 0; + right.Encoder = 0; + left.PrevEnc = 0; + right.PrevEnc = 0; + left.output = 0; + right.output = 0; + Encoders.Reset(); +} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.h b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.h new file mode 100644 index 0000000..e52f5d2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.h @@ -0,0 +1,76 @@ +/* + Common Definitions for ROS driver ArbotiX Firmware + Copyright (c) 2008-2012 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* ArbotiX (id:253) Instruction Definitions */ +#define ARB_SIZE_POSE 7 // pose size: a single param for size of pose +#define ARB_LOAD_POSE 8 // load pose: index, then pose positions (# of params = 2*pose_size) +#define ARB_LOAD_SEQ 9 // seq size: a single param for the size of the seq +#define ARB_PLAY_SEQ 10 // load seq: index/times (# of params = 3*seq_size) +#define ARB_LOOP_SEQ 11 // play seq: no params +//#define ARB_TEST 25 // hardware test: no params +#define ARB_CONTROL_SETUP 26 // write ids: id of controller, params (usually ids of servos, # of params = pose_size + 1) +#define ARB_CONTROL_WRITE 27 // write positions: positions in order of servos (# of params = 2*pose_size) +#define ARB_CONTROL_STAT 28 // retrieve status: id of controller +#define ARB_SYNC_READ 0x84 + +/* ArbotiX (id:253) Register Table Definitions */ +#define REG_MODEL_NUMBER_L 0 +#define REG_MODEL_NUMBER_H 1 +#define REG_VERSION 2 +#define REG_ID 3 +#define REG_BAUD_RATE 4 + +#define REG_DIGITAL_IN0 5 // First block of digital pins to read +#define REG_DIGITAL_IN1 6 +#define REG_DIGITAL_IN2 7 +#define REG_DIGITAL_IN3 8 + +#define REG_RESCAN 15 +#define REG_RETURN_LEVEL 16 +#define REG_ALARM_LED 17 +#define REG_ANA_BASE 18 // First Analog Port +#define REG_SERVO_BASE 26 // Up to 10 servos, each uses 2 bytes (L, then H), pulse width (0, 1000-2000ms) +#define REG_MOVING 46 + +#define REG_DIGITAL_OUT0 47 // First digital pin to write + // base + index, bit 1 = value (0,1), bit 0 = direction (0,1) + +#define REG_RESERVED 79 // 79 -- 99 are reserved for future use +#define REG_USER 100 // + +/* Packet Decoding */ +int mode = 0; // where we are in the frame + +unsigned char id = 0; // id of this frame +unsigned char length = 0; // length of this frame +unsigned char ins = 0; // instruction of this frame + +unsigned char params[143]; // parameters (match RX-64 buffer size) +unsigned char index = 0; // index in param buffer + +int checksum; // checksum diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.ino b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.ino new file mode 100644 index 0000000..95d4593 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.ino @@ -0,0 +1,548 @@ +/* + ArbotiX Firmware for ROS driver + Copyright (c) 2008-2012 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* Build Configuration */ +#define USE_BASE // Enable support for a mobile base +#define USE_HW_SERVOS // Enable only 2/8 servos, but using hardware control + +#define CONTROLLER_COUNT 5 +/* Hardware Constructs */ +#include +#include +BioloidController controllers[CONTROLLER_COUNT]; + +#include "ros.h" + +#ifdef USE_HW_SERVOS + #include + HServo servos[2]; + int servo_vals[2]; // in millis +#else + #include + Servo servos[10]; + int servo_vals[10]; // in millis +#endif + +#ifdef USE_BASE + #include + Motors2 drive = Motors2(); + #include + #include "diff_controller.h" +#endif + +/* Register Storage */ +unsigned char baud = 7; // ? +unsigned char ret_level = 1; // ? +unsigned char alarm_led = 0; // ? + +/* Pose & Sequence Structures */ +typedef struct{ + unsigned char pose; // index of pose to transition to + int time; // time for transition +} sp_trans_t; +int poses[30][AX12_MAX_SERVOS]; // poses [index][servo_id-1] +sp_trans_t sequence[50]; // sequence +int seqPos; // step in current sequence + +#include "user_hooks.h" + +/* + * Setup Functions + */ +void scan(){ +#if defined(AX_RX_SWITCHED) + // do a search for devices on the RX bus, default to AX if not found + int i; + for(i=0;i 0){ + if(addr < REG_BAUD_RATE){ + return ERR_INSTRUCTION; + }else if(addr == REG_BAUD_RATE){ + UBRR1L = params[k]; + }else if(addr < REG_RESCAN){ + return ERR_INSTRUCTION; // can't write digital inputs + }else if(addr == REG_RESCAN){ + scan(); + }else if(addr == REG_RETURN_LEVEL){ + ret_level = params[k]; + }else if(addr == REG_ALARM_LED){ + // TODO: + }else if(addr < REG_SERVO_BASE){ + return ERR_INSTRUCTION; // error - analog are read only + }else if(addr < REG_MOVING){ + // write servo + int s = addr - REG_SERVO_BASE; + #ifdef USE_HW_SERVO + if( s >= 4 ){ + #else + if( s >= 20){ + #endif + return ERR_INSTRUCTION; + }else{ + if( s%2 == 0 ){ // low byte + s = s/2; + servo_vals[s] = params[k]; + }else{ // high byte + s = s/2; + servo_vals[s] += (params[k]<<8); + if(servo_vals[s] > 500 && servo_vals[s] < 2500){ + servos[s].writeMicroseconds(servo_vals[s]); + if(!servos[s].attached()) + servos[s].attach(s); + }else if(servo_vals[s] == 0){ + servos[s].detach(); + } + } + } + }else if(addr == REG_MOVING){ + return ERR_INSTRUCTION; + }else if(addr < REG_RESERVED){ + // write digital pin + int pin = addr - REG_DIGITAL_OUT0; + #ifdef SERVO_STIK + if(pin < 8) + pin = pin+24; + else + pin = pin+5; // servo stick 8 = D13... + #endif + if(params[k] & 0x02) // high + digitalWrite(pin, HIGH); + else + digitalWrite(pin, LOW); + if(params[k] & 0x01) // output + pinMode(pin, OUTPUT); + else + pinMode(pin, INPUT); + }else{ + int ret = userWrite(addr, params[k]); + if(ret > ERR_NONE) return ret; + } + addr++;k++;bytes--; + } + return ERR_NONE; +} + + +/* + * Handle a read from ArbotiX registers. + */ +int handleRead(){ + int checksum = 0; + int addr = params[0]; + int bytes = params[1]; + + unsigned char v; + while(bytes > 0){ + if(addr == REG_MODEL_NUMBER_L){ + v = 44; + }else if(addr == REG_MODEL_NUMBER_H){ + v = 1; // 300 + }else if(addr == REG_VERSION){ + v = 0; + }else if(addr == REG_ID){ + v = 253; + }else if(addr == REG_BAUD_RATE){ + v = 34; // 56700 + }else if(addr == REG_DIGITAL_IN0){ + // digital 0-7 + #ifdef SERVO_STIK + v = PINA; + #else + v = PINB; + #endif + }else if(addr == REG_DIGITAL_IN1){ + // digital 8-15 + #ifdef SERVO_STIK + v = (PINB>>1); + #else + v = PIND; + #endif + }else if(addr == REG_DIGITAL_IN2){ + // digital 16-23 + v = PINC; + }else if(addr == REG_DIGITAL_IN3){ + // digital 24-31 + v = PINA; + }else if(addr == REG_RETURN_LEVEL){ + v = ret_level; + }else if(addr == REG_ALARM_LED){ + // TODO + }else if(addr < REG_SERVO_BASE){ + // send analog reading + int x = analogRead(addr-REG_ANA_BASE)>>2; + x += analogRead(addr-REG_ANA_BASE)>>2; + x += analogRead(addr-REG_ANA_BASE)>>2; + x += analogRead(addr-REG_ANA_BASE)>>2; + v = x/4; + }else if(addr < REG_MOVING){ + // send servo position + v = 0; + }else{ + v = userRead(addr); + } + checksum += v; + Serial.write(v); + addr++;bytes--; + } + + return checksum; +} + +int doPlaySeq(){ + seqPos = 0; int i; + while(sequence[seqPos].pose != 0xff){ + int p = sequence[seqPos].pose; + // are we HALT? + if(Serial.read() == 'H') return 1; + // load pose + for(i=0; i 0){ + // We need to 0xFF at start of packet + if(mode == 0){ // start of new packet + if(Serial.read() == 0xff){ + mode = 2; + digitalWrite(0,HIGH-digitalRead(0)); + } + //}else if(mode == 1){ // another start byte + // if(Serial.read() == 0xff) + // mode = 2; + // else + // mode = 0; + }else if(mode == 2){ // next byte is index of servo + id = Serial.read(); + if(id != 0xff) + mode = 3; + }else if(mode == 3){ // next byte is length + length = Serial.read(); + checksum = id + length; + mode = 4; + }else if(mode == 4){ // next byte is instruction + ins = Serial.read(); + checksum += ins; + index = 0; + mode = 5; + }else if(mode == 5){ // read data in + params[index] = Serial.read(); + checksum += (int) params[index]; + index++; + if(index + 1 == length){ // we've read params & checksum + mode = 0; + if((checksum%256) != 255){ + // return an error packet: FF FF id Len Err=bad checksum, params=None check + statusPacket(id, ERR_CHECKSUM); + }else if(id == 253){ // ID = 253, ArbotiX instruction + switch(ins){ + case AX_WRITE_DATA: + // send return packet + statusPacket(id,handleWrite()); + break; + + case AX_READ_DATA: + checksum = id + params[1] + 2; + Serial.write(0xff); + Serial.write(0xff); + Serial.write(id); + Serial.write((unsigned char)2+params[1]); + Serial.write((unsigned char)0); + // send actual data + checksum += handleRead(); + Serial.write(255-((checksum)%256)); + break; + + case ARB_SIZE_POSE: // Pose Size = 7, followed by single param: size of pose + statusPacket(id,0); + if(controllers[0].poseSize == 0) + controllers[0].setup(18); + controllers[0].poseSize = params[0]; + controllers[0].readPose(); + break; + + case ARB_LOAD_POSE: // Load Pose = 8, followed by index, then pose positions (# of param = 2*pose_size) + statusPacket(id,0); + for(i=0; i 0); + break; + + // ARB_TEST is deprecated and removed + + case ARB_CONTROL_SETUP: // Setup a controller + statusPacket(id,0); + if(params[0] < CONTROLLER_COUNT){ + controllers[params[0]].setup(length-3); + for(int i=0; i>0)%256; + Serial.write((unsigned char)v); + checksum += v; + v = ((unsigned long)Encoders.left>>8)%256; + Serial.write((unsigned char)v); + checksum += v; + v = ((unsigned long)Encoders.left>>16)%256; + Serial.write((unsigned char)v); + checksum += v; + v = ((unsigned long)Encoders.left>>24)%256; + Serial.write((unsigned char)v); + checksum += v; + v = ((unsigned long)Encoders.right>>0)%256; + Serial.write((unsigned char)v); + checksum += v; + v = ((unsigned long)Encoders.right>>8)%256; + Serial.write((unsigned char)v); + checksum += v; + v = ((unsigned long)Encoders.right>>16)%256; + Serial.write((unsigned char)v); + checksum += v; + v = ((unsigned long)Encoders.right>>24)%256; + Serial.write((unsigned char)v); + checksum += v; + Serial.write((unsigned char)255-((checksum)%256)); +#endif + } + break; + } + }else if(id == 0xFE){ + // sync read or write + if(ins == ARB_SYNC_READ){ + int start = params[0]; // address to read in control table + int bytes = params[1]; // # of bytes to read from each servo + int k = 2; + checksum = id + (bytes*(length-4)) + 2; + Serial.write((unsigned char)0xff); + Serial.write((unsigned char)0xff); + Serial.write((unsigned char)id); + Serial.write((unsigned char)2+(bytes*(length-4))); + Serial.write((unsigned char)0); // error code + // send actual data + for(k=2; k= 0){ + for(i=0;i 0){ + for(i=0;i`_ from corot/indigo-devel + Implement issue https://github.com/vanadiumlabs/arbotix_ros/issues/24: +* Implement issue https://github.com/vanadiumlabs/arbotix_ros/issues/24: + Allow 16 bit values on arbotix_msgs/Analog messages, but assume 8 bits + by default +* Contributors: Michael Ferguson, corot + +0.10.0 (2014-07-14) +------------------- + +0.9.2 (2014-02-12) +------------------ + +0.9.1 (2014-01-28) +------------------ +* Added set_speed service to servo controller + +0.9.0 (2013-08-22) +------------------ +* add new enable service + +0.8.2 (2013-03-28) +------------------ +* updates to cmakelists.txt and package.xml, fixes `#2 `_ + +0.8.1 (2013-03-09) +------------------ + +0.8.0 (2013-02-21) +------------------ +* import drivers and catkinize diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/CMakeLists.txt new file mode 100644 index 0000000..58f87bb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.0.2) +project(arbotix_msgs) + +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) + +add_message_files(FILES + Analog.msg + Digital.msg + ) + +add_service_files(FILES + Enable.srv + Relax.srv + SetupChannel.srv + SetSpeed.srv + ) + +generate_messages(DEPENDENCIES std_msgs) + +catkin_package(CATKIN_DEPENDS message_runtime std_msgs) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Analog.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Analog.msg new file mode 100644 index 0000000..f87b268 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Analog.msg @@ -0,0 +1,3 @@ +# Reading from a single analog IO pin. +Header header +uint16 value diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Digital.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Digital.msg new file mode 100644 index 0000000..e893bd6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Digital.msg @@ -0,0 +1,14 @@ +# Reading or command to a single digital IO pin. +Header header + +# value of pin +uint8 LOW=0 +uint8 HIGH=255 + +uint8 value + +# direction of pin +uint8 INPUT=0 +uint8 OUTPUT=255 + +uint8 direction diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/package.xml new file mode 100644 index 0000000..46d3c3a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/package.xml @@ -0,0 +1,21 @@ + + arbotix_msgs + 0.11.0 + + Messages and Services definitions for the ArbotiX. + + Michael Ferguson + Michael Ferguson + BSD + http://ros.org/wiki/arbotix_msgs + + catkin + + std_msgs + message_generation + + std_msgs + message_runtime + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Enable.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Enable.srv new file mode 100644 index 0000000..40aed77 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Enable.srv @@ -0,0 +1,3 @@ +bool enable +--- +bool state diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Relax.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Relax.srv new file mode 100644 index 0000000..5075d75 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Relax.srv @@ -0,0 +1,3 @@ + +--- + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetSpeed.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetSpeed.srv new file mode 100644 index 0000000..77526c4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetSpeed.srv @@ -0,0 +1,2 @@ +float64 speed +--- diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetupChannel.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetupChannel.srv new file mode 100644 index 0000000..dbaf471 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetupChannel.srv @@ -0,0 +1,7 @@ +# message to setup an IO channel +string topic_name +uint8 pin +uint8 value +uint8 rate +--- + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CHANGELOG.rst new file mode 100644 index 0000000..3a60800 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CHANGELOG.rst @@ -0,0 +1,65 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package arbotix_python +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.11.0 (2020-12-29) +------------------- +* Update all python shebangs to python3 + rosdep dependency (`#48 `_) + Co-authored-by: Murat Calis +* arbotix_python for ROS Noetic (`#46 `_) + Migrated arbotix_python to work with ROS Noetic + Co-authored-by: Murat Calis +* Merge pull request `#31 `_ from corot/serial_reconnect + Allow runtime connection/disconnection to/from ArbotiX board +* Merge pull request `#29 `_ from croesmann/indigo-devel + Allow cancelling the FollowJointTrajectoryAction during execution +* Merge pull request `#33 `_ from corot/issue_26 + Issue `#26 `_ implementation: enable/relax services on ServoController class +* Issue `#26 `_ implementation: enable/relax services to the ServoController + class, so you don't need to call service on each servo +* Close serial port only if not fake +* Allow runtime connection/disconnection to/from ArbotiX board +* Minor formatting fix +* Fixed formatting issues +* the follow joint trajectory action can now be canceled during execution +* Fix syntax +* Merge pull request `#25 `_ from corot/indigo-devel + Implement issue https://github.com/vanadiumlabs/arbotix_ros/issues/24: +* leng -> length +* Implement issue https://github.com/vanadiumlabs/arbotix_ros/issues/24: + Allow 16 bit values on arbotix_msgs/Analog messages, but assume 8 bits + by default +* Contributors: Christoph Rösmann, Jorge Santos Simón, Michael Ferguson, calismurat, corot + +0.10.0 (2014-07-14) +------------------- +* Set queue_size=5 on all publishers +* Contributors: Jorge Santos + +0.9.2 (2014-02-12) +------------------ + +0.9.1 (2014-01-28) +------------------ +* set velocity when in sim/fake mode +* Added set_speed service to servo controller +* Added 'set spd' option to arbotix_terminal + +0.9.0 (2013-08-22) +------------------ +* Add new enable service +* remove roslib manifest loading +* remove old dynamixels block, closes `#6 `_ +* Warn of extra joints in joint trajectory, but only fail when missing a joint we control + +0.8.2 (2013-03-28) +------------------ + +0.8.1 (2013-03-09) +------------------ +* fix depend for proper release + +0.8.0 (2013-02-21) +------------------ +* fix follow controller issues with zeros in header timestamps, cleanup logging a bit +* import drivers and catkinize diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CMakeLists.txt new file mode 100644 index 0000000..5c3600c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.2) +project(arbotix_python) + +find_package(catkin REQUIRED) +catkin_package() + +catkin_python_setup() + +install(DIRECTORY demos + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(PROGRAMS bin/arbotix_driver + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver new file mode 100644 index 0000000..68b3e36 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver @@ -0,0 +1,202 @@ +#!/usr/bin/env python + +""" + ArbotiX Node: serial connection to an ArbotiX board w/ PyPose/NUKE/ROS + Copyright (c) 2008-2011 Michael E. Ferguson. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy +import sys + +from arbotix_msgs.msg import * +from arbotix_msgs.srv import * + +from arbotix_python.arbotix import ArbotiX, ArbotiXException +from arbotix_python.diff_controller import DiffController +from arbotix_python.follow_controller import FollowController +from arbotix_python.servo_controller import * +from arbotix_python.linear_controller import * +from arbotix_python.publishers import * +from arbotix_python.io import * + +# name: [ControllerClass, pause] +controller_types = { "follow_controller" : FollowController, + "diff_controller" : DiffController, +# "omni_controller" : OmniController, + "linear_controller" : LinearControllerAbsolute, + "linear_controller_i" : LinearControllerIncremental } + +############################################################################### +# Main ROS interface +class ArbotixROS(ArbotiX): + + def __init__(self): + pause = False + + # load configurations + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = int(rospy.get_param("~baud", "115200")) + timeout = float(rospy.get_param("~timeout", "0.1")) + + self.rate = rospy.get_param("~rate", 100.0) + self.fake = rospy.get_param("~sim", False) + + self.use_sync_read = rospy.get_param("~sync_read",True) # use sync read? + self.use_sync_write = rospy.get_param("~sync_write",True) # use sync write? + + # setup publishers + self.diagnostics = DiagnosticsPublisher() + self.joint_state_publisher = JointStatePublisher() + + # start an arbotix driver; differ port opening to properly handle connection failures + if not self.fake: + ArbotiX.__init__(self, port, baud, timeout, open_port=True) + self.connectArbotiX() + else: + rospy.loginfo("ArbotiX being simulated.") + + # setup joints + self.joints = dict() + for name in rospy.get_param("~joints", dict()).keys(): + joint_type = rospy.get_param("~joints/"+name+"/type", "dynamixel") + if joint_type == "dynamixel": + self.joints[name] = DynamixelServo(self, name) + elif joint_type == "hobby_servo": + self.joints[name] = HobbyServo(self, name) + elif joint_type == "calibrated_linear": + self.joints[name] = LinearJoint(self, name) + + # setup controller + self.controllers = [ServoController(self, "servos"), ] + controllers = rospy.get_param("~controllers", dict()) + for name, params in controllers.items(): + try: + controller = controller_types[params["type"]](self, name) + self.controllers.append( controller ) + pause = pause or controller.pause + except Exception as e: + if type(e) == KeyError: + rospy.logerr("Unrecognized controller: " + params["type"]) + else: + rospy.logerr(str(type(e)) + str(e)) + + # wait for arbotix to start up (especially after reset) + if not self.fake: + if rospy.has_param("~digital_servos") or rospy.has_param("~digital_sensors") or rospy.has_param("~analog_sensors"): + pause = True + if pause: + while self.getDigital(1) == -1 and not rospy.is_shutdown(): + rospy.loginfo("ArbotiX: waiting for response...") + rospy.sleep(0.25) + rospy.loginfo("ArbotiX connected.") + + for controller in self.controllers: + controller.startup() + + # services for io + rospy.Service('~SetupAnalogIn',SetupChannel, self.analogInCb) + rospy.Service('~SetupDigitalIn',SetupChannel, self.digitalInCb) + rospy.Service('~SetupDigitalOut',SetupChannel, self.digitalOutCb) + # initialize digital/analog IO streams + self.io = dict() + if not self.fake: + for v,t in {"digital_servos":DigitalServo,"digital_sensors":DigitalSensor,"analog_sensors":AnalogSensor}.items(): + temp = rospy.get_param("~"+v,dict()) + for name in temp.keys(): + pin = rospy.get_param('~'+v+'/'+name+'/pin',1) + value = rospy.get_param('~'+v+'/'+name+'/value',0) + rate = rospy.get_param('~'+v+'/'+name+'/rate',10) + leng = rospy.get_param('~'+v+'/'+name+'/length',1) # just for analog sensors + if(v != "analog_sensors"): + self.io[name] = t(name, pin, value, rate, self) + else: + self.io[name] = t(name, pin, value, rate, leng, self) + + r = rospy.Rate(self.rate) + + # main loop -- do all the read/write here + while not rospy.is_shutdown(): + try: + # update controllers + for controller in self.controllers: + controller.update() + + # update io + for io in self.io.values(): + io.update() + + # publish feedback + self.joint_state_publisher.update(self.joints.values(), self.controllers) + self.diagnostics.update(self.joints.values(), self.controllers) + except ArbotiXException as e: + # We assume this is a serial connection error (as is the only use of + # ArbotiXException by now...); try to reconnect to solve the issue + rospy.logerr("ArbotiX error: %s", e) + self.connectArbotiX() + + r.sleep() + + # do shutdown + for controller in self.controllers: + controller.shutdown() + + # disconnect from the ArbotiX + if not self.fake: + self.closePort() + + def analogInCb(self, req): + # TODO: Add check, only 1 service per pin + if not self.fake: + self.io[req.topic_name] = AnalogSensor(req.topic_name, req.pin, req.value, req.rate, req.leng, self) + return SetupChannelResponse() + + def digitalInCb(self, req): + if not self.fake: + self.io[req.topic_name] = DigitalSensor(req.topic_name, req.pin, req.value, req.rate, self) + return SetupChannelResponse() + + def digitalOutCb(self, req): + if not self.fake: + self.io[req.topic_name] = DigitalServo(req.topic_name, req.pin, req.value, req.rate, self) + return SetupChannelResponse() + + def connectArbotiX(self): + iter = 0 + while True: + try: + self.openPort() + rospy.loginfo("Started ArbotiX connection on port " + self._ser.port + ".") + return + except ArbotiXException as e: + if iter%4 == 0: + rospy.logerr("Unable to connect to ArbotiX: %s.", e) + rospy.sleep(0.5) + iter += 1 + + +if __name__ == "__main__": + rospy.init_node('arbotix') + a = ArbotixROS() + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_gui b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_gui new file mode 100644 index 0000000..58228c4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_gui @@ -0,0 +1,206 @@ +#!/usr/bin/env python + +""" + A simple Controller GUI to drive robots and pose heads. + Copyright (c) 2008-2011 Michael E. Ferguson. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy +import wx + +from math import radians + +from geometry_msgs.msg import Twist +from sensor_msgs.msg import JointState +from std_msgs.msg import Float64 +from arbotix_msgs.srv import Relax +from arbotix_python.joints import * + +width = 325 + +class servoSlider(): + def __init__(self, parent, min_angle, max_angle, name, i): + self.name = name + if name.find("_joint") > 0: # remove _joint for display name + name = name[0:-6] + self.position = wx.Slider(parent, -1, 0, int(min_angle*100), int(max_angle*100), wx.DefaultPosition, (150, -1), wx.SL_HORIZONTAL) + self.enabled = wx.CheckBox(parent, i, name+":") + self.enabled.SetValue(False) + self.position.Disable() + + def setPosition(self, angle): + self.position.SetValue(int(angle*100)) + + def getPosition(self): + return self.position.GetValue()/100.0 + +class controllerGUI(wx.Frame): + TIMER_ID = 100 + + def __init__(self, parent, debug = False): + wx.Frame.__init__(self, parent, -1, "ArbotiX Controller GUI", style = wx.DEFAULT_FRAME_STYLE & ~ (wx.RESIZE_BORDER | wx.MAXIMIZE_BOX)) + sizer = wx.GridBagSizer(5,5) + + # Move Base + drive = wx.StaticBox(self, -1, 'Move Base') + drive.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD)) + driveBox = wx.StaticBoxSizer(drive,orient=wx.VERTICAL) + self.movebase = wx.Panel(self,size=(width,width-20)) + self.movebase.SetBackgroundColour('WHITE') + self.movebase.Bind(wx.EVT_MOTION, self.onMove) + wx.StaticLine(self.movebase, -1, (width/2, 0), (1,width), style=wx.LI_VERTICAL) + wx.StaticLine(self.movebase, -1, (0, width/2), (width,1)) + driveBox.Add(self.movebase) + sizer.Add(driveBox,(0,0),wx.GBSpan(1,1),wx.EXPAND|wx.TOP|wx.BOTTOM|wx.LEFT,5) + self.forward = 0 + self.turn = 0 + self.X = 0 + self.Y = 0 + self.cmd_vel = rospy.Publisher('cmd_vel', Twist, queue_size=5) + + # Move Servos + servo = wx.StaticBox(self, -1, 'Move Servos') + servo.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD)) + servoBox = wx.StaticBoxSizer(servo,orient=wx.VERTICAL) + servoSizer = wx.GridBagSizer(5,5) + + joint_defaults = getJointsFromURDF() + + i = 0 + dynamixels = rospy.get_param('/arbotix/dynamixels', dict()) + self.servos = list() + self.publishers = list() + self.relaxers = list() + + joints = rospy.get_param('/arbotix/joints', dict()) + # create sliders and publishers + for name in sorted(joints.keys()): + # pull angles + min_angle, max_angle = getJointLimits(name, joint_defaults) + # create publisher + self.publishers.append(rospy.Publisher(name+'/command', Float64, queue_size=5)) + if rospy.get_param('/arbotix/joints/'+name+'/type','dynamixel') == 'dynamixel': + self.relaxers.append(rospy.ServiceProxy(name+'/relax', Relax)) + else: + self.relaxers.append(None) + # create slider + s = servoSlider(self, min_angle, max_angle, name, i) + servoSizer.Add(s.enabled,(i,0), wx.GBSpan(1,1),wx.ALIGN_CENTER_VERTICAL) + servoSizer.Add(s.position,(i,1), wx.GBSpan(1,1),wx.ALIGN_CENTER_VERTICAL) + self.servos.append(s) + i += 1 + + # add everything + servoBox.Add(servoSizer) + sizer.Add(servoBox, (0,1), wx.GBSpan(1,1), wx.EXPAND|wx.TOP|wx.BOTTOM|wx.RIGHT,5) + self.Bind(wx.EVT_CHECKBOX, self.enableSliders) + # now we can subscribe + rospy.Subscriber('joint_states', JointState, self.stateCb) + + # timer for output + self.timer = wx.Timer(self, self.TIMER_ID) + self.timer.Start(50) + wx.EVT_CLOSE(self, self.onClose) + wx.EVT_TIMER(self, self.TIMER_ID, self.onTimer) + + # bind the panel to the paint event + wx.EVT_PAINT(self, self.onPaint) + self.dirty = 1 + self.onPaint() + + self.SetSizerAndFit(sizer) + self.Show(True) + + def onClose(self, event): + self.timer.Stop() + self.Destroy() + + def enableSliders(self, event): + servo = event.GetId() + if event.IsChecked(): + self.servos[servo].position.Enable() + else: + self.servos[servo].position.Disable() + if self.relaxers[servo]: + self.relaxers[servo]() + + def stateCb(self, msg): + for servo in self.servos: + if not servo.enabled.IsChecked(): + try: + idx = msg.name.index(servo.name) + servo.setPosition(msg.position[idx]) + except: + pass + + def onPaint(self, event=None): + # this is the wx drawing surface/canvas + dc = wx.PaintDC(self.movebase) + dc.Clear() + # draw crosshairs + dc.SetPen(wx.Pen("black",1)) + dc.DrawLine(width/2, 0, width/2, width) + dc.DrawLine(0, width/2, width, width/2) + dc.SetPen(wx.Pen("red",2)) + dc.SetBrush(wx.Brush('red', wx.SOLID)) + dc.SetPen(wx.Pen("black",2)) + dc.DrawCircle((width/2) + self.X*(width/2), (width/2) - self.Y*(width/2), 5) + + def onMove(self, event=None): + if event.LeftIsDown(): + pt = event.GetPosition() + if pt[0] > 0 and pt[0] < width and pt[1] > 0 and pt[1] < width: + self.forward = ((width/2)-pt[1])/2 + self.turn = (pt[0]-(width/2))/2 + self.X = (pt[0]-(width/2.0))/(width/2.0) + self.Y = ((width/2.0)-pt[1])/(width/2.0) + else: + self.forward = 0; self.Y = 0 + self.turn = 0; self.X = 0 + self.onPaint() + + def onTimer(self, event=None): + # send joint updates + for s,p in zip(self.servos,self.publishers): + if s.enabled.IsChecked(): + d = Float64() + d.data = s.getPosition() + p.publish(d) + # send base updates + t = Twist() + t.linear.x = self.forward/150.0; t.linear.y = 0; t.linear.z = 0 + if self.forward > 0: + t.angular.x = 0; t.angular.y = 0; t.angular.z = -self.turn/50.0 + else: + t.angular.x = 0; t.angular.y = 0; t.angular.z = self.turn/50.0 + self.cmd_vel.publish(t) + +if __name__ == '__main__': + # initialize GUI + rospy.init_node('controllerGUI') + app = wx.PySimpleApp() + frame = controllerGUI(None, True) + app.MainLoop() + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_terminal b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_terminal new file mode 100644 index 0000000..abdd1b3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_terminal @@ -0,0 +1,188 @@ +#!/usr/bin/env python + +""" + ArbotiX Terminal - command line terminal to interact with an ArbotiX + Copyright (c) 2008-2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import sys + +from arbotix_python.arbotix import ArbotiX # does this look ridiculous to anyone else? +from arbotix_python.ax12 import * + +# help phrases +help = ["ArbotiX Terminal V0.1", +"", +"valid commands:", +" ls [i b]- list the servos found on the bus. Optional parameters: i - highest ID to query, b - baudrate to query at.", +" mv id id2 - rename any servo with ID=id, to id2", +" baud b - set baud rate of bus to b", +" get param id - get a parameter value from a servo", +" set param id val - set parameter on servo ID=id to val", +"", +"valid parameters", +" pos - current position of a servo, 0-1023", +" spd - current goal speed of a servo, 0-1023", +" baud - baud rate", +" temp - current temperature, degrees C, READ ONLY"] + + +class Terminal(ArbotiX): + OKBLUE = '\033[94m' + OKGREEN = '\033[92m' + WARNING = '\033[93m' + FAIL = '\033[91m' + ENDC = '\033[0m' + + def __init__(self, port = "/dev/ttyUSB0", baud = 115200): + # start + ArbotiX.__init__(self, port, baud) + print("ArbotiX Terminal --- Version 0.1") + print("Copyright 2011 Vanadium Labs LLC") + + # loop + while True: + kmd = input(f">> ").split(" ") + try: + if kmd[0] == "help": # display help data + if len(kmd) > 1: # for a particular command + if kmd[1] == "ls": + print(help[3]) + elif kmd[1] == "mv": + print(help[4]) + elif kmd[1] == "baud": + print(help[5]) + elif kmd[1] == "get": + print(help[6]) + elif kmd[1] == "set": + print(help[7]) + else: + print("help: unrecognized command") + else: + for h in help: + print(h) + + elif kmd[0] == "ls": # list servos + self._ser.timeout = 0.25 + if len(kmd) > 2: + self.write(253, P_BAUD_RATE, [self.convertBaud(int(kmd[1]))]) + self.query() + self.query() + + elif kmd[0] == "mv": # rename a servo + if self.write( int(kmd[1]), P_ID, [int(kmd[2]),] ) == 0: + print(self.OKBLUE+"OK"+self.ENDC) + + elif kmd[0] == "baud": # set bus baud rate + self.write(253, P_BAUD_RATE, [self.convertBaud(int(kmd[1]))]) + print(self.OKBLUE+"OK"+self.ENDC) + + elif kmd[0] == "set": + if kmd[1] == "baud": + self.write( int(kmd[2]), P_BAUD_RATE, [self.convertBaud(int(kmd[3]))] ) + print(self.OKBLUE+"OK"+self.ENDC) + elif kmd[1] == "pos" or kmd[1] == "position": + self.setPosition( int(kmd[2]), int(kmd[3]) ) + print(self.OKBLUE+"OK"+self.ENDC) + elif kmd[1] == "spd" or kmd[1] == "speed": + self.setSpeed( int(kmd[2]), int(kmd[3]) ) + print(self.OKBLUE+"OK"+self.ENDC) + + elif kmd[0] == "get": + if kmd[1] == "temp": + value = self.getTemperature(int(kmd[2])) + if value >= 60 or value < 0: + print(self.FAIL+str(value)+self.ENDC) + elif value > 40: + print(self.WARNING+str(value)+self.ENDC) + else: + print(self.OKGREEN+str(value)+self.ENDC) + elif kmd[1] == "pos" or kmd[1] == "position": + value = self.getPosition(int(kmd[2])) + if value >= 0: + print(self.OKGREEN+str(value)+self.ENDC) + else: + print(self.FAIL+str(value)+self.ENDC) + elif kmd[1] == "spd" or kmd[1] == "speed": + value = self.getGoalSpeed(int(kmd[2])) + if value >= 0: + print(self.OKGREEN+str(value)+self.ENDC) + else: + print(self.FAIL+str(value)+self.ENDC) + + except Exception as e: + print("error...", e) + + def query(self, max_id = 18, baud = 1000000): + k = 0 # how many id's have we printed + for i in range(max_id): + if self.getPosition(i+1) != -1: + if k > 8: + k = 0 + print("") + print(repr(i+1).rjust(4), end="\t"), + k = k + 1 + else: + if k > 8: + k = 0 + print("") + print(" ....", end="\t") + k = k + 1 + sys.stdout.flush() + print("") + + def convertBaud(self, b): + if b == 500000: + return 3 + elif b == 400000: + return 4 + elif b == 250000: + return 7 + elif b == 200000: + return 9 + elif b == 115200: + return 16 + elif b == 57600: + return 34 + elif b == 19200: + return 103 + elif b == 9600: + return 207 + else: + return 1 # default to 1Mbps + + +if __name__ == "__main__": + try: + if len(sys.argv) > 2: + t = Terminal(sys.argv[1], int(sys.argv[2])) + elif len(sys.argv) > 1: + t = Terminal(sys.argv[1]) + else: + t = Terminal() + except KeyboardInterrupt: + print("\nExiting...") + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/demos/diagnostics.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/demos/diagnostics.yaml new file mode 100644 index 0000000..721ec8a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/demos/diagnostics.yaml @@ -0,0 +1,13 @@ +pub_rate: 1.0 # Optional +base_path: '' # Optional, prepended to all diagnostic output +analyzers: + joints: + type: GenericAnalyzer + path: 'Joints' + timeout: 5.0 + contains: '_joint' + encoders: + type: GenericAnalyzer + path: 'Controllers' + timeout: 5.0 + contains: '_controller' diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/mainpage.dox b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/mainpage.dox new file mode 100644 index 0000000..df3c4f5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/mainpage.dox @@ -0,0 +1,11 @@ +/** +\mainpage +\htmlinclude manifest.html + +In addition to the ROS API offered by the driver.py node, arbotix_python offers a Python API for interacting with the ArbotiX or other Dynamixel-like devices. + +\section ArbotixPythonAPI ArbotiX Python API +- \link arbotix_python::arbotix::ArbotiX ArbotiX Class API \endlink +- \link arbotix_python::ax12 Dynamixel register table defintions \endlink + +*/ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/package.xml new file mode 100644 index 0000000..9e71169 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/package.xml @@ -0,0 +1,24 @@ + + arbotix_python + 0.11.0 + + Bindings and low-level controllers for ArbotiX-powered robots. + + Michael Ferguson + Michael Ferguson + BSD + http://ros.org/wiki/arbotix_python + + catkin + + rospy + tf + arbotix_msgs + sensor_msgs + geometry_msgs + diagnostic_msgs + control_msgs + nav_msgs + actionlib + python3-serial + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/setup.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/setup.py new file mode 100644 index 0000000..ee2c54c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + scripts=['bin/arbotix_gui', 'bin/arbotix_terminal'], + packages=['arbotix_python'], + package_dir={'': 'src'}, + ) + +setup(**d) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py new file mode 100644 index 0000000..9e87af0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py @@ -0,0 +1,539 @@ +#!/usr/bin/env python + +# Copyright (c) 2008-2011 Vanadium Labs LLC. +# All right reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of Vanadium Labs LLC nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE +# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +# Author: Michael Ferguson + +## @file arbotix.py Low-level code to control an ArbotiX. + +import serial, time, sys, threading +from arbotix_python.ax12 import * +from struct import unpack, pack + +## @brief ArbotiX errors. Used by now to handle broken serial connections. +class ArbotiXException(Exception): + pass + +## @brief This class controls an ArbotiX, USBDynamixel, or similar board through a serial connection. +class ArbotiX: + + ## @brief Constructs an ArbotiX instance, optionally opening the serial connection. + ## + ## @param port The name of the serial port to open. + ## + ## @param baud The baud rate to run the port at. + ## + ## @param timeout The timeout to use for the port. When operating over a wireless link, you may need to + ## increase this. + ## + ## @param open Whether to open immediately the serial port. + def __init__(self, port="/dev/ttyUSB0", baud=115200, timeout=0.1, open_port=True): + self._mutex = threading._allocate_lock() + self._ser = serial.Serial() + + self._ser.port = port + self._ser.baudrate = baud + self._ser.timeout = timeout + + if open_port: + self._ser.open() + + ## The last error level read back + self.error = 0 + + def __write__(self, msg): + try: + self._ser.write(msg) + except serial.SerialException as e: + self._mutex.release() + raise ArbotiXException(e) + + def openPort(self): + self._ser.close() + try: + self._ser.open() + except serial.SerialException as e: + raise ArbotiXException(e) + + def closePort(self): + self._ser.close() + + ## @brief Read a dynamixel return packet in an iterative attempt. + ## + ## @param mode This should be 0 to start reading packet. + ## + ## @return The error level returned by the device. + def getPacket(self, mode, id=-1, leng=-1, error=-1, params = None): + try: + d = self._ser.read() + except Exception as e: + print(e) + return None + # need a positive byte + if not d or d == '': + return None + + # now process our byte + if mode == 0: # get our first 0xFF + if d == b'\xff': + return self.getPacket(1) + else: + return self.getPacket(0) + elif mode == 1: # get our second 0xFF + if d == b'\xff': + return self.getPacket(2) + else: + return self.getPacket(0) + elif mode == 2: # get id + if d != b'\xff': + return self.getPacket(3, ord(d)) + else: + return self.getPacket(0) + elif mode == 3: # get length + return self.getPacket(4, id, ord(d)) + elif mode == 4: # read error + self.error = d + if leng == 2: + return self.getPacket(6, id, leng, ord(d), list()) + else: + return self.getPacket(5, id, leng, ord(d), list()) + elif mode == 5: # read params + params.append(ord(d)) + if len(params) + 2 == leng: + return self.getPacket(6, id, leng, error, params) + else: + return self.getPacket(5, id, leng, error, params) + elif mode == 6: # read checksum + checksum = id + leng + error + sum(params) + ord(d) + if checksum % 256 != 255: + return None + return params + # fail + return None + + ## @brief Send an instruction to the device. + ## + ## @param index The ID of the servo to write. + ## + ## @param ins The instruction to send. + ## + ## @param params A list of the params to send. + ## + ## @param ret Whether to read a return packet. + ## + ## @return The return packet, if read. + def execute(self, index, ins, params, ret=True): + values = None + self._mutex.acquire() + try: + self._ser.flushInput() + except Exception as e: + print(e) + length = 2 + len(params) + checksum = 255 - ((index + length + ins + sum(params))%256) + packet = bytearray() + packet.append(0xFF) + packet.append(0xFF) + packet.append(index) + packet.append(length) + packet.append(ins) + self.__write__(packet) + for val in params: + self.__write__(bytes([val])) + self.__write__(bytes([checksum])) + if ret: + values = self.getPacket(0) + self._mutex.release() + return values + + ## @brief Read values of registers. + ## + ## @param index The ID of the servo. + ## + ## @param start The starting register address to begin the read at. + ## + ## @param length The number of bytes to read. + ## + ## @return A list of the bytes read, or -1 if failure. + def read(self, index, start, length): + values = self.execute(index, AX_READ_DATA, [start, length]) + if values == None: + return -1 + else: + return values + + ## @brief Write values to registers. + ## + ## @param index The ID of the servo. + ## + ## @param start The starting register address to begin writing to. + ## + ## @param values The data to write, in a list. + ## + ## @return The error level. + def write(self, index, start, values): + self.execute(index, AX_WRITE_DATA, [start] + values) + return self.error + + ## @brief Write values to registers on many servos. + ## + ## @param start The starting register address to begin writing to. + ## + ## @param values The data to write, in a list of lists. Format should be + ## [(id1, val1, val2), (id2, val1, val2)] + def syncWrite(self, start, values): + output = list() + for i in values: + output = output + i + length = len(output) + 4 # length of overall packet + lbytes = len(values[0])-1 # length of bytes to write to a servo + self._mutex.acquire() + try: + self._ser.flushInput() + except: + pass + packet = bytearray() + packet.append(0xFF) + packet.append(0xFF) + packet.append(254) + packet.append(length) + packet.append(AX_SYNC_WRITE) + self.__write__(packet) + self.__write__(bytes([start])) # start address + self.__write__(bytes([lbytes])) # bytes to write each servo + for i in output: + self.__write__(bytes([i])) + checksum = 255 - ((254 + length + AX_SYNC_WRITE + start + lbytes + sum(output))%256) + self.__write__(bytes([checksum])) + self._mutex.release() + + ## @brief Read values of registers on many servos. + ## + ## @param servos A list of the servo IDs to read from. + ## + ## @param start The starting register address to begin reading at. + ## + ## @param length The number of bytes to read from each servo. + ## + ## @return A list of bytes read. + def syncRead(self, servos, start, length): + return self.execute(0xFE, AX_SYNC_READ, [start, length] + servos ) + + ## @brief Set baud rate of a device. + ## + ## @param index The ID of the device to write (Note: ArbotiX is 253). + ## + ## @param baud The baud rate. + ## + ## @return The error level. + def setBaud(self, index, baud): + return self.write(index, P_BAUD_RATE, [baud, ]) + + ## @brief Get the return level of a device. + ## + ## @param index The ID of the device to read. + ## + ## @return The return level, . + def getReturnLevel(self, index): + try: + return int(self.read(index, P_RETURN_LEVEL, 1)[0]) + except: + return -1 + + ## @brief Set the return level of a device. + ## + ## @param index The ID of the device to write. + ## + ## @param value The return level. + ## + ## @return The error level. + def setReturnLevel(self, index, value): + return self.write(index, P_RETURN_LEVEL, [value]) + + ## @brief Turn on the torque of a servo. + ## + ## @param index The ID of the device to enable. + ## + ## @return The error level. + def enableTorque(self, index): + return self.write(index, P_TORQUE_ENABLE, [1]) + + ## @brief Turn on the torque of a servo. + ## + ## @param index The ID of the device to disable. + ## + ## @return The error level. + def disableTorque(self, index): + return self.write(index, P_TORQUE_ENABLE, [0]) + + ## @brief Set the status of the LED on a servo. + ## + ## @param index The ID of the device to write. + ## + ## @param value 0 to turn the LED off, >0 to turn it on + ## + ## @return The error level. + def setLed(self, index, value): + return self.write(index, P_LED, [value]) + + ## @brief Set the position of a servo. + ## + ## @param index The ID of the device to write. + ## + ## @param value The position to go to in, in servo ticks. + ## + ## @return The error level. + def setPosition(self, index, value): + return self.write(index, P_GOAL_POSITION_L, [value%256, value>>8]) + + ## @brief Set the speed of a servo. + ## + ## @param index The ID of the device to write. + ## + ## @param value The speed to write. + ## + ## @return The error level. + def setSpeed(self, index, value): + return self.write(index, P_GOAL_SPEED_L, [value%256, value>>8]) + + ## @brief Get the position of a servo. + ## + ## @param index The ID of the device to read. + ## + ## @return The servo position. + def getPosition(self, index): + values = self.read(index, P_PRESENT_POSITION_L, 2) + try: + return int(values[0]) + (int(values[1])<<8) + except: + return -1 + + ## @brief Get the speed of a servo. + ## + ## @param index The ID of the device to read. + ## + ## @return The servo speed. + def getSpeed(self, index): + values = self.read(index, P_PRESENT_SPEED_L, 2) + try: + return int(values[0]) + (int(values[1])<<8) + except: + return -1 + + ## @brief Get the goal speed of a servo. + ## + ## @param index The ID of the device to read. + ## + ## @return The servo goal speed. + def getGoalSpeed(self, index): + values = self.read(index, P_GOAL_SPEED_L, 2) + try: + return int(values[0]) + (int(values[1])<<8) + except: + return -1 + + ## @brief Get the voltage of a device. + ## + ## @param index The ID of the device to read. + ## + ## @return The voltage, in Volts. + def getVoltage(self, index): + try: + return int(self.read(index, P_PRESENT_VOLTAGE, 1)[0])/10.0 + except: + return -1 + + ## @brief Get the temperature of a device. + ## + ## @param index The ID of the device to read. + ## + ## @return The temperature, in degrees C. + def getTemperature(self, index): + try: + return int(self.read(index, P_PRESENT_TEMPERATURE, 1)[0]) + except: + return -1 + + ## @brief Determine if a device is moving. + ## + ## @param index The ID of the device to read. + ## + ## @return True if servo is moving. + def isMoving(self, index): + try: + d = self.read(index, P_MOVING, 1)[0] + except: + return True + return d != 0 + + ## @brief Put a servo into wheel mode (continuous rotation). + ## + ## @param index The ID of the device to write. + def enableWheelMode(self, index): + self.write(index, P_CCW_ANGLE_LIMIT_L, [0,0]) + + ## @brief Put a servo into servo mode. + ## + ## @param index The ID of the device to write. + ## + ## @param resolution The resolution of the encoder on the servo. NOTE: if using + ## 12-bit resolution servos (EX-106, MX-28, etc), you must pass resolution = 12. + ## + ## @return + def disableWheelMode(self, index, resolution=10): + resolution = (2 ** resolution) - 1 + self.write(index, P_CCW_ANGLE_LIMIT_L, [resolution%256,resolution>>8]) + + ## Direction definition for setWheelSpeed + FORWARD = 0 + ## Direction definition for setWheelSpeed + BACKWARD = 1 + + ## @brief Set the speed and direction of a servo which is in wheel mode (continuous rotation). + ## + ## @param index The ID of the device to write. + ## + ## @param direction The direction of rotation, either FORWARD or BACKWARD + ## + ## @param speed The speed to move at (0-1023). + ## + ## @return + def setWheelSpeed(self, index, direction, speed): + if speed > 1023: + speed = 1023 + if direction == self.FORWARD: + # 0~1023 is forward, it is stopped by setting to 0 while rotating to CCW direction. + self.write(index, P_GOAL_SPEED_L, [speed%256, speed>>8]) + else: + # 1024~2047 is backward, it is stopped by setting to 1024 while rotating to CW direction. + speed += 1024 + self.write(index, P_GOAL_SPEED_L, [speed%256, speed>>8]) + + ########################################################################### + # Extended ArbotiX Driver + + ## Helper definition for analog and digital access. + LOW = 0 + ## Helper definition for analog and digital access. + HIGH = 0xff + ## Helper definition for analog and digital access. + INPUT = 0 + ## Helper definition for analog and digital access. + OUTPUT = 0xff + + # ArbotiX-specific register table + # We do Model, Version, ID, Baud, just like the AX-12 + ## Register base address for reading digital ports + REG_DIGITAL_IN0 = 5 + REG_DIGITAL_IN1 = 6 + REG_DIGITAL_IN2 = 7 + REG_DIGITAL_IN3 = 8 + ## Register address for triggering rescan + REG_RESCAN = 15 + # 16, 17 = RETURN, ALARM + ## Register address of first analog port (read only). + ## Each additional port is BASE + index. + ANA_BASE = 18 + ## Register address of analog servos. Up to 10 servos, each + ## uses 2 bytes (L, then H), pulse width (0, 1000-2000ms) (Write only) + SERVO_BASE = 26 + # Address 46 is Moving, just like an AX-12 + REG_DIGITAL_OUT0 = 47 + + ## @brief Force the ArbotiX2 to rescan the Dynamixel busses. + def rescan(self): + self.write(253, self.REG_RESCAN, [1,]) + + ## @brief Get the value of an analog input pin. + ## + ## @param index The ID of the pin to read (0 to 7). + ## + ## @param leng The number of bytes to read (1 or 2). + ## + ## @return 8-bit/16-bit analog value of the pin, -1 if error. + def getAnalog(self, index, leng=1): + try: + val = self.read(253, self.ANA_BASE+int(index), leng) + return sum(val[i] << (i * 8) for i in range(leng)) + except: + return -1 + + ## @brief Get the value of an digital input pin. + ## + ## @param index The ID of the pin to read (0 to 31). + ## + ## @return 0 for low, 255 for high, -1 if error. + def getDigital(self, index): + try: + if index < 32: + x = self.read(253, self.REG_DIGITAL_IN0 + int(index/8), 1)[0] + else: + return -1 + except: + return -1 + if x & (2**(index%8)): + return 255 + else: + return 0 + + ## @brief Get the value of an digital input pin. + ## + ## @param index The ID of the pin to write (0 to 31). + ## + ## @param value The value of the port, >0 is high. + ## + ## @param direction The direction of the port, >0 is output. + ## + ## @return -1 if error. + def setDigital(self, index, value, direction=0xff): + if index > 31: return -1 + if value == 0 and direction > 0: + self.write(253, self.REG_DIGITAL_OUT0 + int(index), [1]) + elif value > 0 and direction > 0: + self.write(253, self.REG_DIGITAL_OUT0 + int(index), [3]) + elif value > 0 and direction == 0: + self.write(253, self.REG_DIGITAL_OUT0 + int(index), [2]) + else: + self.write(253, self.REG_DIGITAL_OUT0 + int(index), [0]) + return 0 + + ## @brief Set the position of a hobby servo. + ## + ## @param index The ID of the servo to write (0 to 7). + ## + ## @param value The position of the servo in milliseconds (1500-2500). + ## A value of 0 disables servo output. + ## + ## @return -1 if error. + def setServo(self, index, value): + if index > 7: return -1 + if value != 0 and (value < 500 or value > 2500): + print("ArbotiX Error: Servo value out of range:", value) + else: + self.write(253, self._SERVO_BASE + 2*index, [value%256, value>>8]) + return 0 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py new file mode 100644 index 0000000..de6c9b4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python + +# Copyright (c) 2008-2011 Vanadium Labs LLC. +# All right reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of Vanadium Labs LLC nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE +# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +# Author: Michael Ferguson + +## @file ax12.py Definitions of AX-12 control table. + +# Control Table Symbolic Constants - EEPROM AREA +P_MODEL_NUMBER_L = 0 +P_MODEL_NUMBER_H = 1 +P_VERSION = 2 +P_ID = 3 +P_BAUD_RATE = 4 +P_RETURN_DELAY_TIME = 5 +P_CW_ANGLE_LIMIT_L = 6 +P_CW_ANGLE_LIMIT_H = 7 +P_CCW_ANGLE_LIMIT_L = 8 +P_CCW_ANGLE_LIMIT_H = 9 +P_SYSTEM_DATA2 = 10 +P_LIMIT_TEMPERATURE = 11 +P_DOWN_LIMIT_VOLTAGE = 12 +P_UP_LIMIT_VOLTAGE = 13 +P_MAX_TORQUE_L = 14 +P_MAX_TORQUE_H = 15 +P_RETURN_LEVEL = 16 +P_ALARM_LED = 17 +P_ALARM_SHUTDOWN = 18 +P_OPERATING_MODE = 19 +P_DOWN_CALIBRATION_L = 20 +P_DOWN_CALIBRATION_H = 21 +P_UP_CALIBRATION_L = 22 +P_UP_CALIBRATION_H = 23 +# Control Table Symbolic Constants - RAM AREA +P_TORQUE_ENABLE = 24 +P_LED = 25 +P_CW_COMPLIANCE_MARGIN = 26 +P_CCW_COMPLIANCE_MARGIN = 27 +P_CW_COMPLIANCE_SLOPE = 28 +P_CCW_COMPLIANCE_SLOPE = 29 +P_GOAL_POSITION_L = 30 +P_GOAL_POSITION_H = 31 +P_GOAL_SPEED_L = 32 +P_GOAL_SPEED_H = 33 +P_TORQUE_LIMIT_L = 34 +P_TORQUE_LIMIT_H = 35 +P_PRESENT_POSITION_L = 36 +P_PRESENT_POSITION_H = 37 +P_PRESENT_SPEED_L = 38 +P_PRESENT_SPEED_H = 39 +P_PRESENT_LOAD_L = 40 +P_PRESENT_LOAD_H = 41 +P_PRESENT_VOLTAGE = 42 +P_PRESENT_TEMPERATURE = 43 +P_REGISTERED_INSTRUCTION = 44 +P_PAUSE_TIME = 45 +P_MOVING = 46 +P_LOCK = 47 +P_PUNCH_L = 48 +P_PUNCH_H = 49 + +# Status Return Levels +AX_RETURN_NONE = 0 +AX_RETURN_READ = 1 +AX_RETURN_ALL = 2 + +# Instruction Set +AX_PING = 1 +AX_READ_DATA = 2 +AX_WRITE_DATA = 3 +AX_REG_WRITE = 4 +AX_ACTION = 5 +AX_RESET = 6 +AX_SYNC_WRITE = 131 +AX_SYNC_READ = 132 + +AX_CONTROL_SETUP = 26 +AX_CONTROL_WRITE = 27 +AX_CONTROL_STAT = 28 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py new file mode 100644 index 0000000..8d6a645 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python + +# Copyright (c) 2010-2011 Vanadium Labs LLC. +# All right reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of Vanadium Labs LLC nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE +# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +## @file controllers.py Base class and support functions for a controllers. + +## @brief Controllers interact with ArbotiX hardware. +class Controller: + + ## @brief Constructs a Controller instance. + ## + ## @param device The arbotix instance. + ## + ## @param name The controller name. + def __init__(self, device, name): + self.name = name + self.device = device + self.fake = device.fake + self.pause = False + + # output for joint states publisher + self.joint_names = list() + self.joint_positions = list() + self.joint_velocities = list() + + ## @brief Start the controller, do any hardware setup needed. + def startup(self): + pass + + ## @brief Do any read/writes to device. + def update(self): + pass + + ## @brief Stop the controller, do any hardware shutdown needed. + def shutdown(self): + pass + + ## @brief Is the controller actively sending commands to joints? + def active(self): + return False + + ## @brief Get a diagnostics message for this joint. + ## + ## @return Diagnostics message. + def getDiagnostics(self): + msg = DiagnosticStatus() + msg.name = self.name + msg.level = DiagnosticStatus.OK + msg.message = "OK" + return msg + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py new file mode 100644 index 0000000..b21d271 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py @@ -0,0 +1,261 @@ +#!/usr/bin/env python + +""" + diff_controller.py - controller for a differential drive + Copyright (c) 2010-2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy + +from math import sin,cos,pi + +from geometry_msgs.msg import Quaternion +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry +from diagnostic_msgs.msg import * +from tf.broadcaster import TransformBroadcaster + +from arbotix_python.ax12 import * +from arbotix_python.controllers import * +from struct import unpack + +class DiffController(Controller): + """ Controller to handle movement & odometry feedback for a differential + drive mobile base. """ + def __init__(self, device, name): + Controller.__init__(self, device, name) + self.pause = True + self.last_cmd = rospy.Time.now() + + # parameters: rates and geometry + self.rate = rospy.get_param('~controllers/'+name+'/rate',10.0) + self.timeout = rospy.get_param('~controllers/'+name+'/timeout',1.0) + self.t_delta = rospy.Duration(1.0/self.rate) + self.t_next = rospy.Time.now() + self.t_delta + self.ticks_meter = float(rospy.get_param('~controllers/'+name+'/ticks_meter')) + self.base_width = float(rospy.get_param('~controllers/'+name+'/base_width')) + + self.base_frame_id = rospy.get_param('~controllers/'+name+'/base_frame_id', 'base_link') + self.odom_frame_id = rospy.get_param('~controllers/'+name+'/odom_frame_id', 'odom') + + # parameters: PID + self.Kp = rospy.get_param('~controllers/'+name+'/Kp', 5) + self.Kd = rospy.get_param('~controllers/'+name+'/Kd', 1) + self.Ki = rospy.get_param('~controllers/'+name+'/Ki', 0) + self.Ko = rospy.get_param('~controllers/'+name+'/Ko', 50) + + # parameters: acceleration + self.accel_limit = rospy.get_param('~controllers/'+name+'/accel_limit', 0.1) + self.max_accel = int(self.accel_limit*self.ticks_meter/self.rate) + + # output for joint states publisher + self.joint_names = ["base_l_wheel_joint","base_r_wheel_joint"] + self.joint_positions = [0,0] + self.joint_velocities = [0,0] + + # internal data + self.v_left = 0 # current setpoint velocity + self.v_right = 0 + self.v_des_left = 0 # cmd_vel setpoint + self.v_des_right = 0 + self.enc_left = None # encoder readings + self.enc_right = None + self.x = 0 # position in xy plane + self.y = 0 + self.th = 0 + self.dx = 0 # speeds in x/rotation + self.dr = 0 + self.then = rospy.Time.now() # time for determining dx/dy + + # subscriptions + rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb) + self.odomPub = rospy.Publisher("odom", Odometry, queue_size=5) + self.odomBroadcaster = TransformBroadcaster() + + rospy.loginfo("Started DiffController ("+name+"). Geometry: " + str(self.base_width) + "m wide, " + str(self.ticks_meter) + " ticks/m.") + + def startup(self): + if not self.fake: + self.setup(self.Kp,self.Kd,self.Ki,self.Ko) + + def update(self): + now = rospy.Time.now() + if now > self.t_next: + elapsed = now - self.then + self.then = now + elapsed = elapsed.to_sec() + + if self.fake: + x = cos(self.th)*self.dx*elapsed + y = -sin(self.th)*self.dx*elapsed + self.x += cos(self.th)*self.dx*elapsed + self.y += sin(self.th)*self.dx*elapsed + self.th += self.dr*elapsed + else: + # read encoders + try: + left, right = self.status() + except Exception as e: + rospy.logerr("Could not update encoders: " + str(e)) + return + rospy.logdebug("Encoders: " + str(left) +","+ str(right)) + + # calculate odometry + if self.enc_left == None: + d_left = 0 + d_right = 0 + else: + d_left = (left - self.enc_left)/self.ticks_meter + d_right = (right - self.enc_right)/self.ticks_meter + self.enc_left = left + self.enc_right = right + + d = (d_left+d_right)/2 + th = (d_right-d_left)/self.base_width + self.dx = d / elapsed + self.dr = th / elapsed + + if (d != 0): + x = cos(th)*d + y = -sin(th)*d + self.x = self.x + (cos(self.th)*x - sin(self.th)*y) + self.y = self.y + (sin(self.th)*x + cos(self.th)*y) + if (th != 0): + self.th = self.th + th + + # publish or perish + quaternion = Quaternion() + quaternion.x = 0.0 + quaternion.y = 0.0 + quaternion.z = sin(self.th/2) + quaternion.w = cos(self.th/2) + self.odomBroadcaster.sendTransform( + (self.x, self.y, 0), + (quaternion.x, quaternion.y, quaternion.z, quaternion.w), + rospy.Time.now(), + self.base_frame_id, + self.odom_frame_id + ) + + odom = Odometry() + odom.header.stamp = now + odom.header.frame_id = self.odom_frame_id + odom.pose.pose.position.x = self.x + odom.pose.pose.position.y = self.y + odom.pose.pose.position.z = 0 + odom.pose.pose.orientation = quaternion + odom.child_frame_id = self.base_frame_id + odom.twist.twist.linear.x = self.dx + odom.twist.twist.linear.y = 0 + odom.twist.twist.angular.z = self.dr + self.odomPub.publish(odom) + + if now > (self.last_cmd + rospy.Duration(self.timeout)): + self.v_des_left = 0 + self.v_des_right = 0 + + # update motors + if not self.fake: + if self.v_left < self.v_des_left: + self.v_left += self.max_accel + if self.v_left > self.v_des_left: + self.v_left = self.v_des_left + else: + self.v_left -= self.max_accel + if self.v_left < self.v_des_left: + self.v_left = self.v_des_left + + if self.v_right < self.v_des_right: + self.v_right += self.max_accel + if self.v_right > self.v_des_right: + self.v_right = self.v_des_right + else: + self.v_right -= self.max_accel + if self.v_right < self.v_des_right: + self.v_right = self.v_des_right + self.write(self.v_left, self.v_right) + + self.t_next = now + self.t_delta + + def shutdown(self): + if not self.fake: + self.write(0,0) + + def cmdVelCb(self,req): + """ Handle movement requests. """ + self.last_cmd = rospy.Time.now() + if self.fake: + self.dx = req.linear.x # m/s + self.dr = req.angular.z # rad/s + else: + # set motor speeds in ticks per 1/30s + self.v_des_left = int( ((req.linear.x - (req.angular.z * self.base_width/2.0)) * self.ticks_meter) / 30.0) + self.v_des_right = int( ((req.linear.x + (req.angular.z * self.base_width/2.0)) * self.ticks_meter) / 30.0) + + def getDiagnostics(self): + """ Get a diagnostics status. """ + msg = DiagnosticStatus() + msg.name = self.name + msg.level = DiagnosticStatus.OK + msg.message = "OK" + if not self.fake: + msg.values.append(KeyValue("Left", str(self.enc_left))) + msg.values.append(KeyValue("Right", str(self.enc_right))) + msg.values.append(KeyValue("dX", str(self.dx))) + msg.values.append(KeyValue("dR", str(self.dr))) + return msg + + ### + ### Controller Specification: + ### + ### setup: Kp, Kd, Ki, Ko (all unsigned char) + ### + ### write: left_speed, right_speed (2-byte signed, ticks per frame) + ### + ### status: left_enc, right_enc (4-byte signed) + ### + + def setup(self, kp, kd, ki, ko): + success = self.device.execute(253, AX_CONTROL_SETUP, [10, kp, kd, ki, ko]) + + def write(self, left, right): + """ Send a closed-loop speed. Base PID loop runs at 30Hz, these values + are therefore in ticks per 1/30 second. """ + left = left&0xffff + right = right&0xffff + success = self.device.execute(253, AX_CONTROL_WRITE, [10, left%256, left>>8, right%256, right>>8]) + + def status(self): + """ read 32-bit (signed) encoder values. """ + values = self.device.execute(253, AX_CONTROL_STAT, [10]) + left_values = "".join([chr(k) for k in values[0:4] ]) + right_values = "".join([chr(k) for k in values[4:] ]) + try: + left = unpack('=l',left_values)[0] + right = unpack('=l',right_values)[0] + return [left, right] + except: + return None + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py new file mode 100644 index 0000000..7ddcb34 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python + +""" + follow_controller.py - controller for a kinematic chain + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy, actionlib + +from control_msgs.msg import FollowJointTrajectoryAction +from trajectory_msgs.msg import JointTrajectory +from diagnostic_msgs.msg import * + +from arbotix_python.ax12 import * +from arbotix_python.controllers import * + +class FollowController(Controller): + """ A controller for joint chains, exposing a FollowJointTrajectory action. """ + + def __init__(self, device, name): + Controller.__init__(self, device, name) + self.interpolating = 0 + + # parameters: rates and joints + self.rate = rospy.get_param('~controllers/'+name+'/rate',50.0) + self.joints = rospy.get_param('~controllers/'+name+'/joints') + self.index = rospy.get_param('~controllers/'+name+'/index', len(device.controllers)) + for joint in self.joints: + self.device.joints[joint].controller = self + + # action server + name = rospy.get_param('~controllers/'+name+'/action_name','follow_joint_trajectory') + self.server = actionlib.SimpleActionServer(name, FollowJointTrajectoryAction, execute_cb=self.actionCb, auto_start=False) + + # good old trajectory + rospy.Subscriber(self.name+'/command', JointTrajectory, self.commandCb) + self.executing = False + + rospy.loginfo("Started FollowController ("+self.name+"). Joints: " + str(self.joints) + " on C" + str(self.index)) + + def startup(self): + self.server.start() + + def actionCb(self, goal): + rospy.loginfo(self.name + ": Action goal recieved.") + traj = goal.trajectory + + if set(self.joints) != set(traj.joint_names): + for j in self.joints: + if j not in traj.joint_names: + msg = "Trajectory joint names does not match action controlled joints." + str(traj.joint_names) + rospy.logerr(msg) + self.server.set_aborted(text=msg) + return + rospy.logwarn("Extra joints in trajectory") + + if not traj.points: + msg = "Trajectory empy." + rospy.logerr(msg) + self.server.set_aborted(text=msg) + return + + try: + indexes = [traj.joint_names.index(joint) for joint in self.joints] + except ValueError as val: + msg = "Trajectory invalid." + rospy.logerr(msg) + self.server.set_aborted(text=msg) + return + + retval = self.executeTrajectory(traj) # retval: 1: successful, 0: canceled, -1: failed + if retval == 1: + self.server.set_succeeded() + rospy.loginfo(self.name + ": Done.") + elif retval == 0: + self.server.set_preempted(text="Goal canceled.") + rospy.loginfo(self.name + ": Goal canceled.") + else: + self.server.set_aborted(text="Execution failed.") + rospy.loginfo(self.name + ": Execution failed.") + + + def commandCb(self, msg): + # don't execute if executing an action + if self.server.is_active(): + rospy.loginfo(self.name+": Received trajectory, but action is active") + return + self.executing = True + self.executeTrajectory(msg) + self.executing = False + + def executeTrajectory(self, traj): + rospy.loginfo("Executing trajectory") + rospy.logdebug(traj) + # carry out trajectory + try: + indexes = [traj.joint_names.index(joint) for joint in self.joints] + except ValueError as val: + rospy.logerr("Invalid joint in trajectory.") + return -1 + + # get starting timestamp, MoveIt uses 0, need to fill in + start = traj.header.stamp + if start.secs == 0 and start.nsecs == 0: + start = rospy.Time.now() + + r = rospy.Rate(self.rate) + last = [ self.device.joints[joint].position for joint in self.joints ] + for point in traj.points: + while rospy.Time.now() + rospy.Duration(0.01) < start: + if self.server.is_preempt_requested(): + return 0 + rospy.sleep(0.01) + desired = [ point.positions[k] for k in indexes ] + endtime = start + point.time_from_start + while rospy.Time.now() + rospy.Duration(0.01) < endtime: + # check that preempt has not been requested by the client + if self.server.is_preempt_requested(): + return 0 + + err = [ (d-c) for d,c in zip(desired,last) ] + velocity = [ abs(x / (self.rate * (endtime - rospy.Time.now()).to_sec())) for x in err ] + rospy.logdebug(err) + for i in range(len(self.joints)): + if err[i] > 0.001 or err[i] < -0.001: + cmd = err[i] + top = velocity[i] + if cmd > top: + cmd = top + elif cmd < -top: + cmd = -top + last[i] += cmd + self.device.joints[self.joints[i]].setControlOutput(last[i]) + else: + velocity[i] = 0 + r.sleep() + return 1 + + def active(self): + """ Is controller overriding servo internal control? """ + return self.server.is_active() or self.executing + + def getDiagnostics(self): + """ Get a diagnostics status. """ + msg = DiagnosticStatus() + msg.name = self.name + msg.level = DiagnosticStatus.OK + msg.message = "OK" + if self.active(): + msg.values.append(KeyValue("State", "Active")) + else: + msg.values.append(KeyValue("State", "Not Active")) + return msg + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py new file mode 100644 index 0000000..7f1fa5a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python + +""" + io.py - ROS wrappers for ArbotiX I/O + Copyright (c) 2010-2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy +from arbotix_msgs.msg import * + +class DigitalServo: + """ Class for a digital output. """ + def __init__(self, name, pin, value, rate, device): + self.device = device + self.value = value + self.direction = 0 + self.pin = pin + self.device.setDigital(self.pin, self.value, self.direction) + rospy.Subscriber('~'+name, Digital, self.stateCb) + self.t_delta = rospy.Duration(1.0/rate) + self.t_next = rospy.Time.now() + self.t_delta + def stateCb(self, msg): + self.value = msg.value + self.direction = msg.direction + def update(self): + if rospy.Time.now() > self.t_next: + self.device.setDigital(self.pin, self.value, self.direction) + self.t_next = rospy.Time.now() + self.t_delta + +class DigitalSensor: + """ Class for a digital input. """ + def __init__(self, name, pin, value, rate, device): + self.device = device + self.pin = pin + self.device.setDigital(pin, value, 0) + self.pub = rospy.Publisher('~'+name, Digital, queue_size=5) + self.t_delta = rospy.Duration(1.0/rate) + self.t_next = rospy.Time.now() + self.t_delta + def update(self): + if rospy.Time.now() > self.t_next: + msg = Digital() + msg.header.stamp = rospy.Time.now() + msg.value = self.device.getDigital(self.pin) + self.pub.publish(msg) + self.t_next = rospy.Time.now() + self.t_delta + +class AnalogSensor: + """ Class for an analog input. """ + def __init__(self, name, pin, value, rate, leng, device): + self.device = device + self.pin = pin + self.device.setDigital(pin, value, 0) + self.pub = rospy.Publisher('~'+name, Analog, queue_size=5) + self.t_delta = rospy.Duration(1.0/rate) + self.t_next = rospy.Time.now() + self.t_delta + self.leng = leng + def update(self): + if rospy.Time.now() > self.t_next: + msg = Analog() + msg.header.stamp = rospy.Time.now() + msg.value = self.device.getAnalog(self.pin, self.leng) + if msg.value >= 0: + self.pub.publish(msg) + self.t_next = rospy.Time.now() + self.t_delta + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py new file mode 100644 index 0000000..6c5cd60 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py @@ -0,0 +1,160 @@ +#!/usr/bin/env python + +# Copyright (c) 2010-2011 Vanadium Labs LLC. +# All right reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of Vanadium Labs LLC nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, +# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE +# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +## @file joints.py Base class and support functions for joints. + +## @brief Joints hold current values. +class Joint: + + ## @brief Constructs a Joint instance. + ## + ## @param device The arbotix instance. + ## + ## @param name The joint name. + def __init__(self, device, name): + self.device = device + self.name = name + self.controller = None + + self.position = 0.0 + self.velocity = 0.0 + self.last = rospy.Time.now() + + ## @brief Get new output, in raw data format. + ## + ## @param frame The frame length in seconds to interpolate forward. + ## + ## @return The new output, in raw data format. + def interpolate(self, frame): + return None + + ## @brief Set the current position from feedback data. + ## + ## @param raw_data The current feedback. + ## + ## @return The current position, in radians/meters. + def setCurrentFeedback(self, raw_data): + return None + + ## @brief Set the goal position. + ## + ## @param position The goal position, in radians/meters. + ## + ## @return The output position, in raw data format. + def setControlOutput(self, position): + return None + + ## @brief Get a diagnostics message for this joint. + ## + ## @return Diagnostics message. + def getDiagnostics(self): + return None + + +import rospy +import xml.dom.minidom + +from math import pi, radians + +## @brief Get joint parameters from URDF +def getJointsFromURDF(): + try: + description = rospy.get_param("robot_description") + robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0] + joints = {} + # Find all non-fixed joints + for child in robot.childNodes: + if child.nodeType is child.TEXT_NODE: + continue + if child.localName == 'joint': + jtype = child.getAttribute('type') + if jtype == 'fixed': + continue + name = child.getAttribute('name') + if jtype == 'continuous': + minval = -pi + maxval = pi + else: + limit = child.getElementsByTagName('limit')[0] + minval = float(limit.getAttribute('lower')) + maxval = float(limit.getAttribute('upper')) + + if minval > 0 or maxval < 0: + zeroval = (maxval + minval)/2 + else: + zeroval = 0 + + joint = {'min':minval, 'max':maxval, 'zero':zeroval, 'value':zeroval } + joints[name] = joint + return joints + except: + rospy.loginfo('No URDF defined, proceeding with defaults') + return dict() + + +## @brief Get limits of servo, from YAML, then URDF, then defaults if neither is defined. +def getJointLimits(name, joint_defaults, default_min=-150, default_max=150): + min_angle = radians(default_min) + max_angle = radians(default_max) + + try: + min_angle = joint_defaults[name]['min'] + except: + pass + try: + min_angle = radians(rospy.get_param("/arbotix/dynamixels/"+name+"/min_angle")) + except: + pass + try: + min_angle = radians(rospy.get_param("/arbotix/joints/"+name+"/min_angle")) + except: + pass + try: + min_angle = rospy.get_param("/arbotix/joints/"+name+"/min_position") + except: + pass + + try: + max_angle = joint_defaults[name]['max'] + except: + pass + try: + max_angle = radians(rospy.get_param("/arbotix/dynamixels/"+name+"/max_angle")) + except: + pass + try: + max_angle = radians(rospy.get_param("/arbotix/joints/"+name+"/max_angle")) + except: + pass + try: + max_angle = rospy.get_param("/arbotix/joints/"+name+"/max_position") + except: + pass + + return (min_angle, max_angle) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py new file mode 100644 index 0000000..e994260 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py @@ -0,0 +1,285 @@ +#!/usr/bin/env python + +""" + linear_controller.py - controller for a linear actuator with analog feedback + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy, actionlib + +from arbotix_python.joints import * +from arbotix_python.controllers import * +from std_msgs.msg import Float64 +from diagnostic_msgs.msg import * +from std_srvs.srv import * + +from struct import unpack + +class LinearJoint(Joint): + def __init__(self, device, name): + Joint.__init__(self, device, name) + + self.dirty = False + self.position = 0.0 # current position, as returned by feedback (meters) + self.desired = 0.0 # desired position (meters) + self.velocity = 0.0 # moving speed + self.last = rospy.Time.now() + + # TODO: load these from URDF + self.min = rospy.get_param('~joints/'+name+'/min_position',0.0) + self.max = rospy.get_param('~joints/'+name+'/max_position',0.5) + self.max_speed = rospy.get_param('~joints/'+name+'/max_speed',0.0508) + + # calibration data {reading: position} + self.cal = { -1: -1, 1: 1 } + self.cal_raw = rospy.get_param('~joints/'+name+'/calibration_data', self.cal) + self.cal = dict() + for key, value in self.cal_raw.items(): + self.cal[int(key)] = value + self.keys = sorted(self.cal.keys()) + + rospy.Subscriber(name+'/command', Float64, self.commandCb) + + def interpolate(self, frame): + """ Get new output: 1 = increase position, -1 is decrease position. """ + if self.dirty: + cmd = self.desired - self.position + if self.device.fake: + self.position = self.desired + self.dirty = False + return None + if cmd > 0.01: + return 1 + elif cmd < -0.01: + return -1 + else: + self.dirty = False + return 0 + else: + return None + + def setCurrentFeedback(self, reading): + if reading >= self.keys[0] and reading <= self.keys[-1]: + last_angle = self.position + self.position = self.readingToPosition(reading) + # update velocity estimate + t = rospy.Time.now() + self.velocity = (self.position - last_angle)/((t - self.last).to_nsec()/1000000000.0) + self.last = t + else: + rospy.logerr(self.name + ": feedback reading out of range") + + def setControlOutput(self, position): + """ Set the position that controller is moving to. + Returns output value in raw_data format. """ + if position <= self.max and position >= self.min: + self.desired = position + self.dirty = True + else: + rospy.logerr(self.name + ": requested position is out of range: " + str(position)) + return None # TODO + + def getDiagnostics(self): + """ Get a diagnostics status. """ + msg = DiagnosticStatus() + msg.name = self.name + msg.level = DiagnosticStatus.OK + if self.dirty: + msg.message = "Moving" + else: + msg.message = "OK" + msg.values.append(KeyValue("Position", str(self.position))) + return msg + + def commandCb(self, req): + """ Float64 style command input. """ + if self.device.fake: + self.position = req.data + else: + if req.data <= self.max and req.data >= self.min: + self.desired = req.data + self.dirty = True + else: + rospy.logerr(self.name + ": requested position is out of range: " + str(req)) + + def readingToPosition(self, reading): + low = 0 + while reading > self.keys[low+1]: + low += 1 + high = len(self.keys) - 1 + while reading < self.keys[high-1]: + high += -1 + x = self.keys[high] - self.keys[low] + y = self.cal[self.keys[high]] - self.cal[self.keys[low]] + x1 = reading - self.keys[low] + y1 = y * ( float(x1)/float(x) ) + return self.cal[self.keys[low]] + y1 + + +class LinearControllerAbsolute(Controller): + """ A controller for a linear actuator, with absolute positional feedback. """ + + def __init__(self, device, name): + Controller.__init__(self, device, name) + + self.a = rospy.get_param('~controllers/'+name+'/motor_a',29) + self.b = rospy.get_param('~controllers/'+name+'/motor_b',30) + self.p = rospy.get_param('~controllers/'+name+'/motor_pwm',31) + self.analog = rospy.get_param('~controllers/'+name+'/feedback',0) + self.last = 0 + self.last_reading = 0 + + self.delta = rospy.Duration(1.0/rospy.get_param('~controllers/'+name+'/rate', 10.0)) + self.next = rospy.Time.now() + self.delta + + self.joint = device.joints[rospy.get_param('~controllers/'+name+'/joint')] + + rospy.loginfo("Started LinearController ("+self.name+").") + + def startup(self): + if not self.fake: + self.joint.setCurrentFeedback(self.device.getAnalog(self.analog)) + + def update(self): + now = rospy.Time.now() + if now > self.next: + # read current position + if self.joint.dirty: + if not self.fake: + try: + self.last_reading = self.getPosition() + self.joint.setCurrentFeedback(self.last_reading) + except Exception as e: + print("linear error: ", e) + # update movement + output = self.joint.interpolate(1.0/self.delta.to_sec()) + if self.last != output and not self.fake: + self.setSpeed(output) + self.last = output + self.next = now + self.delta + + def setSpeed(self, speed): + """ Set speed of actuator. """ + if speed > 0: + self.device.setDigital(self.a, 0); self.device.setDigital(self.b, 1); # up + self.device.setDigital(self.p, 1) + elif speed < 0: + self.device.setDigital(self.a, 1); self.device.setDigital(self.b, 0); # down + self.device.setDigital(self.p, 1) + else: + self.device.setDigital(self.p, 0) + + def getPosition(self): + return self.device.getAnalog(self.analog) + + def shutdown(self): + if not self.fake: + self.device.setDigital(self.p, 0) + + def getDiagnostics(self): + """ Get a diagnostics status. """ + msg = DiagnosticStatus() + msg.name = self.name + + msg.level = DiagnosticStatus.OK + msg.message = "OK" + if not self.fake: + msg.values.append(KeyValue("Encoder Reading", str(self.last_reading))) + + return msg + + +class LinearControllerIncremental(LinearControllerAbsolute): + """ A controller for a linear actuator, without absolute encoder. """ + POSITION_L = 100 + POSITION_H = 101 + DIRECTION = 102 + + def __init__(self, device, name): + Controller.__init__(self, device, name) + self.pause = True + + self.a = rospy.get_param('~controllers/'+name+'/motor_a',29) + self.b = rospy.get_param('~controllers/'+name+'/motor_b',30) + self.p = rospy.get_param('~controllers/'+name+'/motor_pwm',31) + self.last = 0 + self.last_reading = 0 + + self.delta = rospy.Duration(1.0/rospy.get_param('~controllers/'+name+'/rate', 10.0)) + self.next = rospy.Time.now() + self.delta + + self.joint = device.joints[rospy.get_param('~controllers/'+name+'/joint')] + + rospy.Service(name+'/zero', Empty, self.zeroCb) + rospy.loginfo("Started LinearControllerIncremental ("+self.name+").") + + def startup(self): + if not self.fake: + self.zeroEncoder() + + def setSpeed(self, speed): + """ Set speed of actuator. We need to set direction for encoder. """ + if speed > 0: + self.device.write(253, self.DIRECTION, [1]) + self.device.setDigital(self.a, 0); self.device.setDigital(self.b, 1); # up + self.device.setDigital(self.p, 1) + elif speed < 0: + self.device.write(253, self.DIRECTION, [0]) + self.device.setDigital(self.a, 1); self.device.setDigital(self.b, 0); # down + self.device.setDigital(self.p, 1) + else: + self.device.setDigital(self.p, 0) + + def getPosition(self): + return unpack('=h', "".join([chr(k) for k in self.device.read(253, self.POSITION_L, 2)]) )[0] + + def zeroEncoder(self, timeout=15.0): + rospy.loginfo(self.name + ': zeroing encoder') + self.setSpeed(1) + last_pos = None + for i in range(int(timeout)): + if rospy.is_shutdown(): + return + try: + new_pos = self.getPosition() + except: + pass + if last_pos == new_pos: + break + last_pos = new_pos + rospy.sleep(1) + self.setSpeed(0) + self.device.write(253, self.POSITION_L, [0, 0]) + self.joint.setCurrentFeedback(0) + + def zeroCb(self, msg): + if not self.fake: + self.zeroEncoder(15.0) + return EmptyResponse() + + def shutdown(self): + if not self.fake: + self.setSpeed(0) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py new file mode 100644 index 0000000..68953a0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python + +""" + diagnostics.py - diagnostic output code + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy +from diagnostic_msgs.msg import DiagnosticArray +from sensor_msgs.msg import JointState + +class DiagnosticsPublisher: + """ Class to handle publications of joint_states message. """ + + def __init__(self): + self.t_delta = rospy.Duration(1.0/rospy.get_param("~diagnostic_rate", 1.0)) + self.t_next = rospy.Time.now() + self.t_delta + self.pub = rospy.Publisher('diagnostics', DiagnosticArray, queue_size=5) + + def update(self, joints, controllers): + """ Publish diagnostics. """ + now = rospy.Time.now() + if now > self.t_next: + # create message + msg = DiagnosticArray() + msg.header.stamp = now + for controller in controllers: + d = controller.getDiagnostics() + if d: + msg.status.append(d) + for joint in joints: + d = joint.getDiagnostics() + if d: + msg.status.append(d) + # publish and update stats + self.pub.publish(msg) + self.t_next = now + self.t_delta + + +class JointStatePublisher: + """ Class to handle publications of joint_states message. """ + + def __init__(self): + # parameters: throttle rate and geometry + self.rate = rospy.get_param("~read_rate", 10.0) + self.t_delta = rospy.Duration(1.0/self.rate) + self.t_next = rospy.Time.now() + self.t_delta + + # subscriber + self.pub = rospy.Publisher('joint_states', JointState, queue_size=5) + + def update(self, joints, controllers): + """ publish joint states. """ + if rospy.Time.now() > self.t_next: + msg = JointState() + msg.header.stamp = rospy.Time.now() + msg.name = list() + msg.position = list() + msg.velocity = list() + for joint in joints: + msg.name.append(joint.name) + msg.position.append(joint.position) + msg.velocity.append(joint.velocity) + for controller in controllers: + msg.name += controller.joint_names + msg.position += controller.joint_positions + msg.velocity += controller.joint_velocities + self.pub.publish(msg) + self.t_next = rospy.Time.now() + self.t_delta + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py new file mode 100644 index 0000000..03bcedd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py @@ -0,0 +1,470 @@ +#!/usr/bin/env python + +""" + servo_controller.py: classes for servo interaction + Copyright (c) 2011-2013 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy + +from math import radians + +from std_msgs.msg import Float64 +from arbotix_msgs.srv import * +from diagnostic_msgs.msg import * + +from arbotix_python.ax12 import * +from arbotix_python.joints import * + +class DynamixelServo(Joint): + + def __init__(self, device, name, ns="~joints"): + Joint.__init__(self, device, name) + n = ns+"/"+name+"/" + + self.id = int(rospy.get_param(n+"id")) + self.ticks = rospy.get_param(n+"ticks", 1024) + self.neutral = rospy.get_param(n+"neutral", self.ticks/2) + if self.ticks == 4096: + self.range = 360.0 + else: + self.range = 300.0 + self.range = rospy.get_param(n+"range", self.range) + self.rad_per_tick = radians(self.range)/self.ticks + + # TODO: load these from URDF + self.max_angle = radians(rospy.get_param(n+"max_angle",self.range/2.0)) + self.min_angle = radians(rospy.get_param(n+"min_angle",-self.range/2.0)) + self.max_speed = radians(rospy.get_param(n+"max_speed",684.0)) + # max speed = 114 rpm - 684 deg/s + self.invert = rospy.get_param(n+"invert",False) + self.readable = rospy.get_param(n+"readable",True) + + self.status = "OK" + self.level = DiagnosticStatus.OK + + self.dirty = False # newly updated position? + self.position = 0.0 # current position, as returned by servo (radians) + self.desired = 0.0 # desired position (radians) + self.last_cmd = 0.0 # last position sent (radians) + self.velocity = 0.0 # moving speed + self.enabled = True # can we take commands? + self.active = False # are we under torque control? + self.last = rospy.Time.now() + + self.reads = 0.0 # number of reads + self.errors = 0 # number of failed reads + self.total_reads = 0.0 + self.total_errors = [0.0] + + self.voltage = 0.0 + self.temperature = 0.0 + + # ROS interfaces + rospy.Subscriber(name+'/command', Float64, self.commandCb) + rospy.Service(name+'/relax', Relax, self.relaxCb) + rospy.Service(name+'/enable', Enable, self.enableCb) + rospy.Service(name+'/set_speed', SetSpeed, self.setSpeedCb) + + def interpolate(self, frame): + """ Get the new position to move to, in ticks. """ + if self.enabled and self.active and self.dirty: + # compute command, limit velocity + cmd = self.desired - self.last_cmd + if cmd > self.max_speed/frame: + cmd = self.max_speed/frame + elif cmd < -self.max_speed/frame: + cmd = -self.max_speed/frame + # compute angle, apply limits + ticks = self.angleToTicks(self.last_cmd + cmd) + self.last_cmd = self.ticksToAngle(ticks) + self.speed = cmd*frame + # cap movement + if self.last_cmd == self.desired: + self.dirty = False + # when fake, need to set position/velocity here + if self.device.fake: + last_angle = self.position + self.position = self.last_cmd + t = rospy.Time.now() + self.velocity = (self.position - last_angle)/((t - self.last).to_nsec()/1000000000.0) + self.last = t + return None + return int(ticks) + else: + # when fake, need to reset velocity to 0 here. + if self.device.fake: + self.velocity = 0.0 + self.last = rospy.Time.now() + return None + + def setCurrentFeedback(self, reading): + """ Update angle in radians by reading from servo, or by + using position passed in from a sync read (in ticks). """ + if reading > -1 and reading < self.ticks: # check validity + self.reads += 1 + self.total_reads += 1 + last_angle = self.position + self.position = self.ticksToAngle(reading) + # update velocity estimate + t = rospy.Time.now() + self.velocity = (self.position - last_angle)/((t - self.last).to_nsec()/1000000000.0) + self.last = t + else: + rospy.logdebug("Invalid read of servo: id " + str(self.id) + ", value " + str(reading)) + self.errors += 1 + self.total_reads += 1 + return + if not self.active: + self.last_cmd = self.position + + def setControlOutput(self, position): + """ Set the position that controller is moving to. + Returns output value in ticks. """ + if self.enabled: + ticks = self.angleToTicks(position) + self.desired = position + self.dirty = True + self.active = True + return int(ticks) + return -1 + + def getDiagnostics(self): + """ Get a diagnostics status. """ + msg = DiagnosticStatus() + msg.name = self.name + if self.temperature > 60: # TODO: read this value from eeprom + self.status = "OVERHEATED, SHUTDOWN" + self.level = DiagnosticStatus.ERROR + elif self.temperature > 50 and self.status != "OVERHEATED, SHUTDOWN": + self.status = "OVERHEATING" + self.level = DiagnosticStatus.WARN + elif self.status != "OVERHEATED, SHUTDOWN": + self.status = "OK" + self.level = DiagnosticStatus.OK + msg.level = self.level + msg.message = self.status + msg.values.append(KeyValue("Position", str(self.position))) + msg.values.append(KeyValue("Temperature", str(self.temperature))) + msg.values.append(KeyValue("Voltage", str(self.voltage))) + if self.reads + self.errors > 100: + self.total_errors.append((self.errors*100.0)/(self.reads+self.errors)) + if len(self.total_errors) > 10: + self.total_errors = self.total_errors[-10:] + self.reads = 0 + self.errors = 0 + msg.values.append(KeyValue("Reads", str(self.total_reads))) + msg.values.append(KeyValue("Error Rate", str(sum(self.total_errors)/len(self.total_errors))+"%" )) + if self.active: + msg.values.append(KeyValue("Torque", "ON")) + else: + msg.values.append(KeyValue("Torque", "OFF")) + return msg + + def angleToTicks(self, angle): + """ Convert an angle to ticks, applying limits. """ + ticks = self.neutral + (angle/self.rad_per_tick) + if self.invert: + ticks = self.neutral - (angle/self.rad_per_tick) + if ticks >= self.ticks: + return self.ticks-1.0 + if ticks < 0: + return 0 + return ticks + + def ticksToAngle(self, ticks): + """ Convert an ticks to angle, applying limits. """ + angle = (ticks - self.neutral) * self.rad_per_tick + if self.invert: + angle = -1.0 * angle + return angle + + def speedToTicks(self, rads_per_sec): + """ Convert speed in radians per second to ticks, applying limits. """ + ticks = self.ticks * rads_per_sec / self.max_speed + if ticks >= self.ticks: + return self.ticks-1.0 + if ticks < 0: + return 0 + return ticks + + def enableCb(self, req): + """ Turn on/off servo torque, so that it is pose-able. """ + if req.enable: + self.enabled = True + else: + if not self.device.fake: + self.device.disableTorque(self.id) + self.dirty = False + self.enabled = False + self.active = False + return EnableResponse(self.enabled) + + def relaxCb(self, req): + """ Turn off servo torque, so that it is pose-able. """ + if not self.device.fake: + self.device.disableTorque(self.id) + self.dirty = False + self.active = False + return RelaxResponse() + + def commandCb(self, req): + """ Float64 style command input. """ + if self.enabled: + if self.controller and self.controller.active(): + # Under and action control, do not interfere + return + elif self.desired != req.data or not self.active: + self.dirty = True + self.active = True + self.desired = req.data + + def setSpeedCb(self, req): + """ Set servo speed. Requested speed is in radians per second. + Don't allow 0 which means "max speed" to a Dynamixel in joint mode. """ + if not self.device.fake: + ticks_per_sec = max(1, int(self.speedToTicks(req.speed))) + self.device.setSpeed(self.id, ticks_per_sec) + return SetSpeedResponse() + +class HobbyServo(Joint): + + def __init__(self, device, name, ns="~joints"): + Joint.__init__(self, device, name) + n = ns+"/"+name+"/" + + self.id = int(rospy.get_param(n+"id")) + self.ticks = rospy.get_param(n+"ticks", 2000) + self.neutral = rospy.get_param(n+"neutral", 1500) + self.range = rospy.get_param(n+"range", 180) + self.rad_per_tick = radians(self.range)/self.ticks + + # TODO: load these from URDF + self.max_angle = radians(rospy.get_param(n+"max_angle",self.range/2.0)) + self.min_angle = radians(rospy.get_param(n+"min_angle",-self.range/2.0)) + self.max_speed = radians(rospy.get_param(n+"max_speed",90.0)) + + self.invert = rospy.get_param(n+"invert",False) + + self.dirty = False # newly updated position? + self.position = 0.0 # current position, as returned by servo (radians) + self.desired = 0.0 # desired position (radians) + self.last_cmd = 0.0 # last position sent (radians) + self.velocity = 0.0 # moving speed + self.last = rospy.Time.now() + + # ROS interfaces + rospy.Subscriber(name+'/command', Float64, self.commandCb) + + def interpolate(self, frame): + """ Get the new position to move to, in ticks. """ + if self.dirty: + # compute command, limit velocity + cmd = self.desired - self.last_cmd + if cmd > self.max_speed/frame: + cmd = self.max_speed/frame + elif cmd < -self.max_speed/frame: + cmd = -self.max_speed/frame + # compute angle, apply limits + ticks = self.angleToTicks(self.last_cmd + cmd) + self.last_cmd = self.ticksToAngle(ticks) + self.speed = cmd*frame + # cap movement + if self.last_cmd == self.desired: + self.dirty = False + if self.device.fake: + self.position = self.last_cmd + return None + return int(ticks) + else: + return None + + def setCurrentFeedback(self, raw_data): + """ Update angle in radians by reading from servo, or by + using position passed in from a sync read (in ticks). """ + return None + + def setControlOutput(self, position): + """ Set the position that controller is moving to. + Returns output value in ticks. """ + ticks = self.angleToTicks(position) + self.desired = position + self.dirty = True + return int(ticks) + + def getDiagnostics(self): + """ Get a diagnostics status. """ + msg = DiagnosticStatus() + msg.name = self.name + msg.level = DiagnosticStatus.OK + msg.message = "OK" + msg.values.append(KeyValue("Position", str(self.position))) + return msg + + def angleToTicks(self, angle): + """ Convert an angle to ticks, applying limits. """ + ticks = self.neutral + (angle/self.rad_per_tick) + if self.invert: + ticks = self.neutral - (angle/self.rad_per_tick) + if ticks >= self.ticks: + return self.ticks-1.0 + if ticks < 0: + return 0 + return ticks + + def ticksToAngle(self, ticks): + """ Convert an ticks to angle, applying limits. """ + angle = (ticks - self.neutral) * self.rad_per_tick + if self.invert: + angle = -1.0 * angle + return angle + + def commandCb(self, req): + """ Float64 style command input. """ + if self.controller and self.controller.active(): + # Under and action control, do not interfere + return + else: + self.dirty = True + self.desired = req.data + + +from arbotix_python.controllers import * + +class ServoController(Controller): + + def __init__(self, device, name): + Controller.__init__(self, device, name) + self.dynamixels = list() + self.hobbyservos = list() + self.iter = 0 + + # steal some servos + for joint in device.joints.values(): + if isinstance(joint, DynamixelServo): + self.dynamixels.append(joint) + elif isinstance(joint, HobbyServo): + self.hobbyservos.append(joint) + + self.w_delta = rospy.Duration(1.0/rospy.get_param("~write_rate", 10.0)) + self.w_next = rospy.Time.now() + self.w_delta + + self.r_delta = rospy.Duration(1.0/rospy.get_param("~read_rate", 10.0)) + self.r_next = rospy.Time.now() + self.r_delta + + rospy.Service(name + '/relax_all', Relax, self.relaxCb) + rospy.Service(name + '/enable_all', Enable, self.enableCb) + + def update(self): + """ Read servo positions, update them. """ + if rospy.Time.now() > self.r_next and not self.fake: + if self.device.use_sync_read: + # arbotix/servostik/wifi board sync_read + synclist = list() + for joint in self.dynamixels: + if joint.readable: + synclist.append(joint.id) + if len(synclist) > 0: + val = self.device.syncRead(synclist, P_PRESENT_POSITION_L, 2) + if val: + for joint in self.dynamixels: + try: + i = synclist.index(joint.id)*2 + joint.setCurrentFeedback(val[i]+(val[i+1]<<8)) + except: + # not a readable servo + continue + else: + # direct connection, or other hardware with no sync_read capability + for joint in self.dynamixels: + joint.setCurrentFeedback(self.device.getPosition(joint.id)) + self.r_next = rospy.Time.now() + self.r_delta + + if rospy.Time.now() > self.w_next: + if self.device.use_sync_write and not self.fake: + syncpkt = list() + for joint in self.dynamixels: + v = joint.interpolate(1.0/self.w_delta.to_sec()) + if v != None: # if was dirty + syncpkt.append([joint.id,int(v)%256,int(v)>>8]) + if len(syncpkt) > 0: + self.device.syncWrite(P_GOAL_POSITION_L,syncpkt) + else: + for joint in self.dynamixels: + v = joint.interpolate(1.0/self.w_delta.to_sec()) + if v != None: # if was dirty + self.device.setPosition(joint.id, int(v)) + for joint in self.hobbyservos: + v = joint.interpolate(1.0/self.w_delta.to_sec()) + if v != None: # if it was dirty + self.device.setServo(joint.id, v) + self.w_next = rospy.Time.now() + self.w_delta + + def getDiagnostics(self): + """ Update status of servos (voltages, temperatures). """ + if self.iter % 5 == 0 and not self.fake: + if self.device.use_sync_read: + # arbotix/servostik/wifi board sync_read + synclist = list() + for joint in self.dynamixels: + if joint.readable: + synclist.append(joint.id) + if len(synclist) > 0: + val = self.device.syncRead(synclist, P_PRESENT_VOLTAGE, 2) + if val: + for joint in self.dynamixels: + try: + i = synclist.index(joint.id)*2 + if val[i] < 250: + joint.voltage = val[i]/10.0 + if val[i+1] < 100: + joint.temperature = val[i+1] + except: + # not a readable servo + continue + else: + # direct connection, or other hardware with no sync_read capability + for joint in self.dynamixels: + if joint.readable: + val = self.device.read(joint.id, P_PRESENT_VOLTAGE, 2) + try: + joint.voltage = val[0] + joint.temperature = val[1] + except: + continue + self.iter += 1 + return None + + def enableCb(self, req): + """ Turn on/off all servos torque, so that they are pose-able. """ + for joint in self.dynamixels: + resp = joint.enableCb(req) + return resp + + def relaxCb(self, req): + """ Turn off all servos torque, so that they are pose-able. """ + for joint in self.dynamixels: + resp = joint.relaxCb(req) + return resp diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CHANGELOG.rst new file mode 100644 index 0000000..4e786b3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CHANGELOG.rst @@ -0,0 +1,36 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package arbotix_sensors +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.11.0 (2020-12-29) +------------------- +* Update all python shebangs to python3 + rosdep dependency (`#48 `_) + Co-authored-by: Murat Calis +* Merge pull request `#22 `_ from corot/indigo-devel + roslib.load_manifest should not be used on catkin packages +* roslib.load_manifest should not be used on catkin packages according to http://wiki.ros.org/PyStyleGuide +* Contributors: Jorge Santos, Michael Ferguson, calismurat + +0.10.0 (2014-07-14) +------------------- +* Set queue_size=5 on all publishers +* Contributors: Jorge Santos + +0.9.2 (2014-02-12) +------------------ + +0.9.1 (2014-01-28) +------------------ + +0.9.0 (2013-08-22) +------------------ + +0.8.2 (2013-03-28) +------------------ + +0.8.1 (2013-03-09) +------------------ + +0.8.0 (2013-02-21) +------------------ +* import drivers and catkinize diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CMakeLists.txt new file mode 100644 index 0000000..59dc372 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.0.2) +project(arbotix_sensors) + +find_package(catkin REQUIRED) +catkin_package() +catkin_python_setup() + +install(PROGRAMS bin/ir_ranger.py bin/max_sonar.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py new file mode 100644 index 0000000..381d97e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python + +""" + ir_ranger.py - convert analog stream into range measurements + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy + +from sensor_msgs.msg import Range +from arbotix_msgs.msg import Analog +from arbotix_msgs.srv import SetupChannel, SetupChannelRequest + +from arbotix_python.sensors import * + +class ir_ranger: + def __init__(self): + rospy.init_node("ir_ranger") + + # sensor type: choices are A710YK (40-216"), A02YK (8-60"), A21YK (4-30") + self.sensor_t = rospy.get_param("~type","GP2D12") + if self.sensor_t == "A710YK" or self.sensor_t == "ultralong": + self.sensor = gpA710YK() + elif self.sensor_t == "A02YK" or self.sensor_t == "long": + self.sensor = gpA02YK() + else: + self.sensor = gp2d12() + + # start channel broadcast using SetupAnalogIn + rospy.wait_for_service('arbotix/SetupAnalogIn') + analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) + + req = SetupChannelRequest() + req.topic_name = rospy.get_param("~name") + req.pin = rospy.get_param("~pin") + req.rate = int(rospy.get_param("~rate",10)) + analog_srv(req) + + # setup a range message to use + self.msg = Range() + self.msg.radiation_type = self.sensor.radiation_type + self.msg.field_of_view = self.sensor.field_of_view + self.msg.min_range = self.sensor.min_range + self.msg.max_range = self.sensor.max_range + + # publish/subscribe + self.pub = rospy.Publisher("ir_range", Range, queue_size=5) + rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb) + + rospy.spin() + + def readingCb(self, msg): + # convert msg.value into range.range + self.msg.header.stamp = rospy.Time.now() + self.msg.range = self.sensor.convert(msg.value<<2) + self.pub.publish(self.msg) + +if __name__=="__main__": + ir_ranger() + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py new file mode 100644 index 0000000..c50298f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python + +""" + max_sonar.py - convert analog stream into range measurements + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +import rospy + +from sensor_msgs.msg import Range +from arbotix_msgs.msg import Analog +from arbotix_msgs.srv import SetupChannel, SetupChannelRequest + +from arbotix_python.sensors import * + +class max_sonar: + def __init__(self): + rospy.init_node("max_sonar") + + self.sensor = maxSonar() + + # start channel broadcast using SetupAnalogIn + rospy.wait_for_service('arbotix/SetupAnalogIn') + analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) + + req = SetupChannelRequest() + req.topic_name = rospy.get_param("~name") + req.pin = rospy.get_param("~pin") + req.rate = int(rospy.get_param("~rate",10)) + analog_srv(req) + + # setup a range message to use + self.msg = Range() + self.msg.radiation_type = self.sensor.radiation_type + self.msg.field_of_view = self.sensor.field_of_view + self.msg.min_range = self.sensor.min_range + self.msg.max_range = self.sensor.max_range + + # publish/subscribe + self.pub = rospy.Publisher("sonar_range", Range, queue_size=5) + rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb) + + rospy.spin() + + def readingCb(self, msg): + # convert msg.value into range.range + self.msg.header.stamp = rospy.Time.now() + self.msg.range = self.sensor.convert(msg.value<<2) + self.pub.publish(self.msg) + +if __name__=="__main__": + max_sonar() + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/package.xml new file mode 100644 index 0000000..d35c11f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/package.xml @@ -0,0 +1,15 @@ + + arbotix_sensors + 0.11.0 + + Extends the arbotix_node package with a number of more sophisticated ROS wrappers for common devices. + + Michael Ferguson + Michael Ferguson + BSD + http://ros.org/wiki/arbotix_sensors + + catkin + + arbotix_python + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py new file mode 100644 index 0000000..16ef241 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['arbotix_sensors'], + package_dir={'': 'src'}, + ) + +setup(**d) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py new file mode 100644 index 0000000..429f2e5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python + +""" + sensors.py - various conversions from raw analog to sensor range + Copyright (c) 2011 Vanadium Labs LLC. All right reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Vanadium Labs LLC nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +""" + +from sensor_msgs.msg import Range + +class SharpIR: + radiation_type = Range.INFRARED + field_of_view = 0.001 + min_range = 0.0 + max_range = 1.0 + + def convert(self, raw): + """ Convert raw analog (10-bit) to distance. """ + return raw + +class gpA710YK(SharpIR): + """ Ultra long-range Sharp IR sensor. """ + min_range = 0.75 + max_range = 5.50 + + def convert(self, raw): + """ Convert raw analog (10-bit) to distance. """ + if raw > 100: + return (497.0/(raw-56)) + else: + return self.max_range+0.1 + +class gpA02YK(SharpIR): + min_range = 0.20 + max_range = 1.50 + + def convert(self, raw): + """ Convert raw analog (10-bit) to distance. """ + if raw > 80: + return (115.0/(raw-12)) + else: + return self.max_range+0.1 + +class gp2d12(SharpIR): + """ The typical GP2D12 IR ranger. """ + min_range = 0.10 + max_range = 0.80 + + def convert(self, raw): + """ Convert raw analog (10-bit) to distance. """ + if raw > 40: + return (52.0/(raw-12)) + else: + return self.max_range+0.1 + +class maxSonar(): + radiation_type = Range.ULTRASOUND + field_of_view = 0.785398163 + min_range = 0.0 + max_range = 6.4516 + + def convert(self, raw): + """ Convert raw analog (10-bit) to distance. """ + return 12.7 * (raw/1024.0) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/CMakeLists.txt new file mode 100644 index 0000000..c9e5c3a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/CMakeLists.txt @@ -0,0 +1,66 @@ +cmake_minimum_required(VERSION 3.0.2) +project(common_utils) + +set(ROS_DISTRO $ENV{ROS_DISTRO}) +if (${ROS_DISTRO} STREQUAL "kinetic") + add_compile_options(-std=c++11) +endif() + +## 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 + tf +) + +## System dependencies are found with CMake's conventions +find_package(Boost REQUIRED COMPONENTS system thread) +find_package(OpenCV) + +catkin_package( + INCLUDE_DIRS include +# LIBRARIES common_utils + # CATKIN_DEPENDS roscpp + # 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} + ${OpenCV_INCLUDE_DIRES} + ${Boost_INCLUDE_DIRES} +) + +# Declare a C++ library +add_library(${PROJECT_NAME} + src/common_utils.cpp +) + +# Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${Boost_LIBRARIES} +) + +############# +## Install ## +############# + +# Mark libraries for installation +# See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/include/common_utils/common_utils.h b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/include/common_utils/common_utils.h new file mode 100644 index 0000000..ae00534 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/include/common_utils/common_utils.h @@ -0,0 +1,78 @@ +#ifndef _COMMON_UTILS_H_ +#define _COMMON_UTILS_H_ + +// ros// +#include +#include +#include +#include +// std// +#include +#include +#include +#include +#include +#include +#include +#include +// opencv// +#include + +#include +#include + +using namespace ros; +using namespace std; +using namespace cv; + +#define DEGREE_TO_RADIAN(X) X* CV_PI / 180.0f +#define RADIAN_TO_DEGREE(X) X * 180.0f / CV_PI + +#define ANGLE_THRESHOLD 180.0f + +#define SPARSE_PATH 1 + +enum LDSDirection { LDS_FRONT = 0, + LDS_LEFT, + LDS_BACK, + LDS_RIGHT }; + +enum RotateDirection { + CLOCKWISE, //角度减小// + ANTICLOCKWISE +}; + +// Regions// +struct CleanRegion { + CleanRegion(string name) { + regionName = name; + floorType = 0; + sweepType = 0; + regionPoints.clear(); + } + + string regionName; + int floorType; + int sweepType; + vector regionPoints; +}; + +// utils methods// +float calcDistance(const Point& p1, const Point& p2); +float calcDistance(const Point2f& p1, const Point2f& p2); + +//两个点位之间角度// +float calcDegreeAngle(const Point& startPoint, const Point& endPoint); +float calcRadianAngle(const Point& startPoint, const Point& endPoint); + +float calcDegreeAngle(const Point2f& startPoint, const Point2f& endPoint); + +//计算两个角度差// +float calcAngleDiff(float angle1, float angle2); + +//沿着路径的点，计算角度// +float calcPathAngle(const vector& pathPoints, int index); + +RotateDirection calcRotateDirection(float robot_angle, float path_angle); + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/package.xml new file mode 100644 index 0000000..6b84ddd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/package.xml @@ -0,0 +1,66 @@ + + + common_utils + 0.0.0 + The common_utils package + + + + + pibot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + tf + + roscpp + + roscpp + tf + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/src/common_utils.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/src/common_utils.cpp new file mode 100644 index 0000000..97c7e22 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/common_utils/src/common_utils.cpp @@ -0,0 +1,82 @@ +#include "common_utils/common_utils.h" + +float calcDistance(const Point& p1, const Point& p2) { + float distance = + sqrtf((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y)); + return distance; +} + +float calcDistance(const Point2f& p1, const Point2f& p2) { + float distance = + sqrtf((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y)); + return distance; +} + +float calcDegreeAngle(const Point& startPoint, const Point& endPoint) { + float angle = atan2((endPoint.y - startPoint.y), (endPoint.x - startPoint.x)); + angle = RADIAN_TO_DEGREE(angle); + + return angle; +} + +float calcDegreeAngle(const Point2f& startPoint, const Point2f& endPoint) { + float angle = atan2((endPoint.y - startPoint.y), (endPoint.x - startPoint.x)); + angle = RADIAN_TO_DEGREE(angle); + + return angle; +} + +float calcRadianAngle(const Point& startPoint, const Point& endPoint) { + float angle = atan2((endPoint.y - startPoint.y), (endPoint.x - startPoint.x)); + + return angle; +} + +float calcPathAngle(const vector& pathPoints, int index) { + if (index > pathPoints.size() - 2) { + return 0; + } + + float angle = calcDegreeAngle(pathPoints[index], pathPoints[index + 1]); + + return angle; +} + +float calcAngleDiff(float angle1, float angle2) { + // degree差值// + if (angle1 < 0) { + angle1 += 360.0f; + } + + if (angle2 < 0) { + angle2 += 360.0f; + } + + float diff = abs(angle1 - angle2); + if (diff > 180.0f) { + diff = 360.0f - diff; + } + + return diff; +} + +RotateDirection calcRotateDirection(float robot_angle, float path_angle) { + RotateDirection rotateDirection; + + if (robot_angle < 0) { + robot_angle += 360.0f; + } + + if (path_angle < 0) { + path_angle += 360.0f; + } + + if (robot_angle > path_angle) { + rotateDirection = + (robot_angle - path_angle) > 180.0f ? ANTICLOCKWISE : CLOCKWISE; + } else { + rotateDirection = + (path_angle - robot_angle) > 180.0f ? CLOCKWISE : ANTICLOCKWISE; + } + return rotateDirection; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/CHANGELOG.rst new file mode 100644 index 0000000..6c9ff85 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/CHANGELOG.rst @@ -0,0 +1,85 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package imu_complementary_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2019-05-06) +------------------ +* Remove junk xml (`#93 `_) +* Fix C++14 builds (`#89 `_) +* Contributors: David V. Lu!!, Paul Bovbel + +1.1.6 (2018-05-25) +------------------ +* Add std dev parameter to orientation estimate from filter (`#85 `_) + Similar to `#41 `_, but not using dynamic_reconfigure as not implemented for complementary filter +* Contributors: Stefan Kohlbrecher + +1.1.4 (2017-05-22) +------------------ + +1.1.3 (2017-03-10) +------------------ +* complementary_filter: move const initializations out of header + Initialization of static consts other than int (here: float) inside the + class declaration is not permitted in C++. It works in gcc (due to a + non-standard extension), but throws an error in C++11. +* Contributors: Martin Guenther + +1.1.2 (2016-09-07) +------------------ + +1.1.1 (2016-09-07) +------------------ + +1.1.0 (2016-04-25) +------------------ + +1.0.11 (2016-04-22) +------------------- + +1.0.10 (2016-04-22) +------------------- +* Remove Eigen dependency + Eigen is not actually used anywhere. Thanks @asimay! +* Removed main function from shared library +* Contributors: Martin Guenther, Matthias Nieuwenhuisen + +1.0.9 (2015-10-16) +------------------ +* complementary: Add Eigen dependency + Fixes `#54 `_. +* Contributors: Martin Günther + +1.0.8 (2015-10-07) +------------------ + +1.0.7 (2015-10-07) +------------------ +* Allow remapping imu namespace +* Publish RPY as Vector3Stamped +* Add params: constant_dt, publish_tf, reverse_tf, publish_debug_topics +* Use MagneticField instead of Vector3 +* Contributors: Martin Günther + +1.0.6 (2015-10-06) +------------------ +* Add new package: imu_complementary_filter +* Contributors: Roberto G. Valentini, Martin Günther, Michael Görner + +1.0.5 (2015-06-24) +------------------ + +1.0.4 (2015-05-06) +------------------ + +1.0.3 (2015-01-29) +------------------ + +1.0.2 (2015-01-27) +------------------ + +1.0.1 (2014-12-10) +------------------ + +1.0.0 (2014-11-28) +------------------ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/CMakeLists.txt new file mode 100644 index 0000000..c1619aa --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/CMakeLists.txt @@ -0,0 +1,59 @@ +cmake_minimum_required(VERSION 2.8.3) +project(imu_complementary_filter) + +find_package(Boost REQUIRED COMPONENTS thread) + +find_package(catkin REQUIRED COMPONENTS + cmake_modules + message_filters + roscpp + sensor_msgs + std_msgs + tf +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES complementary_filter + CATKIN_DEPENDS message_filters roscpp sensor_msgs std_msgs tf +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +## Declare a cpp library +add_library(complementary_filter + src/complementary_filter.cpp + src/complementary_filter_ros.cpp + include/imu_complementary_filter/complementary_filter.h + include/imu_complementary_filter/complementary_filter_ros.h +) +target_link_libraries(complementary_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + + +# create complementary_filter_node executable +add_executable(complementary_filter_node + src/complementary_filter_node.cpp) +target_link_libraries(complementary_filter_node complementary_filter ${catkin_LIBRARIES}) + +install(TARGETS complementary_filter + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install(TARGETS complementary_filter_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 +) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h new file mode 100644 index 0000000..69156a5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h @@ -0,0 +1,180 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + 3. Neither the name of the City College of New York nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL the CCNY ROBOTICS LAB BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef IMU_TOOLS_COMPLEMENTARY_FILTER_H +#define IMU_TOOLS_COMPLEMENTARY_FILTER_H + +namespace imu_tools { + +class ComplementaryFilter +{ + public: + ComplementaryFilter(); + virtual ~ComplementaryFilter(); + + bool setGainAcc(double gain); + bool setGainMag(double gain); + double getGainAcc() const; + double getGainMag() const; + + bool setBiasAlpha(double bias_alpha); + double getBiasAlpha() const; + + // When the filter is in the steady state, bias estimation will occur (if the + // parameter is enabled). + bool getSteadyState() const; + + void setDoBiasEstimation(bool do_bias_estimation); + bool getDoBiasEstimation() const; + + void setDoAdaptiveGain(bool do_adaptive_gain); + bool getDoAdaptiveGain() const; + + double getAngularVelocityBiasX() const; + double getAngularVelocityBiasY() const; + double getAngularVelocityBiasZ() const; + + // Set the orientation, as a Hamilton Quaternion, of the body frame wrt the + // fixed frame. + void setOrientation(double q0, double q1, double q2, double q3); + + // Get the orientation, as a Hamilton Quaternion, of the body frame wrt the + // fixed frame. + void getOrientation(double& q0, double& q1, double& q2, double& q3) const; + + // Update from accelerometer and gyroscope data. + // [ax, ay, az]: Normalized gravity vector. + // [wx, wy, wz]: Angular veloctiy, in rad / s. + // dt: time delta, in seconds. + void update(double ax, double ay, double az, + double wx, double wy, double wz, + double dt); + + // Update from accelerometer, gyroscope, and magnetometer data. + // [ax, ay, az]: Normalized gravity vector. + // [wx, wy, wz]: Angular veloctiy, in rad / s. + // [mx, my, mz]: Magnetic field, units irrelevant. + // dt: time delta, in seconds. + void update(double ax, double ay, double az, + double wx, double wy, double wz, + double mx, double my, double mz, + double dt); + + private: + static const double kGravity; + static const double gamma_; + // Bias estimation steady state thresholds + static const double kAngularVelocityThreshold; + static const double kAccelerationThreshold; + static const double kDeltaAngularVelocityThreshold; + + // Gain parameter for the complementary filter, belongs in [0, 1]. + double gain_acc_; + double gain_mag_; + + // Bias estimation gain parameter, belongs in [0, 1]. + double bias_alpha_; + + // Parameter whether to do bias estimation or not. + bool do_bias_estimation_; + + // Parameter whether to do adaptive gain or not. + bool do_adaptive_gain_; + + bool initialized_; + bool steady_state_; + + // The orientation as a Hamilton quaternion (q0 is the scalar). Represents + // the orientation of the fixed frame wrt the body frame. + double q0_, q1_, q2_, q3_; + + // Bias in angular velocities; + double wx_prev_, wy_prev_, wz_prev_; + + // Bias in angular velocities; + double wx_bias_, wy_bias_, wz_bias_; + + void updateBiases(double ax, double ay, double az, + double wx, double wy, double wz); + + bool checkState(double ax, double ay, double az, + double wx, double wy, double wz) const; + + void getPrediction( + double wx, double wy, double wz, double dt, + double& q0_pred, double& q1_pred, double& q2_pred, double& q3_pred) const; + + void getMeasurement( + double ax, double ay, double az, + double& q0_meas, double& q1_meas, double& q2_meas, double& q3_meas); + + void getMeasurement( + double ax, double ay, double az, + double mx, double my, double mz, + double& q0_meas, double& q1_meas, double& q2_meas, double& q3_meas); + + void getAccCorrection( + double ax, double ay, double az, + double p0, double p1, double p2, double p3, + double& dq0, double& dq1, double& dq2, double& dq3); + + void getMagCorrection( + double mx, double my, double mz, + double p0, double p1, double p2, double p3, + double& dq0, double& dq1, double& dq2, double& dq3); + + double getAdaptiveGain(double alpha, double ax, double ay, double az); +}; + +// Utility math functions: + +void normalizeVector(double& x, double& y, double& z); + +void normalizeQuaternion(double& q0, double& q1, double& q2, double& q3); + +void scaleQuaternion(double gain, + double& dq0, double& dq1, double& dq2, double& dq3); + +void invertQuaternion( + double q0, double q1, double q2, double q3, + double& q0_inv, double& q1_inv, double& q2_inv, double& q3_inv); + +void quaternionMultiplication(double p0, double p1, double p2, double p3, + double q0, double q1, double q2, double q3, + double& r0, double& r1, double& r2, double& r3); + +void rotateVectorByQuaternion(double x, double y, double z, + double q0, double q1, double q2, double q3, + double& vx, double& vy, double& vz); + +} // namespace imu + +#endif // IMU_TOOLS_COMPLEMENTARY_FILTER_H diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h new file mode 100644 index 0000000..500440e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h @@ -0,0 +1,108 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + 3. Neither the name of the City College of New York nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL the CCNY ROBOTICS LAB BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef IMU_TOOLS_COMPLEMENTARY_FILTER_ROS_H +#define IMU_TOOLS_COMPLEMENTARY_FILTER_ROS_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "imu_complementary_filter/complementary_filter.h" + +namespace imu_tools { + +class ComplementaryFilterROS +{ + public: + ComplementaryFilterROS(const ros::NodeHandle& nh, + const ros::NodeHandle& nh_private); + virtual ~ComplementaryFilterROS(); + + private: + + // Convenience typedefs + typedef sensor_msgs::Imu ImuMsg; + typedef sensor_msgs::MagneticField MagMsg; + typedef message_filters::sync_policies::ApproximateTime MySyncPolicy; + typedef message_filters::sync_policies::ApproximateTime + SyncPolicy; + typedef message_filters::Synchronizer Synchronizer; + typedef message_filters::Subscriber ImuSubscriber; + typedef message_filters::Subscriber MagSubscriber; + + // ROS-related variables. + ros::NodeHandle nh_; + ros::NodeHandle nh_private_; + + boost::shared_ptr sync_; + boost::shared_ptr imu_subscriber_; + boost::shared_ptr mag_subscriber_; + + ros::Publisher imu_publisher_; + ros::Publisher rpy_publisher_; + ros::Publisher state_publisher_; + tf::TransformBroadcaster tf_broadcaster_; + + // Parameters: + bool use_mag_; + bool publish_tf_; + bool reverse_tf_; + double constant_dt_; + bool publish_debug_topics_; + std::string fixed_frame_; + double orientation_variance_; + + // State variables: + ComplementaryFilter filter_; + ros::Time time_prev_; + bool initialized_filter_; + + void initializeParams(); + void imuCallback(const ImuMsg::ConstPtr& imu_msg_raw); + void imuMagCallback(const ImuMsg::ConstPtr& imu_msg_raw, + const MagMsg::ConstPtr& mav_msg); + void publish(const sensor_msgs::Imu::ConstPtr& imu_msg_raw); + + tf::Quaternion hamiltonToTFQuaternion( + double q0, double q1, double q2, double q3) const; +}; + +} // namespace imu_tools + +#endif // IMU_TOOLS_COMPLEMENTARY_FILTER_ROS_H diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/launch/complementary_filter.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/launch/complementary_filter.launch new file mode 100644 index 0000000..de7ff80 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/launch/complementary_filter.launch @@ -0,0 +1,34 @@ + + + #### Nodelet manager ###################################################### + + + + #### IMU Driver ########################################################### + + + + # supported data rates: 4 8 16 24 32 40 ... 1000 (in ms) + + + + + #### Complementary filter + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/package.xml new file mode 100644 index 0000000..43c55e8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/package.xml @@ -0,0 +1,25 @@ + + + imu_complementary_filter + 1.1.7 + Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into a quaternion to represent the orientation of the device wrt the global frame. Based on the algorithm by Roberto G. Valenti etal. described in the paper "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" available at http://www.mdpi.com/1424-8220/15/8/19302 . + + Roberto G. Valenti + BSD + + http://www.mdpi.com/1424-8220/15/8/19302 + Roberto G. Valenti + + catkin + cmake_modules + message_filters + roscpp + sensor_msgs + std_msgs + tf + message_filters + roscpp + sensor_msgs + std_msgs + tf + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter.cpp new file mode 100644 index 0000000..ba5ae2b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter.cpp @@ -0,0 +1,551 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + 3. Neither the name of the City College of New York nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL the CCNY ROBOTICS LAB BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "imu_complementary_filter/complementary_filter.h" + +#include +#include +#include + +namespace imu_tools { + +const double ComplementaryFilter::kGravity = 9.81; +const double ComplementaryFilter::gamma_ = 0.01; +// Bias estimation steady state thresholds +const double ComplementaryFilter::kAngularVelocityThreshold = 0.2; +const double ComplementaryFilter::kAccelerationThreshold = 0.1; +const double ComplementaryFilter::kDeltaAngularVelocityThreshold = 0.01; + +ComplementaryFilter::ComplementaryFilter() : + gain_acc_(0.01), + gain_mag_(0.01), + bias_alpha_(0.01), + do_bias_estimation_(true), + do_adaptive_gain_(false), + initialized_(false), + steady_state_(false), + q0_(1), q1_(0), q2_(0), q3_(0), + wx_prev_(0), wy_prev_(0), wz_prev_(0), + wx_bias_(0), wy_bias_(0), wz_bias_(0) { } + +ComplementaryFilter::~ComplementaryFilter() { } + +void ComplementaryFilter::setDoBiasEstimation(bool do_bias_estimation) +{ + do_bias_estimation_ = do_bias_estimation; +} + +bool ComplementaryFilter::getDoBiasEstimation() const +{ + return do_bias_estimation_; +} + +void ComplementaryFilter::setDoAdaptiveGain(bool do_adaptive_gain) +{ + do_adaptive_gain_ = do_adaptive_gain; +} + +bool ComplementaryFilter::getDoAdaptiveGain() const +{ + return do_adaptive_gain_; +} + +bool ComplementaryFilter::setGainAcc(double gain) +{ + if (gain >= 0 && gain <= 1.0) + { + gain_acc_ = gain; + return true; + } + else + return false; +} +bool ComplementaryFilter::setGainMag(double gain) +{ + if (gain >= 0 && gain <= 1.0) + { + gain_mag_ = gain; + return true; + } + else + return false; +} + +double ComplementaryFilter::getGainAcc() const +{ + return gain_acc_; +} + +double ComplementaryFilter::getGainMag() const +{ + return gain_mag_; +} + +bool ComplementaryFilter::getSteadyState() const +{ + return steady_state_; +} + +bool ComplementaryFilter::setBiasAlpha(double bias_alpha) +{ + if (bias_alpha >= 0 && bias_alpha <= 1.0) + { + bias_alpha_ = bias_alpha; + return true; + } + else + return false; +} + +double ComplementaryFilter::getBiasAlpha() const +{ + return bias_alpha_; +} + +void ComplementaryFilter::setOrientation( + double q0, double q1, double q2, double q3) +{ + // Set the state to inverse (state is fixed wrt body). + invertQuaternion(q0, q1, q2, q3, q0_, q1_, q2_, q3_); +} + + +double ComplementaryFilter::getAngularVelocityBiasX() const +{ + return wx_bias_; +} + +double ComplementaryFilter::getAngularVelocityBiasY() const +{ + return wy_bias_; +} + +double ComplementaryFilter::getAngularVelocityBiasZ() const +{ + return wz_bias_; +} + +void ComplementaryFilter::update(double ax, double ay, double az, + double wx, double wy, double wz, + double dt) +{ + if (!initialized_) + { + // First time - ignore prediction: + getMeasurement(ax, ay, az, + q0_, q1_, q2_, q3_); + initialized_ = true; + return; + } + + // Bias estimation. + if (do_bias_estimation_) + updateBiases(ax, ay, az, wx, wy, wz); + + // Prediction. + double q0_pred, q1_pred, q2_pred, q3_pred; + getPrediction(wx, wy, wz, dt, + q0_pred, q1_pred, q2_pred, q3_pred); + + // Correction (from acc): + // q_ = q_pred * [(1-gain) * qI + gain * dq_acc] + // where qI = identity quaternion + double dq0_acc, dq1_acc, dq2_acc, dq3_acc; + getAccCorrection(ax, ay, az, + q0_pred, q1_pred, q2_pred, q3_pred, + dq0_acc, dq1_acc, dq2_acc, dq3_acc); + + double gain; + if (do_adaptive_gain_) + { + gain = getAdaptiveGain(gain_acc_, ax, ay, az); + + } + else + { + gain = gain_acc_; + + } + + scaleQuaternion(gain, dq0_acc, dq1_acc, dq2_acc, dq3_acc); + + quaternionMultiplication(q0_pred, q1_pred, q2_pred, q3_pred, + dq0_acc, dq1_acc, dq2_acc, dq3_acc, + q0_, q1_, q2_, q3_); + + normalizeQuaternion(q0_, q1_, q2_, q3_); +} + +void ComplementaryFilter::update(double ax, double ay, double az, + double wx, double wy, double wz, + double mx, double my, double mz, + double dt) +{ + if (!initialized_) + { + // First time - ignore prediction: + getMeasurement(ax, ay, az, + mx, my, mz, + q0_, q1_, q2_, q3_); + initialized_ = true; + return; + } + + // Bias estimation. + if (do_bias_estimation_) + updateBiases(ax, ay, az, wx, wy, wz); + + // Prediction. + double q0_pred, q1_pred, q2_pred, q3_pred; + getPrediction(wx, wy, wz, dt, + q0_pred, q1_pred, q2_pred, q3_pred); + + // Correction (from acc): + // q_temp = q_pred * [(1-gain) * qI + gain * dq_acc] + // where qI = identity quaternion + double dq0_acc, dq1_acc, dq2_acc, dq3_acc; + getAccCorrection(ax, ay, az, + q0_pred, q1_pred, q2_pred, q3_pred, + dq0_acc, dq1_acc, dq2_acc, dq3_acc); + double alpha = gain_acc_; + if (do_adaptive_gain_) + alpha = getAdaptiveGain(gain_acc_, ax, ay, az); + scaleQuaternion(alpha, dq0_acc, dq1_acc, dq2_acc, dq3_acc); + + double q0_temp, q1_temp, q2_temp, q3_temp; + quaternionMultiplication(q0_pred, q1_pred, q2_pred, q3_pred, + dq0_acc, dq1_acc, dq2_acc, dq3_acc, + q0_temp, q1_temp, q2_temp, q3_temp); + + // Correction (from mag): + // q_ = q_temp * [(1-gain) * qI + gain * dq_mag] + // where qI = identity quaternion + double dq0_mag, dq1_mag, dq2_mag, dq3_mag; + getMagCorrection(mx, my, mz, + q0_temp, q1_temp, q2_temp, q3_temp, + dq0_mag, dq1_mag, dq2_mag, dq3_mag); + + scaleQuaternion(gain_mag_, dq0_mag, dq1_mag, dq2_mag, dq3_mag); + + quaternionMultiplication(q0_temp, q1_temp, q2_temp, q3_temp, + dq0_mag, dq1_mag, dq2_mag, dq3_mag, + q0_, q1_, q2_, q3_); + + normalizeQuaternion(q0_, q1_, q2_, q3_); +} + +bool ComplementaryFilter::checkState(double ax, double ay, double az, + double wx, double wy, double wz) const +{ + double acc_magnitude = sqrt(ax*ax + ay*ay + az*az); + if (fabs(acc_magnitude - kGravity) > kAccelerationThreshold) + return false; + + if (fabs(wx - wx_prev_) > kDeltaAngularVelocityThreshold || + fabs(wy - wy_prev_) > kDeltaAngularVelocityThreshold || + fabs(wz - wz_prev_) > kDeltaAngularVelocityThreshold) + return false; + + if (fabs(wx - wx_bias_) > kAngularVelocityThreshold || + fabs(wy - wy_bias_) > kAngularVelocityThreshold || + fabs(wz - wz_bias_) > kAngularVelocityThreshold) + return false; + + return true; +} + +void ComplementaryFilter::updateBiases(double ax, double ay, double az, + double wx, double wy, double wz) +{ + steady_state_ = checkState(ax, ay, az, wx, wy, wz); + + if (steady_state_) + { + wx_bias_ += bias_alpha_ * (wx - wx_bias_); + wy_bias_ += bias_alpha_ * (wy - wy_bias_); + wz_bias_ += bias_alpha_ * (wz - wz_bias_); + } + + wx_prev_ = wx; + wy_prev_ = wy; + wz_prev_ = wz; +} + +void ComplementaryFilter::getPrediction( + double wx, double wy, double wz, double dt, + double& q0_pred, double& q1_pred, double& q2_pred, double& q3_pred) const +{ + double wx_unb = wx - wx_bias_; + double wy_unb = wy - wy_bias_; + double wz_unb = wz - wz_bias_; + + q0_pred = q0_ + 0.5*dt*( wx_unb*q1_ + wy_unb*q2_ + wz_unb*q3_); + q1_pred = q1_ + 0.5*dt*(-wx_unb*q0_ - wy_unb*q3_ + wz_unb*q2_); + q2_pred = q2_ + 0.5*dt*( wx_unb*q3_ - wy_unb*q0_ - wz_unb*q1_); + q3_pred = q3_ + 0.5*dt*(-wx_unb*q2_ + wy_unb*q1_ - wz_unb*q0_); + + normalizeQuaternion(q0_pred, q1_pred, q2_pred, q3_pred); +} + +void ComplementaryFilter::getMeasurement( + double ax, double ay, double az, + double mx, double my, double mz, + double& q0_meas, double& q1_meas, double& q2_meas, double& q3_meas) +{ + // q_acc is the quaternion obtained from the acceleration vector representing + // the orientation of the Global frame wrt the Local frame with arbitrary yaw + // (intermediary frame). q3_acc is defined as 0. + double q0_acc, q1_acc, q2_acc, q3_acc; + + // Normalize acceleration vector. + normalizeVector(ax, ay, az); + if (az >=0) + { + q0_acc = sqrt((az + 1) * 0.5); + q1_acc = -ay/(2.0 * q0_acc); + q2_acc = ax/(2.0 * q0_acc); + q3_acc = 0; + } + else + { + double X = sqrt((1 - az) * 0.5); + q0_acc = -ay/(2.0 * X); + q1_acc = X; + q2_acc = 0; + q3_acc = ax/(2.0 * X); + } + + // [lx, ly, lz] is the magnetic field reading, rotated into the intermediary + // frame by the inverse of q_acc. + // l = R(q_acc)^-1 m + double lx = (q0_acc*q0_acc + q1_acc*q1_acc - q2_acc*q2_acc)*mx + + 2.0 * (q1_acc*q2_acc)*my - 2.0 * (q0_acc*q2_acc)*mz; + double ly = 2.0 * (q1_acc*q2_acc)*mx + (q0_acc*q0_acc - q1_acc*q1_acc + + q2_acc*q2_acc)*my + 2.0 * (q0_acc*q1_acc)*mz; + + // q_mag is the quaternion that rotates the Global frame (North West Up) into + // the intermediary frame. q1_mag and q2_mag are defined as 0. + double gamma = lx*lx + ly*ly; + double beta = sqrt(gamma + lx*sqrt(gamma)); + double q0_mag = beta / (sqrt(2.0 * gamma)); + double q3_mag = ly / (sqrt(2.0) * beta); + + // The quaternion multiplication between q_acc and q_mag represents the + // quaternion, orientation of the Global frame wrt the local frame. + // q = q_acc times q_mag + quaternionMultiplication(q0_acc, q1_acc, q2_acc, q3_acc, + q0_mag, 0, 0, q3_mag, + q0_meas, q1_meas, q2_meas, q3_meas ); + //q0_meas = q0_acc*q0_mag; + //q1_meas = q1_acc*q0_mag + q2_acc*q3_mag; + //q2_meas = q2_acc*q0_mag - q1_acc*q3_mag; + //q3_meas = q0_acc*q3_mag; +} + + +void ComplementaryFilter::getMeasurement( + double ax, double ay, double az, + double& q0_meas, double& q1_meas, double& q2_meas, double& q3_meas) +{ + // q_acc is the quaternion obtained from the acceleration vector representing + // the orientation of the Global frame wrt the Local frame with arbitrary yaw + // (intermediary frame). q3_acc is defined as 0. + + // Normalize acceleration vector. + normalizeVector(ax, ay, az); + + if (az >=0) + { + q0_meas = sqrt((az + 1) * 0.5); + q1_meas = -ay/(2.0 * q0_meas); + q2_meas = ax/(2.0 * q0_meas); + q3_meas = 0; + } + else + { + double X = sqrt((1 - az) * 0.5); + q0_meas = -ay/(2.0 * X); + q1_meas = X; + q2_meas = 0; + q3_meas = ax/(2.0 * X); + } +} + +void ComplementaryFilter::getAccCorrection( + double ax, double ay, double az, + double p0, double p1, double p2, double p3, + double& dq0, double& dq1, double& dq2, double& dq3) +{ + // Normalize acceleration vector. + normalizeVector(ax, ay, az); + + // Acceleration reading rotated into the world frame by the inverse predicted + // quaternion (predicted gravity): + double gx, gy, gz; + rotateVectorByQuaternion(ax, ay, az, + p0, -p1, -p2, -p3, + gx, gy, gz); + + // Delta quaternion that rotates the predicted gravity into the real gravity: + dq0 = sqrt((gz + 1) * 0.5); + dq1 = -gy/(2.0 * dq0); + dq2 = gx/(2.0 * dq0); + dq3 = 0.0; +} + +void ComplementaryFilter::getMagCorrection( + double mx, double my, double mz, + double p0, double p1, double p2, double p3, + double& dq0, double& dq1, double& dq2, double& dq3) +{ + // Magnetic reading rotated into the world frame by the inverse predicted + // quaternion: + double lx, ly, lz; + rotateVectorByQuaternion(mx, my, mz, + p0, -p1, -p2, -p3, + lx, ly, lz); + + // Delta quaternion that rotates the l so that it lies in the xz-plane + // (points north): + double gamma = lx*lx + ly*ly; + double beta = sqrt(gamma + lx*sqrt(gamma)); + dq0 = beta / (sqrt(2.0 * gamma)); + dq1 = 0.0; + dq2 = 0.0; + dq3 = ly / (sqrt(2.0) * beta); +} + +void ComplementaryFilter::getOrientation( + double& q0, double& q1, double& q2, double& q3) const +{ + // Return the inverse of the state (state is fixed wrt body). + invertQuaternion(q0_, q1_, q2_, q3_, q0, q1, q2, q3); +} + +double ComplementaryFilter::getAdaptiveGain(double alpha, double ax, double ay, double az) +{ + double a_mag = sqrt(ax*ax + ay*ay + az*az); + double error = fabs(a_mag - kGravity)/kGravity; + double factor; + double error1 = 0.1; + double error2 = 0.2; + double m = 1.0/(error1 - error2); + double b = 1.0 - m*error1; + if (error < error1) + factor = 1.0; + else if (error < error2) + factor = m*error + b; + else + factor = 0.0; + //printf("FACTOR: %f \n", factor); + return factor*alpha; +} + +void normalizeVector(double& x, double& y, double& z) +{ + double norm = sqrt(x*x + y*y + z*z); + + x /= norm; + y /= norm; + z /= norm; +} + +void normalizeQuaternion(double& q0, double& q1, double& q2, double& q3) +{ + double norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3); + q0 /= norm; + q1 /= norm; + q2 /= norm; + q3 /= norm; +} + +void invertQuaternion( + double q0, double q1, double q2, double q3, + double& q0_inv, double& q1_inv, double& q2_inv, double& q3_inv) +{ + // Assumes quaternion is normalized. + q0_inv = q0; + q1_inv = -q1; + q2_inv = -q2; + q3_inv = -q3; +} + +void scaleQuaternion( + double gain, + double& dq0, double& dq1, double& dq2, double& dq3) +{ + if (dq0 < 0.0)//0.9 + { + // Slerp (Spherical linear interpolation): + double angle = acos(dq0); + double A = sin(angle*(1.0 - gain))/sin(angle); + double B = sin(angle * gain)/sin(angle); + dq0 = A + B * dq0; + dq1 = B * dq1; + dq2 = B * dq2; + dq3 = B * dq3; + } + else + { + // Lerp (Linear interpolation): + dq0 = (1.0 - gain) + gain * dq0; + dq1 = gain * dq1; + dq2 = gain * dq2; + dq3 = gain * dq3; + } + + normalizeQuaternion(dq0, dq1, dq2, dq3); +} + +void quaternionMultiplication( + double p0, double p1, double p2, double p3, + double q0, double q1, double q2, double q3, + double& r0, double& r1, double& r2, double& r3) +{ + // r = p q + r0 = p0*q0 - p1*q1 - p2*q2 - p3*q3; + r1 = p0*q1 + p1*q0 + p2*q3 - p3*q2; + r2 = p0*q2 - p1*q3 + p2*q0 + p3*q1; + r3 = p0*q3 + p1*q2 - p2*q1 + p3*q0; +} + +void rotateVectorByQuaternion( + double x, double y, double z, + double q0, double q1, double q2, double q3, + double& vx, double& vy, double& vz) +{ + vx = (q0*q0 + q1*q1 - q2*q2 - q3*q3)*x + 2*(q1*q2 - q0*q3)*y + 2*(q1*q3 + q0*q2)*z; + vy = 2*(q1*q2 + q0*q3)*x + (q0*q0 - q1*q1 + q2*q2 - q3*q3)*y + 2*(q2*q3 - q0*q1)*z; + vz = 2*(q1*q3 - q0*q2)*x + 2*(q2*q3 + q0*q1)*y + (q0*q0 - q1*q1 - q2*q2 + q3*q3)*z; +} + + +} // namespace imu_tools diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_node.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_node.cpp new file mode 100644 index 0000000..db2e5f2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_node.cpp @@ -0,0 +1,42 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + 3. Neither the name of the City College of New York nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL the CCNY ROBOTICS LAB BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "imu_complementary_filter/complementary_filter_ros.h" + +int main (int argc, char **argv) +{ + ros::init (argc, argv, "ComplementaryFilterROS"); + ros::NodeHandle nh; + ros::NodeHandle nh_private("~"); + imu_tools::ComplementaryFilterROS filter(nh, nh_private); + ros::spin(); + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_ros.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_ros.cpp new file mode 100644 index 0000000..efff5ef --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_ros.cpp @@ -0,0 +1,305 @@ +/* + @author Roberto G. Valenti + + @section LICENSE + Copyright (c) 2015, City University of New York + CCNY Robotics Lab + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + 1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + 3. Neither the name of the City College of New York nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL the CCNY ROBOTICS LAB BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "imu_complementary_filter/complementary_filter_ros.h" + +#include +#include + +namespace imu_tools { + +ComplementaryFilterROS::ComplementaryFilterROS( + const ros::NodeHandle& nh, + const ros::NodeHandle& nh_private): + nh_(nh), + nh_private_(nh_private), + initialized_filter_(false) +{ + ROS_INFO("Starting ComplementaryFilterROS"); + initializeParams(); + + int queue_size = 5; + + // Register publishers: + imu_publisher_ = nh_.advertise(ros::names::resolve("imu") + "/data", queue_size); + + if (publish_debug_topics_) + { + rpy_publisher_ = nh_.advertise( + ros::names::resolve("imu") + "/rpy/filtered", queue_size); + + if (filter_.getDoBiasEstimation()) + { + state_publisher_ = nh_.advertise( + ros::names::resolve("imu") + "/steady_state", queue_size); + } + } + + // Register IMU raw data subscriber. + imu_subscriber_.reset(new ImuSubscriber(nh_, ros::names::resolve("imu") + "/data_raw", queue_size)); + + // Register magnetic data subscriber. + if (use_mag_) + { + mag_subscriber_.reset(new MagSubscriber(nh_, ros::names::resolve("imu") + "/mag", queue_size)); + + sync_.reset(new Synchronizer( + SyncPolicy(queue_size), *imu_subscriber_, *mag_subscriber_)); + sync_->registerCallback( + boost::bind(&ComplementaryFilterROS::imuMagCallback, this, _1, _2)); + } + else + { + imu_subscriber_->registerCallback( + &ComplementaryFilterROS::imuCallback, this); + } +} + +ComplementaryFilterROS::~ComplementaryFilterROS() +{ + ROS_INFO("Destroying ComplementaryFilterROS"); +} + +void ComplementaryFilterROS::initializeParams() +{ + double gain_acc; + double gain_mag; + bool do_bias_estimation; + double bias_alpha; + bool do_adaptive_gain; + + if (!nh_private_.getParam ("fixed_frame", fixed_frame_)) + fixed_frame_ = "odom"; + if (!nh_private_.getParam ("use_mag", use_mag_)) + use_mag_ = false; + if (!nh_private_.getParam ("publish_tf", publish_tf_)) + publish_tf_ = false; + if (!nh_private_.getParam ("reverse_tf", reverse_tf_)) + reverse_tf_ = false; + if (!nh_private_.getParam ("constant_dt", constant_dt_)) + constant_dt_ = 0.0; + if (!nh_private_.getParam ("publish_debug_topics", publish_debug_topics_)) + publish_debug_topics_ = false; + if (!nh_private_.getParam ("gain_acc", gain_acc)) + gain_acc = 0.01; + if (!nh_private_.getParam ("gain_mag", gain_mag)) + gain_mag = 0.01; + if (!nh_private_.getParam ("do_bias_estimation", do_bias_estimation)) + do_bias_estimation = true; + if (!nh_private_.getParam ("bias_alpha", bias_alpha)) + bias_alpha = 0.01; + if (!nh_private_.getParam ("do_adaptive_gain", do_adaptive_gain)) + do_adaptive_gain = true; + + double orientation_stddev; + if (!nh_private_.getParam ("orientation_stddev", orientation_stddev)) + orientation_stddev = 0.0; + + orientation_variance_ = orientation_stddev * orientation_stddev; + + filter_.setDoBiasEstimation(do_bias_estimation); + filter_.setDoAdaptiveGain(do_adaptive_gain); + + if(!filter_.setGainAcc(gain_acc)) + ROS_WARN("Invalid gain_acc passed to ComplementaryFilter."); + if (use_mag_) + { + if(!filter_.setGainMag(gain_mag)) + ROS_WARN("Invalid gain_mag passed to ComplementaryFilter."); + } + if (do_bias_estimation) + { + if(!filter_.setBiasAlpha(bias_alpha)) + ROS_WARN("Invalid bias_alpha passed to ComplementaryFilter."); + } + + // check for illegal constant_dt values + if (constant_dt_ < 0.0) + { + // if constant_dt_ is 0.0 (default), use IMU timestamp to determine dt + // otherwise, it will be constant + ROS_WARN("constant_dt parameter is %f, must be >= 0.0. Setting to 0.0", constant_dt_); + constant_dt_ = 0.0; + } +} + +void ComplementaryFilterROS::imuCallback(const ImuMsg::ConstPtr& imu_msg_raw) +{ + const geometry_msgs::Vector3& a = imu_msg_raw->linear_acceleration; + const geometry_msgs::Vector3& w = imu_msg_raw->angular_velocity; + const ros::Time& time = imu_msg_raw->header.stamp; + + // Initialize. + if (!initialized_filter_) + { + time_prev_ = time; + initialized_filter_ = true; + return; + } + + // determine dt: either constant, or from IMU timestamp + double dt; + if (constant_dt_ > 0.0) + dt = constant_dt_; + else + dt = (time - time_prev_).toSec(); + + time_prev_ = time; + + // Update the filter. + filter_.update(a.x, a.y, a.z, w.x, w.y, w.z, dt); + + // Publish state. + publish(imu_msg_raw); +} + +void ComplementaryFilterROS::imuMagCallback(const ImuMsg::ConstPtr& imu_msg_raw, + const MagMsg::ConstPtr& mag_msg) +{ + const geometry_msgs::Vector3& a = imu_msg_raw->linear_acceleration; + const geometry_msgs::Vector3& w = imu_msg_raw->angular_velocity; + const geometry_msgs::Vector3& m = mag_msg->magnetic_field; + const ros::Time& time = imu_msg_raw->header.stamp; + + // Initialize. + if (!initialized_filter_) + { + time_prev_ = time; + initialized_filter_ = true; + return; + } + + // Calculate dt. + double dt = (time - time_prev_).toSec(); + time_prev_ = time; + //ros::Time t_in, t_out; + //t_in = ros::Time::now(); + // Update the filter. + if (std::isnan(m.x) || std::isnan(m.y) || std::isnan(m.z)) + filter_.update(a.x, a.y, a.z, w.x, w.y, w.z, dt); + else + filter_.update(a.x, a.y, a.z, w.x, w.y, w.z, m.x, m.y, m.z, dt); + + //t_out = ros::Time::now(); + //float dt_tot = (t_out - t_in).toSec() * 1000.0; // In msec. + //printf("%.6f\n", dt_tot); + // Publish state. + publish(imu_msg_raw); +} + +tf::Quaternion ComplementaryFilterROS::hamiltonToTFQuaternion( + double q0, double q1, double q2, double q3) const +{ + // ROS uses the Hamilton quaternion convention (q0 is the scalar). However, + // the ROS quaternion is in the form [x, y, z, w], with w as the scalar. + return tf::Quaternion(q1, q2, q3, q0); +} + +void ComplementaryFilterROS::publish( + const sensor_msgs::Imu::ConstPtr& imu_msg_raw) +{ + // Get the orientation: + double q0, q1, q2, q3; + filter_.getOrientation(q0, q1, q2, q3); + tf::Quaternion q = hamiltonToTFQuaternion(q0, q1, q2, q3); + + // Create and publish fitlered IMU message. + boost::shared_ptr imu_msg = + boost::make_shared(*imu_msg_raw); + tf::quaternionTFToMsg(q, imu_msg->orientation); + + imu_msg->orientation_covariance[0] = orientation_variance_; + imu_msg->orientation_covariance[1] = 0.0; + imu_msg->orientation_covariance[2] = 0.0; + imu_msg->orientation_covariance[3] = 0.0; + imu_msg->orientation_covariance[4] = orientation_variance_; + imu_msg->orientation_covariance[5] = 0.0; + imu_msg->orientation_covariance[6] = 0.0; + imu_msg->orientation_covariance[7] = 0.0; + imu_msg->orientation_covariance[8] = orientation_variance_; + + // Account for biases. + if (filter_.getDoBiasEstimation()) + { + imu_msg->angular_velocity.x -= filter_.getAngularVelocityBiasX(); + imu_msg->angular_velocity.y -= filter_.getAngularVelocityBiasY(); + imu_msg->angular_velocity.z -= filter_.getAngularVelocityBiasZ(); + } + + imu_publisher_.publish(imu_msg); + + if (publish_debug_topics_) + { + // Create and publish roll, pitch, yaw angles + geometry_msgs::Vector3Stamped rpy; + rpy.header = imu_msg_raw->header; + + tf::Matrix3x3 M; + M.setRotation(q); + M.getRPY(rpy.vector.x, rpy.vector.y, rpy.vector.z); + rpy_publisher_.publish(rpy); + + // Publish whether we are in the steady state, when doing bias estimation + if (filter_.getDoBiasEstimation()) + { + std_msgs::Bool state_msg; + state_msg.data = filter_.getSteadyState(); + state_publisher_.publish(state_msg); + } + } + + if (publish_tf_) + { + // Create and publish the ROS tf. + tf::Transform transform; + transform.setOrigin(tf::Vector3(0.0, 0.0, 0.0)); + transform.setRotation(q); + + if (reverse_tf_) + { + tf_broadcaster_.sendTransform( + tf::StampedTransform(transform.inverse(), + imu_msg_raw->header.stamp, + imu_msg_raw->header.frame_id, + fixed_frame_)); + } + else + { + tf_broadcaster_.sendTransform( + tf::StampedTransform(transform, + imu_msg_raw->header.stamp, + fixed_frame_, + imu_msg_raw->header.frame_id)); + } + } +} + +} // namespace imu_tools diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/CMakeLists.txt new file mode 100644 index 0000000..6b42822 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 2.8.3) +project(filter) + +## 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 + sensor_msgs geometry_msgs tf dynamic_reconfigure +) + +generate_dynamic_reconfigure_options( + cfg/MyStuff.cfg + cfg/MyStuff2.cfg +) + + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES temp +# CATKIN_DEPENDS roscpp +# DEPENDS system_lib +) + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + + + + +add_executable(Mahony_filter src/Mahony_filter.cpp) +add_dependencies(Mahony_filter ${PROJECT_NAME}_gencfg) +target_link_libraries(Mahony_filter ${catkin_LIBRARIES} ) + + +add_executable(Madgwick_filter src/Madgwick_filter.cpp) +add_dependencies(Madgwick_filter ${PROJECT_NAME}_gencfg) +target_link_libraries(Madgwick_filter ${catkin_LIBRARIES} ) + +add_executable(bias_calculator src/bias_calculator.cpp) +add_dependencies(bias_calculator ${PROJECT_NAME}_gencfg) +target_link_libraries(bias_calculator ${catkin_LIBRARIES} ) + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/README.md b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/README.md new file mode 100644 index 0000000..5c09603 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/README.md @@ -0,0 +1,34 @@ +# imu_filter + +This is a project that uses IMU filter algorithm in ROS(Robot Operating System). The IMU I use is ICM 20602, consisting of a tri-axis gyroscope and a tri-axis accelerometer. + +## ROS API +### Subscribed Topics +Message containing raw IMU data, including angular velocities and linear accelerations.
+`imu0`(sensor_msgs/Imu) +### Published Topics +The fused pose representation.
+`quaternion`(geometry_msg/QuaternionStamped)
+`ypr`(geometry_msgs/Vector3Stamped) +## Parameters +### Dynamically Reconfigurable Parameters
+(Mahony_filter) `twoKp` `twoKi`
+(Madgwick_filter) `beta`
+To tune the dynamic parameters after runnig the node, input + + rosrun rqt_configure rqt_reconfigure +According to Madgwick's thesis, the suggested beta = sqrt(3.0f / 4.0f) * gyroMeasError. ICM20602's gyroscope +sensitivity erroris ±1%. Thus the default beta is setting to 0.1088. As the specific application, the value +can be tuned accoring to response and requriments. +### Non-dynamically Reconfigurable Parameters
+`sampleFreq`(float, default: 400.0)
+You can change its value at the beginning, Such as: + + rosrun filter Madgwick_filter _sampleFreq:=200 +## provied tf Transforms +odom -> imu +So you can open rviz and set the fixed frame "odom", add TF then you can use it to verify the effect directly. +![Alt Text](https://github.com/marooncn/imu_filter/blob/master/Screenshot%20from%202017-07-29%2010-49-16.png) +## Result +The Madgwick_filter node's effect is acceptable, but the Mahony_filter is disappointing. + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff.cfg b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff.cfg new file mode 100644 index 0000000..5fbc0de --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff.cfg @@ -0,0 +1,14 @@ +#! /usr/bin/env python + +PACKAGE = 'filter' + + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("twoKp", 'double', 0, "2* accelerometer proportional gain", 0.01, 0, 0.1); +gen.add("twoKi", 'double', 0, "2* integral gain", 0.002, 0, 0.01); + +exit(gen.generate(PACKAGE, "filter", "MyStuff")) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff2.cfg b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff2.cfg new file mode 100644 index 0000000..48fb8f8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff2.cfg @@ -0,0 +1,14 @@ +#! /usr/bin/env python + +PACKAGE = 'filter' + + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("beta", 'double', 0, "2* accelerometer proportional gain", 0.1088, 0, 0.5); + + +exit(gen.generate(PACKAGE, "filter", "MyStuff2")) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/package.xml new file mode 100644 index 0000000..402d134 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/package.xml @@ -0,0 +1,62 @@ + + + filter + 0.0.0 + The filter package + + + + + maroon + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + sensor_msgs + geometry_msgs + tf + dynamic_reconfigure + roscpp + rospy + sensor_msgs + geometry_msgs + tf + dynamic_reconfigure + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/Madgwick_filter.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/Madgwick_filter.cpp new file mode 100644 index 0000000..ec79c21 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/Madgwick_filter.cpp @@ -0,0 +1,259 @@ +#include "ros/ros.h" +#include "std_msgs/Float64.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/Quaternion.h" +#include "geometry_msgs/QuaternionStamped.h" +#include "geometry_msgs/Vector3Stamped.h" +#include "geometry_msgs/TransformStamped.h" +#include "sensor_msgs/Imu.h" +#include "tf/transform_broadcaster.h" +#include "tf/transform_datatypes.h" +#include "tf/transform_listener.h" +#include "math.h" +#include "ros/console.h" +#include "dynamic_reconfigure/server.h" +#include "filter/MyStuff2Config.h" + + +using namespace std_msgs; + +geometry_msgs::QuaternionStamped q; +geometry_msgs::Vector3Stamped v; +geometry_msgs::TransformStamped q_trans; +float sampleFreq; +double beta; +float q0=1.0, q1=0.0, q2=0.0, q3=0.0; +Header header; +float ax, ay, az, gx, gy, gz; +ros::Duration dtime; +float dt; + +float invSqrt(float ); +void qua2Euler(geometry_msgs::QuaternionStamped ); +void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az); + +void callback(filter::MyStuff2Config &config, uint32_t level) { + beta = config.beta; + +} + + +void filter_function(const sensor_msgs::Imu& msg) +{ +// ros::Time start_time = ros::Time::now(); + + + header = msg.header; +// q.linear_acceleration = msg.linear_acceleration; +// q.angular_velocity = msg.angular_velocity; + ax = msg.linear_acceleration.x; + ay = msg.linear_acceleration.y; + az = msg.linear_acceleration.z; + gx = msg.angular_velocity.x; + gy = msg.angular_velocity.y; + gz = msg.angular_velocity.z; + + /* ros::Time this_time = header.stamp; + static ros::Time last_time = header.stamp; + dtime = this_time - last_time; + dt = dtime.toNSec(); + ROS_INFO(" this_time = %f", this_time.toSec()); + ROS_INFO(" last_time = %f", last_time.toSec()); + dt = dt/1.0e9; + // dt = 0.0025; + ROS_INFO(" dt = %f", dt); + last_time = this_time; */ + + // since we are using 1000 degrees/seconds range and the register is 16 bits + // -1000 maps to a raw value of -32768 + // +1000 maps to a raw value of 32767 + gx = gx*1000.0/32768.0; + gy = gy*1000.0/32768.0; + gz = gz*1000.0/32768.0; + + //change Gyroscope units to radians/second, accelerometer units are irrelevant as the vector is normalised. + // Convert gyroscope degrees/sec to radians/sec + gx *= 0.0174533f; + gy *= 0.0174533f; + gz *= 0.0174533f; + + ROS_INFO("The original gx=%f, gy=%f, gz=%f ", gx, gy, gz); + ROS_INFO("beta=%f", beta); + + MadgwickAHRSupdateIMU(gx, gy, gz, ax, ay, az) ; + + q.header = header; + q.quaternion.w = q0; + q.quaternion.x = q1; + q.quaternion.y = q2; + q.quaternion.z = q3; + + ROS_INFO(" q0=%f, q1=%f, q2=%f, q3=%f ", q0, q1, q2, q3); + qua2Euler(q); +// ros::Time end_time = ros::Time::now(); +// double interval_time = (end_time - start_time).toNSec(); + // ROS_INFO("the interval time is %lf ns" , interval_time); +} + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "Mahony_filter"); + ros::NodeHandle n; + ros::Publisher pub1 = n.advertise("quaternion", 1); + ros::Publisher pub2 = n.advertise("ypr", 1); + tf::TransformBroadcaster q_broadcaster; + ros::Subscriber sub = n.subscribe("/imu/data_raw", 10, filter_function); + if(!n.getParam("sampleFreq", sampleFreq)) + sampleFreq = 400.0; + dynamic_reconfigure::Server server; + dynamic_reconfigure::Server::CallbackType f; + f = boost::bind(&callback, _1, _2); + server.setCallback(f); + + ros::Rate r(sampleFreq); + while(ros::ok()) + { + pub1.publish(q); + pub2.publish(v); + ros::spinOnce(); + + q_trans.header.stamp = header.stamp; + q_trans.header.frame_id = "/odom"; + q_trans.child_frame_id = "/imu"; +/* q_trans.transform.rotation.w = q.quaternion.w; + q_trans.transform.rotation.x = q.quaternion.x; + q_trans.transform.rotation.y = q.quaternion.y; + q_trans.transform.rotation.z = q.quaternion.z; */ + q_trans.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(v.vector.z ,v.vector.y, v.vector.x); + + q_broadcaster.sendTransform(q_trans); + r.sleep(); + } + return 0; +} + +//Fast inverse square root +//reference: https://en.wikipedia.org/wiki/Fast_inverse_square_root +float invSqrt(float x) +{ + float xhalf = 0.5f * x; + union + { + float x; + int i; + } u; + u.x = x; + u.i = 0x5f3759df - (u.i >> 1); + /* The next line can be repeated any number of times to increase accuracy */ + u.x = u.x * (1.5f - xhalf * u.x * u.x); + return u.x; +} + +//reference: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles +void qua2Euler(geometry_msgs::QuaternionStamped q) { + + float x,y,z,w; + + x = q.quaternion.x; + y = q.quaternion.y; + z = q.quaternion.z; + w = q.quaternion.w; + + v.header = q.header; + +//yaw (z-axis rotation) + float t0 = 2.0*(w*z+x*y); + float t1 = 1.0-2.0*(y*y+z*z); + v.vector.x = atan2(t0,t1); //the unit is radians +//pitch (y-axis rotation) + float t2 = 2.0*(w*y-z*x); + t2 = (t2 > 1.0) ? 1.0 : t2; + t2 = (t2 < -1.0)? -1.0 : t2; + v.vector.y = asin(t2); +//roll (x-axis rotation) + float t3 = 2.0*(w*x+y*z); + float t4 = 1.0-2.0*(x*x+y*y); + v.vector.z = atan2(t3, t4); +} + + +//Implementation of Madgwick's IMU and AHRS algorithms. +//reference: An efficient orientation filter for inertial and inertial/magnetic sensor arrays. (This thesis's appendix has more detailed code and illutration) +//reference: http://x-io.co.uk/open-source-imu-and-ahrs-algorithms/ + +void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) { + float recipNorm; + float s0, s1, s2, s3; // estimated direction of the gyroscope error + float qDot1, qDot2, qDot3, qDot4; // quaternion derrivative from gyroscopes elements + float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3; //Axulirary variables to avoid reapeated calcualtions + + // Rate of change of quaternion from gyroscope + qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); + qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); + qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); + qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); + + // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) + if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + + // Normalise accelerometer measurement + recipNorm = invSqrt(ax * ax + ay * ay + az * az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + // Auxiliary variables to avoid repeated arithmetic + _2q0 = 2.0f * q0; + _2q1 = 2.0f * q1; + _2q2 = 2.0f * q2; + _2q3 = 2.0f * q3; + _4q0 = 4.0f * q0; + _4q1 = 4.0f * q1; + _4q2 = 4.0f * q2; + _8q1 = 8.0f * q1; + _8q2 = 8.0f * q2; + q0q0 = q0 * q0; + q1q1 = q1 * q1; + q2q2 = q2 * q2; + q3q3 = q3 * q3; + + // Gradient decent algorithm corrective step + s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; + s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; + s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; + s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; + + recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // Normalise the gradient + s0 *= recipNorm; + s1 *= recipNorm; + s2 *= recipNorm; + s3 *= recipNorm; + + + // Apply feedback step + qDot1 -= beta * s0; + qDot2 -= beta * s1; + qDot3 -= beta * s2; + qDot4 -= beta * s3; + } + + // Integrate rate of change of quaternion to yield quaternion + q0 += qDot1 * (1.0f / sampleFreq); + q1 += qDot2 * (1.0f / sampleFreq); + q2 += qDot3 * (1.0f / sampleFreq); + q3 += qDot4 * (1.0f / sampleFreq); + + // Normalise quaternion + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; +} + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/Mahony_filter.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/Mahony_filter.cpp new file mode 100644 index 0000000..e46c08f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/Mahony_filter.cpp @@ -0,0 +1,278 @@ +#include "ros/ros.h" +#include "std_msgs/Float64.h" +#include "std_msgs/Header.h" +//#include "std_msgs/Float64MultiArray.h" +#include "geometry_msgs/Quaternion.h" +#include "geometry_msgs/QuaternionStamped.h" +#include "geometry_msgs/Vector3Stamped.h" +#include "geometry_msgs/TransformStamped.h" +#include "sensor_msgs/Imu.h" +#include "tf/transform_broadcaster.h" +#include "tf/transform_datatypes.h" +#include "tf/transform_listener.h" +#include "math.h" +#include "ros/console.h" +#include "dynamic_reconfigure/server.h" +#include "filter/MyStuffConfig.h" + + +using namespace std_msgs; + +geometry_msgs::QuaternionStamped q; +geometry_msgs::Vector3Stamped v; +geometry_msgs::TransformStamped q_trans; +double twoKp; //2* accelerometer proportional gain +double twoKi; //2* integral gain +float sampleFreq; +float q0=1.0, q1=0.0, q2=0.0, q3=0.0; +float ex_int=0.0, ey_int=0.0, ez_int=0.0; +Header header; +float ax, ay, az, gx, gy, gz; +ros::Duration dtime; +float dt; + + +float invSqrt(float ); +void qua2Euler(geometry_msgs::QuaternionStamped ); +void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az); + +void callback(filter::MyStuffConfig &config, uint32_t level) { + twoKp = config.twoKp; + twoKi = config.twoKi; + ROS_INFO("twoKi=%f, twoKp=%f", twoKi, twoKp); +} + + +//Implementation of Mahony&Madgwick's IMU and AHRS algorithms. +//reference: http://x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +void filter_function(const sensor_msgs::Imu& msg) +{ + // ros::Time start_time = ros::Time::now(); + + header = msg.header; +// q.linear_acceleration = msg.linear_acceleration; +// q.angular_velocity = msg.angular_velocity; + ax = msg.linear_acceleration.x; + ay = msg.linear_acceleration.y; + az = msg.linear_acceleration.z; + gx = msg.angular_velocity.x; + gy = msg.angular_velocity.y; + gz = msg.angular_velocity.z; + +/* ros::Time this_time = header.stamp; + static ros::Time last_time = header.stamp; + dtime = this_time - last_time; + dt = dtime.toNSec(); + ROS_INFO(" this_time = %f", this_time.toSec()); + ROS_INFO(" last_time = %f", last_time.toSec()); + dt = dt/1.0e9; + // dt = 0.0025; + ROS_INFO(" dt = %f", dt); + last_time = this_time; */ + + // since we are using 1000 degrees/seconds range and the register is 16 bits + // -1000 maps to a raw value of -32768 + // +1000 maps to a raw value of 32767 + gx = gx*1000.0/32768.0; + gy = gy*1000.0/32768.0; + gz = gz*1000.0/32768.0; + + //change Gyroscope units to radians/second, accelerometer units are irrelevant as the vector is normalised. + // Convert gyroscope degrees/sec to radians/sec + gx *= 0.0174533f; + gy *= 0.0174533f; + gz *= 0.0174533f; + + ROS_INFO("The original gx=%f, gy=%f, gz=%f ", gx, gy, gz); + + MahonyAHRSupdateIMU(gx, gy, gz, ax, ay, az); + + q.header = header; + q.quaternion.w = q0; + q.quaternion.x = q1; + q.quaternion.y = q2; + q.quaternion.z = q3; + + ROS_INFO(" q0=%f, q1=%f, q2=%f, q3=%f ", q0, q1, q2, q3); + qua2Euler(q); + // ros::Time end_time = ros::Time::now(); +// double interval_time = (end_time - start_time).toNSec(); + // ROS_INFO("the interval time is %lf ns" , interval_time); +} + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "Mahony_filter"); + ros::NodeHandle n; + ros::Publisher pub1 = n.advertise("quaternion", 1); + ros::Publisher pub2 = n.advertise("ypr", 1); + // ros::Publisher odom_pub = n.advertise("odom", 50); + tf::TransformBroadcaster q_broadcaster; + //ros::Publisher pub3 = n.advertise("DCM",20); + //setFullSacleGyroRange(ICM20602_GYRO_RANGE_1000); + ros::Subscriber sub = n.subscribe("/imu/data_raw", 10, filter_function); + if(!n.getParam("sampleFreq", sampleFreq)) + sampleFreq = 400.0; + dt = 1.0/sampleFreq; + + dynamic_reconfigure::Server server; + dynamic_reconfigure::Server::CallbackType f; + f = boost::bind(&callback, _1, _2); + server.setCallback(f); + + ros::Rate r(sampleFreq); + while(ros::ok()) + { + pub1.publish(q); + pub2.publish(v); + ros::spinOnce(); + + q_trans.header.stamp = header.stamp; + q_trans.header.frame_id = "/odom"; + q_trans.child_frame_id = "/imu"; +/* q_trans.transform.rotation.w = q.quaternion.w; + q_trans.transform.rotation.x = q.quaternion.x; + q_trans.transform.rotation.y = q.quaternion.y; + q_trans.transform.rotation.z = q.quaternion.z; */ + q_trans.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(v.vector.z ,v.vector.y, v.vector.x); + + q_broadcaster.sendTransform(q_trans); + r.sleep(); + } + return 0; +} + +//Fast inverse square root +//reference: https://en.wikipedia.org/wiki/Fast_inverse_square_root +float invSqrt(float x) +{ + float xhalf = 0.5f * x; + union + { + float x; + int i; + } u; + u.x = x; + u.i = 0x5f3759df - (u.i >> 1); + /* The next line can be repeated any number of times to increase accuracy */ + u.x = u.x * (1.5f - xhalf * u.x * u.x); + return u.x; +} + +//reference: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles +void qua2Euler(geometry_msgs::QuaternionStamped q) { + + float x,y,z,w; + + x = q.quaternion.x; + y = q.quaternion.y; + z = q.quaternion.z; + w = q.quaternion.w; + + v.header = q.header; + +//yaw (z-axis rotation) + float t0 = 2.0*(w*z+x*y); + float t1 = 1.0-2.0*(y*y+z*z); + v.vector.x = atan2(t0,t1)*57.29578; //the unit is degree +//pitch (y-axis rotation) + float t2 = 2.0*(w*y-z*x); + t2 = (t2 > 1.0) ? 1.0 : t2; + t2 = (t2 < -1.0)? -1.0 : t2; + v.vector.y = asin(t2)*57.29578; +//roll (x-axis rotation) + float t3 = 2.0*(w*x+y*z); + float t4 = 1.0-2.0*(x*x+y*y); + v.vector.z = atan2(t3, t4)*57.29578; + +} + +void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) { + + float recipNorm; + float halfvx, halfvy, halfvz; + float halfex, halfey, halfez; + float thetax, thetay, thetaz; + float dq0, dq1, dq2, dq3; + + // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) +if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + //normalize the accelerometer vector + recipNorm = invSqrt(ax*ax+ay*ay+az*az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + ROS_INFO(" ax=%f, ay=%f, az=%f ", ax, ay, az); + + //calculate the direction of gravity according to quaternion + halfvx = q1*q3 - q0*q2; + halfvy = q0*q1 + q2*q3; +// vz = q0*q0 - q1*q1 - q2*q2 + q3*q3; + halfvz = q0*q0 -0.5f + q3*q3; + + ROS_INFO("The halfvx=%f, halfvy=%f, halfvz=%f", halfvx, halfvy, halfvz); + + + + //calculate the error which is cross product between estimated and measured direction of gravity + halfex = ay*halfvz - az*halfvy; + halfey = az*halfvx - ax*halfvz; + halfez = ax*halfvy - ay*halfvx; + + ROS_INFO("The halfex=%f, halfey=%f, halfez=%f", halfex, halfey, halfez); + + if (twoKi > 0.0f) { + //integral the error + ex_int += twoKi*halfex*dt; + ey_int += twoKi*halfey*dt; + ez_int += twoKi*halfez*dt; + + ROS_INFO("The ex_int=%f, ey_int=%f, ez_int=%f", ex_int, ey_int, ez_int); + + //apply the integral feedback + gx += ex_int; + gy += ey_int; + gz += ez_int; } + + else { + ex_int = 0.0f; + ey_int = 0.0f; + ez_int = 0.0f; + } + + //apply the proportional feedback + gx += twoKp*halfex; + gy += twoKp*halfey; + gz += twoKp*halfez; + + ROS_INFO("The revised gx=%f, gy=%f, gz=%f ", gx, gy, gz); } + + //calculate the rotary angle + thetax = 0.5*gx*dt; + thetay = 0.5*gy*dt; + thetaz = 0.5*gz*dt; + + //update quaternion using Runge Kutta algorithms. + //explanation: http://blog.csdn.net/aasdsadad/article/details/73080832 + dq0 = -q1*thetax-q2*thetay-q3*thetaz; + dq1 = q0*thetax+q2*thetaz-q3*thetay; + dq2 = q0*thetay-q1*thetaz+q3*thetax; + dq3 = q0*thetaz+q1*thetay-q2*thetax; + + q0 += dq0; + q1 += dq1; + q2 += dq2; + q3 += dq3; + + //normalize quaternion + recipNorm = invSqrt(q0*q0+q1*q1+q2*q2+q3*q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + +} + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/bias_calculator.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/bias_calculator.cpp new file mode 100644 index 0000000..d462be4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter/src/bias_calculator.cpp @@ -0,0 +1,40 @@ +#include "ros/ros.h" +#include "geometry_msgs/Vector3.h" +#include "sensor_msgs/Imu.h" + +double x = 0, y = 0, z = 0; +double count = 0.0; +geometry_msgs::Vector3 v; + +void calculator(sensor_msgs::Imu imu_msg) { + x += imu_msg.angular_velocity.x; + y += imu_msg.angular_velocity.y; + z += imu_msg.angular_velocity.z; + count++; +} + +int main(int argc, char** argv) { + ros::init(argc, argv, "bias_calculator"); + ROS_INFO("Please keep your IMU still for 10 secs"); + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("imu", 1000, calculator); + ros::Publisher pub = n.advertise< geometry_msgs::Vector3>("bias", 1); + + while(ros::ok()) { + for(int i=0; i<10; i++) + {ros::Duration(1).sleep(); + ROS_INFO("%ds left", 10-i); + ros::spinOnce(); } + if(count == 0) + { ROS_WARN("can't receive imu0 data. Please try again."); + break; } + v.x = x /count; + v.y = y /count; + v.z = z /count; + pub.publish(v); + ROS_INFO("Calculate ends."); + ROS_INFO("gyro's initial data offest is %f, y is %f, z is %f", v.x, v.y, v.z); + break; + } +} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CHANGELOG.rst new file mode 100644 index 0000000..438ca4e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CHANGELOG.rst @@ -0,0 +1,192 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package imu_filter_madgwick +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2019-05-06) +------------------ +* Skip messages and warn if computeOrientation fails +* Contributors: Martin Günther + +1.1.6 (2018-05-25) +------------------ +* Remove outdated Makefile +* update to use non deprecated pluginlib macro (`#77 `_) +* Add warning when IMU time stamp is zero + Closes `#82 `_. +* Contributors: Martin Günther, Mikael Arguedas + +1.1.4 (2017-05-22) +------------------ +* Print warning if waiting for topic + Closes `#61 `_. +* Fix boost::lock_error on shutdown +* Contributors: Martin Günther + +1.1.3 (2017-03-10) +------------------ +* Return precisely normalized quaternions + Fixes `#67 `_ : TF_DENORMALIZED_QUATERNION warning added in TF2 0.5.14. +* Tests: Check that output quaternions are normalized +* Fixed lock so it stays in scope until end of method. +* Contributors: Jason Mercer, Martin Guenther, Martin Günther + +1.1.2 (2016-09-07) +------------------ +* Add missing dependency on tf2_geometry_msgs +* Contributors: Martin Guenther + +1.1.1 (2016-09-07) +------------------ +* Add parameter "world_frame": optionally use ENU or NED instead of NWU + convention (from `#60 `_; + closes `#36 `_) +* Add parameter "stateless" for debugging purposes: don't do any stateful + filtering, but instead publish the orientation directly computed from the + latest accelerometer (+ optionally magnetometer) readings alone +* Replace the (buggy) Euler-angle-based initialization routine + (ImuFilterRos::computeRPY) by a correct transformation + matrix based one (StatelessOrientation::computeOrientation) and make it + available as a library function +* Refactor madgwickAHRSupdate() (pull out some functions, remove micro + optimizations to improve readability) +* Add unit tests +* Contributors: Martin Guenther, Michael Stoll + +1.1.0 (2016-04-25) +------------------ + +1.0.11 (2016-04-22) +------------------- +* Jade: Change default: use_magnetic_field_msg = true +* Contributors: Martin Guenther + +1.0.10 (2016-04-22) +------------------- + +1.0.9 (2015-10-16) +------------------ + +1.0.8 (2015-10-07) +------------------ + +1.0.7 (2015-10-07) +------------------ + +1.0.6 (2015-10-06) +------------------ +* Split ImuFilter class into ImuFilter and ImuFilterRos in order to + have a C++ API to the Madgwick algorithm +* Properly install header files. +* Contributors: Martin Günther, Michael Stoll + +1.0.5 (2015-06-24) +------------------ +* Add "~use_magnetic_field_msg" param. + This allows the user to subscribe to the /imu/mag topic as a + sensor_msgs/MagneticField rather than a geometry_msgs/Vector3Stamped. + The default for now is false, which preserves the legacy behaviour via a + separate subscriber which converts Vector3Stamped to MagneticField and + republishes. +* Contributors: Mike Purvis, Martin Günther + +1.0.4 (2015-05-06) +------------------ +* update dynamic reconfigure param descriptions +* only advertise debug topics if they are used +* allow remapping of the whole imu namespace + with this change, all topics can be remapped at once, like this: + rosrun imu_filter_madgwick imu_filter_node imu:=my_imu +* Contributors: Martin Günther + +1.0.3 (2015-01-29) +------------------ +* Add std dev parameter to orientation estimate covariance matrix +* Port imu_filter_madgwick to tf2 +* Switch to smart pointer +* Contributors: Paul Bovbel, Martin Günther + +1.0.2 (2015-01-27) +------------------ +* fix tf publishing (switch parent + child frames) + The orientation is between a fixed inertial frame (``fixed_frame_``) and + the frame that the IMU is mounted in (``imu_frame_``). Also, + ``imu_msg.header.frame`` should be ``imu_frame_``, but the corresponding TF + goes from ``fixed_frame_`` to ``imu_frame_``. This commit fixes that; for + the ``reverse_tf`` case, it was already correct. + Also see http://answers.ros.org/question/50870/what-frame-is-sensor_msgsimuorientation-relative-to/. + Note that tf publishing should be enabled for debug purposes only, since we can only + provide the orientation, not the translation. +* Add ~reverse_tf parameter for the robots which does not have IMU on root-link +* Log mag bias on startup to assist with debugging. +* add boost depends to CMakeLists + All non-catkin things that we expose in our headers should be added to + the DEPENDS, so that packages which depend on our package will also + automatically link against it. +* Contributors: Martin Günther, Mike Purvis, Ryohei Ueda + +1.0.1 (2014-12-10) +------------------ +* add me as maintainer to package.xml +* turn mag_bias into a dynamic reconfigure param + Also rename mag_bias/x --> mag_bias_x etc., since dynamic reconfigure + doesn't allow slashes. +* gain and zeta already set via dynamic_reconfigure + Reading the params explicitly is not necessary. Instead, + dynamic_reconfigure will read them and set them as soon as we call + config_server->setCallback(). +* reconfigure server: use proper namespace + Before, the reconfigure server used the private namespace of the nodelet + *manager* instead of the nodelet, so the params on the parameter server + and the ones from dynamic_reconfigure were out of sync. +* check for NaNs in magnetometer message + Some magnetometer drivers (e.g. phidgets_drivers) output NaNs, which + is a valid way of saying that this measurement is invalid. During + initialization, we simply wait for the first valid message, assuming + there will be one soon. +* magnetometer msg check: isnan() -> !isfinite() + This catches both inf and NaN. Not sure whether sending inf in a Vector3 + message is valid (Nan is), but this doesn't hurt and is just good + defensive programming. +* Initialize yaw from calibrated magnetometer data + * Add magnetometer biases (mag_bias/x and mag_bias/y) for hard-iron compensation. + * Initialize yaw orientation from magnetometer reading. + * Add imu/rpy/raw and imu/rpy/filtered as debug topics. imu/rpy/raw can be used for computing magnetometer biases. imu/rpy/filtered topic is for user readability only. +* Contributors: Martin Günther, Shokoofeh Pourmehr + +1.0.0 (2014-09-03) +------------------ +* First public release +* Remove setting imu message frame to fixed/odom +* CMakeLists: remove unnecessary link_directories, LIBRARY_OUTPUT_PATH +* add missing build dependency on generated config + This removes a racing condition from the build process. +* install nodelet xml file + Otherwise the nodelet can't be found +* fix implementation of invSqrt() + The old invSqrt() implementation causes the estimate to diverge under + constant input. The problem was the line `long i = (long)&y;`, where 64 + bits are read from a 32 bit number. Thanks to @tomas-c for spotting this + and pointing out the solution. +* catkinization of imu_tools metapackage +* fix typo: zeta -> ``zeta_`` +* fix initialization of initial rotation +* gyro drift correction function added in MARG implementation +* set "zeta" as a parameter for dynamic reconfigure in the .cfg file +* add new test bag: phidgets_imu_upside_down +* add parameter publish_tf + When the imu is used together with other packages, such as + robot_pose_ekf, publishing the transform often interferes with those + packages. This parameter allows to disable tf publishing. +* add some sample imu data +* more informative constant_dt message. Reverts to 0.0 on illegal param value +* imu_filter_madgwick manifest now correctly lists the package as GPL license. +* orientation is initialized from acceleration vector on first message received +* added dynamic reconfigure for gain parameter. Added better messages about constant_dt param at startup +* the tf published is now timestamped as the imu msg, and not as now(). Also added constant dt option for the imu+mag callback +* fix the transform publish -- from the fixed frame to the frame of the imu +* add a tf broadcaster with the orientation +* as per PaulKemppi: added option to set constant dt +* walchko: Needed to add namespace: std::isnan() and needed to add rosbuild_link_boost(imu_filter signals) to CMakeLists.txt +* added sebastian's name and link to the manifest +* renamed imu_filter to imu_filter_madgwick +* Contributors: Ivan Dryanovski, Martin Günther, Mike Purvis, Sameer Parekh, TUG-DESTOP, Francisco Vina, Michael Görner, Paul Kemppi, Tomas Cerskus, Kevin Walchko diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CMakeLists.txt new file mode 100644 index 0000000..f507cd4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CMakeLists.txt @@ -0,0 +1,76 @@ +cmake_minimum_required(VERSION 2.8.3) +project(imu_filter_madgwick) + +find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs geometry_msgs tf2 tf2_geometry_msgs tf2_ros nodelet pluginlib message_filters dynamic_reconfigure) + +find_package(Boost REQUIRED COMPONENTS system thread +# signals) +) + +# Generate dynamic parameters +generate_dynamic_reconfigure_options(cfg/ImuFilterMadgwick.cfg) + + +catkin_package( + DEPENDS Boost + CATKIN_DEPENDS roscpp sensor_msgs geometry_msgs tf2_ros tf2_geometry_msgs nodelet pluginlib message_filters dynamic_reconfigure + INCLUDE_DIRS + LIBRARIES imu_filter imu_filter_nodelet +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + + +# create imu_filter library +add_library (imu_filter src/imu_filter.cpp src/imu_filter_ros.cpp src/stateless_orientation.cpp) +add_dependencies(imu_filter ${PROJECT_NAME}_gencfg) +target_link_libraries(imu_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + +# create imu_filter_nodelet library +add_library (imu_filter_nodelet src/imu_filter_nodelet.cpp) +add_dependencies(imu_filter_nodelet ${PROJECT_NAME}_gencfg) +target_link_libraries(imu_filter_nodelet imu_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + +# create imu_filter_node executable +add_executable(imu_filter_node src/imu_filter_node.cpp) +add_dependencies(imu_filter_node ${PROJECT_NAME}_gencfg) +target_link_libraries(imu_filter_node imu_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + + +install(TARGETS imu_filter_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(TARGETS imu_filter imu_filter_nodelet + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(FILES imu_filter_nodelet.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + + + +if(CATKIN_ENABLE_TESTING) + catkin_add_gtest(${PROJECT_NAME}-madgwick_test + test/stateless_orientation_test.cpp + test/madgwick_test.cpp + ) + target_link_libraries(${PROJECT_NAME}-madgwick_test + imu_filter + ${catkin_LIBRARIES} + ) +endif() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/COPYING b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/COPYING new file mode 100644 index 0000000..02bbb60 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/COPYING @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. 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If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/Makefile b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/cfg/ImuFilterMadgwick.cfg b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/cfg/ImuFilterMadgwick.cfg new file mode 100644 index 0000000..a421dcf --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/cfg/ImuFilterMadgwick.cfg @@ -0,0 +1,18 @@ +#! /usr/bin/env python +# IMU Filter dynamic reconfigure + +PACKAGE='imu_filter_madgwick' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("gain", double_t, 0, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal.", 0.1, 0.0, 1.0) +gen.add("zeta", double_t, 0, "Gyro drift gain (approx. rad/s).", 0, -1.0, 1.0) +gen.add("mag_bias_x", double_t, 0, "Magnetometer bias (hard iron correction), x component.", 0, -10.0, 10.0) +gen.add("mag_bias_y", double_t, 0, "Magnetometer bias (hard iron correction), y component.", 0, -10.0, 10.0) +gen.add("mag_bias_z", double_t, 0, "Magnetometer bias (hard iron correction), z component.", 0, -10.0, 10.0) +gen.add("orientation_stddev", double_t, 0, "Standard deviation of the orientation estimate.", 0, 0, 1.0) + +exit(gen.generate(PACKAGE, "dynamic_reconfigure_node", "ImuFilterMadgwick")) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/imu_filter_nodelet.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/imu_filter_nodelet.xml new file mode 100644 index 0000000..0306487 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/imu_filter_nodelet.xml @@ -0,0 +1,9 @@ + + + + + Imu Filter nodelet publisher. + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter.h new file mode 100644 index 0000000..4cf55f5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter.h @@ -0,0 +1,107 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef IMU_FILTER_MADWICK_IMU_FILTER_H +#define IMU_FILTER_MADWICK_IMU_FILTER_H + +#include +#include +#include + +class ImuFilter +{ + public: + + ImuFilter(); + virtual ~ImuFilter(); + + private: + // **** paramaters + double gain_; // algorithm gain + double zeta_; // gyro drift bias gain + WorldFrame::WorldFrame world_frame_; // NWU, ENU, NED + + // **** state variables + double q0, q1, q2, q3; // quaternion + float w_bx_, w_by_, w_bz_; // + +public: + void setAlgorithmGain(double gain) + { + gain_ = gain; + } + + void setDriftBiasGain(double zeta) + { + zeta_ = zeta; + } + + void setWorldFrame(WorldFrame::WorldFrame frame) + { + world_frame_ = frame; + } + + void getOrientation(double& q0, double& q1, double& q2, double& q3) + { + q0 = this->q0; + q1 = this->q1; + q2 = this->q2; + q3 = this->q3; + + // perform precise normalization of the output, using 1/sqrt() + // instead of the fast invSqrt() approximation. Without this, + // TF2 complains that the quaternion is not normalized. + double recipNorm = 1 / sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + } + + void setOrientation(double q0, double q1, double q2, double q3) + { + this->q0 = q0; + this->q1 = q1; + this->q2 = q2; + this->q3 = q3; + + w_bx_ = 0; + w_by_ = 0; + w_bz_ = 0; + } + + void madgwickAHRSupdate(float gx, float gy, float gz, + float ax, float ay, float az, + float mx, float my, float mz, + float dt); + + void madgwickAHRSupdateIMU(float gx, float gy, float gz, + float ax, float ay, float az, + float dt); + + void getGravity(float& rx, float& ry, float& rz, + float gravity = 9.80665); +}; + +#endif // IMU_FILTER_IMU_MADWICK_FILTER_H diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_nodelet.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_nodelet.h new file mode 100644 index 0000000..00c01c3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_nodelet.h @@ -0,0 +1,41 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef IMU_FILTER_MADGWICK_IMU_FILTER_NODELET_H +#define IMU_FILTER_MADGWICK_IMU_FILTER_NODELET_H + +#include + +#include "imu_filter_madgwick/imu_filter_ros.h" + +class ImuFilterNodelet : public nodelet::Nodelet +{ + public: + virtual void onInit(); + + private: + boost::shared_ptr filter_; +}; + +#endif // IMU_FILTER_MADGWICK_IMU_FILTER_NODELET_H diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h new file mode 100644 index 0000000..90bbca6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h @@ -0,0 +1,125 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef IMU_FILTER_MADWICK_IMU_FILTER_ROS_H +#define IMU_FILTER_MADWICK_IMU_FILTER_ROS_H + +#include +#include +#include +#include +#include "tf2_ros/transform_broadcaster.h" +#include +#include +#include +#include + +#include "imu_filter_madgwick/imu_filter.h" +#include "imu_filter_madgwick/ImuFilterMadgwickConfig.h" + +class ImuFilterRos +{ + typedef sensor_msgs::Imu ImuMsg; + typedef sensor_msgs::MagneticField MagMsg; + typedef geometry_msgs::Vector3Stamped MagVectorMsg; + + typedef message_filters::sync_policies::ApproximateTime SyncPolicy; + typedef message_filters::Synchronizer Synchronizer; + typedef message_filters::Subscriber ImuSubscriber; + typedef message_filters::Subscriber MagSubscriber; + typedef message_filters::Subscriber MagVectorSubscriber; + + typedef imu_filter_madgwick::ImuFilterMadgwickConfig FilterConfig; + typedef dynamic_reconfigure::Server FilterConfigServer; + + public: + + ImuFilterRos(ros::NodeHandle nh, ros::NodeHandle nh_private); + virtual ~ImuFilterRos(); + + private: + + // **** ROS-related + + ros::NodeHandle nh_; + ros::NodeHandle nh_private_; + + boost::shared_ptr imu_subscriber_; + boost::shared_ptr mag_subscriber_; + boost::shared_ptr sync_; + + // Adapter to support the use_magnetic_field_msg param. + boost::shared_ptr vector_mag_subscriber_; + ros::Publisher mag_republisher_; + + ros::Publisher rpy_filtered_debug_publisher_; + ros::Publisher rpy_raw_debug_publisher_; + ros::Publisher imu_publisher_; + tf2_ros::TransformBroadcaster tf_broadcaster_; + + boost::shared_ptr config_server_; + ros::Timer check_topics_timer_; + + // **** paramaters + WorldFrame::WorldFrame world_frame_; + bool use_mag_; + bool use_magnetic_field_msg_; + bool stateless_; + bool publish_tf_; + bool reverse_tf_; + std::string fixed_frame_; + std::string imu_frame_; + double constant_dt_; + bool publish_debug_topics_; + bool remove_gravity_vector_; + geometry_msgs::Vector3 mag_bias_; + double orientation_variance_; + + // **** state variables + boost::mutex mutex_; + bool initialized_; + ros::Time last_time_; + + // **** filter implementation + ImuFilter filter_; + + // **** member functions + void imuMagCallback(const ImuMsg::ConstPtr& imu_msg_raw, + const MagMsg::ConstPtr& mav_msg); + + void imuCallback(const ImuMsg::ConstPtr& imu_msg_raw); + + void imuMagVectorCallback(const MagVectorMsg::ConstPtr& mag_vector_msg); + + void publishFilteredMsg(const ImuMsg::ConstPtr& imu_msg_raw); + void publishTransform(const ImuMsg::ConstPtr& imu_msg_raw); + + void publishRawMsg(const ros::Time& t, + float roll, float pitch, float yaw); + + void reconfigCallback(FilterConfig& config, uint32_t level); + void checkTopicsTimerCallback(const ros::TimerEvent&); +}; + +#endif // IMU_FILTER_IMU_MADWICK_FILTER_ROS_H diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/stateless_orientation.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/stateless_orientation.h new file mode 100644 index 0000000..ed0f7e3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/stateless_orientation.h @@ -0,0 +1,48 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H +#define IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H + +#include +#include +#include + +class StatelessOrientation +{ +public: + static bool computeOrientation( + WorldFrame::WorldFrame frame, + geometry_msgs::Vector3 acceleration, + geometry_msgs::Vector3 magneticField, + geometry_msgs::Quaternion& orientation); + + static bool computeOrientation( + WorldFrame::WorldFrame frame, + geometry_msgs::Vector3 acceleration, + geometry_msgs::Quaternion& orientation); + +}; + +#endif // IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/world_frame.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/world_frame.h new file mode 100644 index 0000000..8f585d7 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/world_frame.h @@ -0,0 +1,8 @@ +#ifndef IMU_FILTER_MADGWICK_WORLD_FRAME_H_ +#define IMU_FILTER_MADGWICK_WORLD_FRAME_H_ + +namespace WorldFrame { + enum WorldFrame { ENU, NED, NWU }; +} + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/package.xml new file mode 100644 index 0000000..7746949 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/package.xml @@ -0,0 +1,45 @@ + + imu_filter_madgwick + 1.1.7 + + Filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation. Based on code by Sebastian Madgwick, http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms. + + GPL + http://ros.org/wiki/imu_filter_madgwick + Ivan Dryanovski + Martin Günther + Ivan Dryanovski + + catkin + + roscpp + sensor_msgs + geometry_msgs + tf2 + tf2_geometry_msgs + tf2_ros + nodelet + pluginlib + message_filters + dynamic_reconfigure + + roscpp + sensor_msgs + geometry_msgs + tf2 + tf2_geometry_msgs + tf2_ros + nodelet + pluginlib + message_filters + dynamic_reconfigure + + rosunit + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/ardrone_imu.bag b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/ardrone_imu.bag new file mode 100644 index 0000000..393a9af Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/ardrone_imu.bag differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/phidgets_imu_upside_down.bag b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/phidgets_imu_upside_down.bag new file mode 100644 index 0000000..f22b800 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/phidgets_imu_upside_down.bag differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/sparkfun_razor.bag b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/sparkfun_razor.bag new file mode 100644 index 0000000..9667064 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/sparkfun_razor.bag differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter.cpp new file mode 100644 index 0000000..03b868d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter.cpp @@ -0,0 +1,339 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include +#include "imu_filter_madgwick/imu_filter.h" + +// Fast inverse square-root +// See: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots#Reciprocal_of_the_square_root +static float invSqrt(float x) +{ + float xhalf = 0.5f * x; + union + { + float x; + int i; + } u; + u.x = x; + u.i = 0x5f3759df - (u.i >> 1); + /* The next line can be repeated any number of times to increase accuracy */ + u.x = u.x * (1.5f - xhalf * u.x * u.x); + return u.x; +} + +template +static inline void normalizeVector(T& vx, T& vy, T& vz) +{ + T recipNorm = invSqrt (vx * vx + vy * vy + vz * vz); + vx *= recipNorm; + vy *= recipNorm; + vz *= recipNorm; +} + +template +static inline void normalizeQuaternion(T& q0, T& q1, T& q2, T& q3) +{ + T recipNorm = invSqrt (q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; +} + +static inline void rotateAndScaleVector( + float q0, float q1, float q2, float q3, + float _2dx, float _2dy, float _2dz, + float& rx, float& ry, float& rz) { + + // result is half as long as input + rx = _2dx * (0.5f - q2 * q2 - q3 * q3) + + _2dy * (q0 * q3 + q1 * q2) + + _2dz * (q1 * q3 - q0 * q2); + ry = _2dx * (q1 * q2 - q0 * q3) + + _2dy * (0.5f - q1 * q1 - q3 * q3) + + _2dz * (q0 * q1 + q2 * q3); + rz = _2dx * (q0 * q2 + q1 * q3) + + _2dy * (q2 * q3 - q0 * q1) + + _2dz * (0.5f - q1 * q1 - q2 * q2); +} + + +static inline void compensateGyroDrift( + float q0, float q1, float q2, float q3, + float s0, float s1, float s2, float s3, + float dt, float zeta, + float& w_bx, float& w_by, float& w_bz, + float& gx, float& gy, float& gz) +{ + // w_err = 2 q x s + float w_err_x = 2.0f * q0 * s1 - 2.0f * q1 * s0 - 2.0f * q2 * s3 + 2.0f * q3 * s2; + float w_err_y = 2.0f * q0 * s2 + 2.0f * q1 * s3 - 2.0f * q2 * s0 - 2.0f * q3 * s1; + float w_err_z = 2.0f * q0 * s3 - 2.0f * q1 * s2 + 2.0f * q2 * s1 - 2.0f * q3 * s0; + + w_bx += w_err_x * dt * zeta; + w_by += w_err_y * dt * zeta; + w_bz += w_err_z * dt * zeta; + + gx -= w_bx; + gy -= w_by; + gz -= w_bz; +} + +static inline void orientationChangeFromGyro( + float q0, float q1, float q2, float q3, + float gx, float gy, float gz, + float& qDot1, float& qDot2, float& qDot3, float& qDot4) +{ + // Rate of change of quaternion from gyroscope + // See EQ 12 + qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); + qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); + qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); + qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); +} + +static inline void addGradientDescentStep( + float q0, float q1, float q2, float q3, + float _2dx, float _2dy, float _2dz, + float mx, float my, float mz, + float& s0, float& s1, float& s2, float& s3) +{ + float f0, f1, f2; + + // Gradient decent algorithm corrective step + // EQ 15, 21 + rotateAndScaleVector(q0,q1,q2,q3, _2dx, _2dy, _2dz, f0, f1, f2); + + f0 -= mx; + f1 -= my; + f2 -= mz; + + + // EQ 22, 34 + // Jt * f + s0 += (_2dy * q3 - _2dz * q2) * f0 + + (-_2dx * q3 + _2dz * q1) * f1 + + (_2dx * q2 - _2dy * q1) * f2; + s1 += (_2dy * q2 + _2dz * q3) * f0 + + (_2dx * q2 - 2.0f * _2dy * q1 + _2dz * q0) * f1 + + (_2dx * q3 - _2dy * q0 - 2.0f * _2dz * q1) * f2; + s2 += (-2.0f * _2dx * q2 + _2dy * q1 - _2dz * q0) * f0 + + (_2dx * q1 + _2dz * q3) * f1 + + (_2dx * q0 + _2dy * q3 - 2.0f * _2dz * q2) * f2; + s3 += (-2.0f * _2dx * q3 + _2dy * q0 + _2dz * q1) * f0 + + (-_2dx * q0 - 2.0f * _2dy * q3 + _2dz * q2) * f1 + + (_2dx * q1 + _2dy * q2) * f2; +} + +static inline void compensateMagneticDistortion( + float q0, float q1, float q2, float q3, + float mx, float my, float mz, + float& _2bxy, float& _2bz) +{ + float hx, hy, hz; + // Reference direction of Earth's magnetic field (See EQ 46) + rotateAndScaleVector(q0, -q1, -q2, -q3, mx, my, mz, hx, hy, hz); + + _2bxy = 4.0f * sqrt (hx * hx + hy * hy); + _2bz = 4.0f * hz; + +} + + +ImuFilter::ImuFilter() : + q0(1.0), q1(0.0), q2(0.0), q3(0.0), + w_bx_(0.0), w_by_(0.0), w_bz_(0.0), + zeta_ (0.0), gain_ (0.0), world_frame_(WorldFrame::ENU) +{ +} + +ImuFilter::~ImuFilter() +{ +} + +void ImuFilter::madgwickAHRSupdate( + float gx, float gy, float gz, + float ax, float ay, float az, + float mx, float my, float mz, + float dt) +{ + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + float _2bz, _2bxy; + + // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation) + if (!std::isfinite(mx) || !std::isfinite(my) || !std::isfinite(mz)) + { + madgwickAHRSupdateIMU(gx, gy, gz, ax, ay, az, dt); + return; + } + + // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) + { + // Normalise accelerometer measurement + normalizeVector(ax, ay, az); + + // Normalise magnetometer measurement + normalizeVector(mx, my, mz); + + // Compensate for magnetic distortion + compensateMagneticDistortion(q0, q1, q2, q3, mx, my, mz, _2bxy, _2bz); + + // Gradient decent algorithm corrective step + s0 = 0.0; s1 = 0.0; s2 = 0.0; s3 = 0.0; + switch (world_frame_) { + case WorldFrame::NED: + // Gravity: [0, 0, -1] + addGradientDescentStep(q0, q1, q2, q3, 0.0, 0.0, -2.0, ax, ay, az, s0, s1, s2, s3); + + // Earth magnetic field: = [bxy, 0, bz] + addGradientDescentStep(q0,q1,q2,q3, _2bxy, 0.0, _2bz, mx, my, mz, s0, s1, s2, s3); + break; + case WorldFrame::NWU: + // Gravity: [0, 0, 1] + addGradientDescentStep(q0, q1, q2, q3, 0.0, 0.0, 2.0, ax, ay, az, s0, s1, s2, s3); + + // Earth magnetic field: = [bxy, 0, bz] + addGradientDescentStep(q0,q1,q2,q3, _2bxy, 0.0, _2bz, mx, my, mz, s0, s1, s2, s3); + break; + default: + case WorldFrame::ENU: + // Gravity: [0, 0, 1] + addGradientDescentStep(q0, q1, q2, q3, 0.0, 0.0, 2.0, ax, ay, az, s0, s1, s2, s3); + + // Earth magnetic field: = [0, bxy, bz] + addGradientDescentStep(q0, q1, q2, q3, 0.0, _2bxy, _2bz, mx, my, mz, s0, s1, s2, s3); + break; + } + normalizeQuaternion(s0, s1, s2, s3); + + // compute gyro drift bias + compensateGyroDrift(q0, q1, q2, q3, s0, s1, s2, s3, dt, zeta_, w_bx_, w_by_, w_bz_, gx, gy, gz); + + orientationChangeFromGyro(q0, q1, q2, q3, gx, gy, gz, qDot1, qDot2, qDot3, qDot4); + + // Apply feedback step + qDot1 -= gain_ * s0; + qDot2 -= gain_ * s1; + qDot3 -= gain_ * s2; + qDot4 -= gain_ * s3; + } + else + { + orientationChangeFromGyro(q0, q1, q2, q3, gx, gy, gz, qDot1, qDot2, qDot3, qDot4); + } + + // Integrate rate of change of quaternion to yield quaternion + q0 += qDot1 * dt; + q1 += qDot2 * dt; + q2 += qDot3 * dt; + q3 += qDot4 * dt; + + // Normalise quaternion + normalizeQuaternion(q0, q1, q2, q3); +} + +void ImuFilter::madgwickAHRSupdateIMU( + float gx, float gy, float gz, + float ax, float ay, float az, + float dt) +{ + float recipNorm; + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + + // Rate of change of quaternion from gyroscope + orientationChangeFromGyro (q0, q1, q2, q3, gx, gy, gz, qDot1, qDot2, qDot3, qDot4); + + // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) + { + // Normalise accelerometer measurement + normalizeVector(ax, ay, az); + + // Gradient decent algorithm corrective step + s0 = 0.0; s1 = 0.0; s2 = 0.0; s3 = 0.0; + switch (world_frame_) { + case WorldFrame::NED: + // Gravity: [0, 0, -1] + addGradientDescentStep(q0, q1, q2, q3, 0.0, 0.0, -2.0, ax, ay, az, s0, s1, s2, s3); + break; + case WorldFrame::NWU: + // Gravity: [0, 0, 1] + addGradientDescentStep(q0, q1, q2, q3, 0.0, 0.0, 2.0, ax, ay, az, s0, s1, s2, s3); + break; + default: + case WorldFrame::ENU: + // Gravity: [0, 0, 1] + addGradientDescentStep(q0, q1, q2, q3, 0.0, 0.0, 2.0, ax, ay, az, s0, s1, s2, s3); + break; + } + + normalizeQuaternion(s0, s1, s2, s3); + + // Apply feedback step + qDot1 -= gain_ * s0; + qDot2 -= gain_ * s1; + qDot3 -= gain_ * s2; + qDot4 -= gain_ * s3; + } + + // Integrate rate of change of quaternion to yield quaternion + q0 += qDot1 * dt; + q1 += qDot2 * dt; + q2 += qDot3 * dt; + q3 += qDot4 * dt; + + // Normalise quaternion + normalizeQuaternion (q0, q1, q2, q3); +} + + +void ImuFilter::getGravity(float& rx, float& ry, float& rz, + float gravity) +{ + // Estimate gravity vector from current orientation + switch (world_frame_) { + case WorldFrame::NED: + // Gravity: [0, 0, -1] + rotateAndScaleVector(q0, q1, q2, q3, + 0.0, 0.0, -2.0*gravity, + rx, ry, rz); + break; + case WorldFrame::NWU: + // Gravity: [0, 0, 1] + rotateAndScaleVector(q0, q1, q2, q3, + 0.0, 0.0, 2.0*gravity, + rx, ry, rz); + break; + default: + case WorldFrame::ENU: + // Gravity: [0, 0, 1] + rotateAndScaleVector(q0, q1, q2, q3, + 0.0, 0.0, 2.0*gravity, + rx, ry, rz); + break; + } +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_node.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_node.cpp new file mode 100644 index 0000000..0d16a0b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_node.cpp @@ -0,0 +1,35 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "imu_filter_madgwick/imu_filter_ros.h" + +int main (int argc, char **argv) +{ + ros::init (argc, argv, "ImuFilter"); + ros::NodeHandle nh; + ros::NodeHandle nh_private("~"); + ImuFilterRos imu_filter(nh, nh_private); + ros::spin(); + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_nodelet.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_nodelet.cpp new file mode 100644 index 0000000..e3fc69e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_nodelet.cpp @@ -0,0 +1,39 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "imu_filter_madgwick/imu_filter_nodelet.h" +#include + +void ImuFilterNodelet::onInit() +{ + NODELET_INFO("Initializing IMU Filter Nodelet"); + + // TODO: Do we want the single threaded or multithreaded NH? + ros::NodeHandle nh = getMTNodeHandle(); + ros::NodeHandle nh_private = getMTPrivateNodeHandle(); + + filter_.reset(new ImuFilterRos(nh, nh_private)); +} + +PLUGINLIB_EXPORT_CLASS(ImuFilterNodelet, nodelet::Nodelet) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_ros.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_ros.cpp new file mode 100644 index 0000000..5352949 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_ros.cpp @@ -0,0 +1,424 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "imu_filter_madgwick/imu_filter_ros.h" +#include "imu_filter_madgwick/stateless_orientation.h" +#include "geometry_msgs/TransformStamped.h" +#include +#include + +ImuFilterRos::ImuFilterRos(ros::NodeHandle nh, ros::NodeHandle nh_private): + nh_(nh), + nh_private_(nh_private), + initialized_(false) +{ + ROS_INFO ("Starting ImuFilter"); + + // **** get paramters + if (!nh_private_.getParam ("stateless", stateless_)) + stateless_ = false; + if (!nh_private_.getParam ("use_mag", use_mag_)) + use_mag_ = true; + if (!nh_private_.getParam ("publish_tf", publish_tf_)) + publish_tf_ = true; + if (!nh_private_.getParam ("reverse_tf", reverse_tf_)) + reverse_tf_ = false; + if (!nh_private_.getParam ("fixed_frame", fixed_frame_)) + fixed_frame_ = "odom"; + if (!nh_private_.getParam ("constant_dt", constant_dt_)) + constant_dt_ = 0.0; + if (!nh_private_.getParam ("remove_gravity_vector", remove_gravity_vector_)) + remove_gravity_vector_= false; + if (!nh_private_.getParam ("publish_debug_topics", publish_debug_topics_)) + publish_debug_topics_= false; + if (!nh_private_.getParam ("use_magnetic_field_msg", use_magnetic_field_msg_)) + use_magnetic_field_msg_ = true; + + std::string world_frame; + // Default should become false for next release + if (!nh_private_.getParam ("world_frame", world_frame)) { + world_frame = "nwu"; + ROS_WARN("Deprecation Warning: The parameter world_frame was not set, default is 'nwu'."); + ROS_WARN("Starting with ROS Lunar, world_frame will default to 'enu'!"); + } + + if (world_frame == "ned") { + world_frame_ = WorldFrame::NED; + } else if (world_frame == "nwu"){ + world_frame_ = WorldFrame::NWU; + } else if (world_frame == "enu"){ + world_frame_ = WorldFrame::ENU; + } else { + ROS_ERROR("The parameter world_frame was set to invalid value '%s'.", world_frame.c_str()); + ROS_ERROR("Valid values are 'enu', 'ned' and 'nwu'. Setting to 'enu'."); + world_frame_ = WorldFrame::ENU; + } + filter_.setWorldFrame(world_frame_); + + // check for illegal constant_dt values + if (constant_dt_ < 0.0) + { + ROS_FATAL("constant_dt parameter is %f, must be >= 0.0. Setting to 0.0", constant_dt_); + constant_dt_ = 0.0; + } + + // if constant_dt_ is 0.0 (default), use IMU timestamp to determine dt + // otherwise, it will be constant + if (constant_dt_ == 0.0) + ROS_INFO("Using dt computed from message headers"); + else + ROS_INFO("Using constant dt of %f sec", constant_dt_); + + if (remove_gravity_vector_) + ROS_INFO("The gravity vector will be removed from the acceleration"); + else + ROS_INFO("The gravity vector is kept in the IMU message."); + + // **** register dynamic reconfigure + config_server_.reset(new FilterConfigServer(nh_private_)); + FilterConfigServer::CallbackType f = boost::bind(&ImuFilterRos::reconfigCallback, this, _1, _2); + config_server_->setCallback(f); + + // **** register publishers + imu_publisher_ = nh_.advertise( + ros::names::resolve("imu") + "/data", 5); + + if (publish_debug_topics_) + { + rpy_filtered_debug_publisher_ = nh_.advertise( + ros::names::resolve("imu") + "/rpy/filtered", 5); + + rpy_raw_debug_publisher_ = nh_.advertise( + ros::names::resolve("imu") + "/rpy/raw", 5); + } + + // **** register subscribers + // Synchronize inputs. Topic subscriptions happen on demand in the connection callback. + int queue_size = 5; + + imu_subscriber_.reset(new ImuSubscriber( + nh_, ros::names::resolve("imu") + "/data_raw", queue_size)); + + if (use_mag_) + { + if (use_magnetic_field_msg_) + { + mag_subscriber_.reset(new MagSubscriber( + nh_, ros::names::resolve("imu") + "/mag", queue_size)); + } + else + { + mag_subscriber_.reset(new MagSubscriber( + nh_, ros::names::resolve("imu") + "/magnetic_field", queue_size)); + + // Initialize the shim to support republishing Vector3Stamped messages from /mag as MagneticField + // messages on the /magnetic_field topic. + mag_republisher_ = nh_.advertise( + ros::names::resolve("imu") + "/magnetic_field", 5); + vector_mag_subscriber_.reset(new MagVectorSubscriber( + nh_, ros::names::resolve("imu") + "/mag", queue_size)); + vector_mag_subscriber_->registerCallback(&ImuFilterRos::imuMagVectorCallback, this); + } + + sync_.reset(new Synchronizer( + SyncPolicy(queue_size), *imu_subscriber_, *mag_subscriber_)); + sync_->registerCallback(boost::bind(&ImuFilterRos::imuMagCallback, this, _1, _2)); + } + else + { + imu_subscriber_->registerCallback(&ImuFilterRos::imuCallback, this); + } + + check_topics_timer_ = nh_.createTimer(ros::Duration(10.0), &ImuFilterRos::checkTopicsTimerCallback, this); +} + +ImuFilterRos::~ImuFilterRos() +{ + ROS_INFO ("Destroying ImuFilter"); + + // Explicitly stop callbacks; they could execute after we're destroyed + check_topics_timer_.stop(); +} + +void ImuFilterRos::imuCallback(const ImuMsg::ConstPtr& imu_msg_raw) +{ + boost::mutex::scoped_lock lock(mutex_); + + const geometry_msgs::Vector3& ang_vel = imu_msg_raw->angular_velocity; + const geometry_msgs::Vector3& lin_acc = imu_msg_raw->linear_acceleration; + + ros::Time time = imu_msg_raw->header.stamp; + imu_frame_ = imu_msg_raw->header.frame_id; + + if (!initialized_ || stateless_) + { + geometry_msgs::Quaternion init_q; + if (!StatelessOrientation::computeOrientation(world_frame_, lin_acc, init_q)) + { + ROS_WARN_THROTTLE(5.0, "The IMU seems to be in free fall, cannot determine gravity direction!"); + return; + } + filter_.setOrientation(init_q.w, init_q.x, init_q.y, init_q.z); + } + + if (!initialized_) + { + ROS_INFO("First IMU message received."); + check_topics_timer_.stop(); + + // initialize time + last_time_ = time; + initialized_ = true; + } + + // determine dt: either constant, or from IMU timestamp + float dt; + if (constant_dt_ > 0.0) + dt = constant_dt_; + else + { + dt = (time - last_time_).toSec(); + if (time.isZero()) + ROS_WARN_STREAM_THROTTLE(5.0, "The IMU message time stamp is zero, and the parameter constant_dt is not set!" << + " The filter will not update the orientation."); + } + + last_time_ = time; + + if (!stateless_) + filter_.madgwickAHRSupdateIMU( + ang_vel.x, ang_vel.y, ang_vel.z, + lin_acc.x, lin_acc.y, lin_acc.z, + dt); + + publishFilteredMsg(imu_msg_raw); + if (publish_tf_) + publishTransform(imu_msg_raw); +} + +void ImuFilterRos::imuMagCallback( + const ImuMsg::ConstPtr& imu_msg_raw, + const MagMsg::ConstPtr& mag_msg) +{ + boost::mutex::scoped_lock lock(mutex_); + + const geometry_msgs::Vector3& ang_vel = imu_msg_raw->angular_velocity; + const geometry_msgs::Vector3& lin_acc = imu_msg_raw->linear_acceleration; + const geometry_msgs::Vector3& mag_fld = mag_msg->magnetic_field; + + ros::Time time = imu_msg_raw->header.stamp; + imu_frame_ = imu_msg_raw->header.frame_id; + + /*** Compensate for hard iron ***/ + geometry_msgs::Vector3 mag_compensated; + mag_compensated.x = mag_fld.x - mag_bias_.x; + mag_compensated.y = mag_fld.y - mag_bias_.y; + mag_compensated.z = mag_fld.z - mag_bias_.z; + + double roll = 0.0; + double pitch = 0.0; + double yaw = 0.0; + + if (!initialized_ || stateless_) + { + // wait for mag message without NaN / inf + if(!std::isfinite(mag_fld.x) || !std::isfinite(mag_fld.y) || !std::isfinite(mag_fld.z)) + { + return; + } + + geometry_msgs::Quaternion init_q; + if (!StatelessOrientation::computeOrientation(world_frame_, lin_acc, mag_compensated, init_q)) + { + ROS_WARN_THROTTLE(5.0, "The IMU seems to be in free fall or close to magnetic north pole, cannot determine gravity direction!"); + return; + } + filter_.setOrientation(init_q.w, init_q.x, init_q.y, init_q.z); + } + + if (!initialized_) + { + ROS_INFO("First pair of IMU and magnetometer messages received."); + check_topics_timer_.stop(); + + // initialize time + last_time_ = time; + initialized_ = true; + } + + // determine dt: either constant, or from IMU timestamp + float dt; + if (constant_dt_ > 0.0) + dt = constant_dt_; + else + { + dt = (time - last_time_).toSec(); + if (time.isZero()) + ROS_WARN_STREAM_THROTTLE(5.0, "The IMU message time stamp is zero, and the parameter constant_dt is not set!" << + " The filter will not update the orientation."); + } + + last_time_ = time; + + if (!stateless_) + filter_.madgwickAHRSupdate( + ang_vel.x, ang_vel.y, ang_vel.z, + lin_acc.x, lin_acc.y, lin_acc.z, + mag_compensated.x, mag_compensated.y, mag_compensated.z, + dt); + + publishFilteredMsg(imu_msg_raw); + if (publish_tf_) + publishTransform(imu_msg_raw); + + if(publish_debug_topics_) + { + geometry_msgs::Quaternion orientation; + if (StatelessOrientation::computeOrientation(world_frame_, lin_acc, mag_compensated, orientation)) + { + tf2::Matrix3x3(tf2::Quaternion(orientation.x, orientation.y, orientation.z, orientation.w)).getRPY(roll, pitch, yaw, 0); + publishRawMsg(time, roll, pitch, yaw); + } + } +} + +void ImuFilterRos::publishTransform(const ImuMsg::ConstPtr& imu_msg_raw) +{ + double q0,q1,q2,q3; + filter_.getOrientation(q0,q1,q2,q3); + geometry_msgs::TransformStamped transform; + transform.header.stamp = imu_msg_raw->header.stamp; + if (reverse_tf_) + { + transform.header.frame_id = imu_frame_; + transform.child_frame_id = fixed_frame_; + transform.transform.rotation.w = q0; + transform.transform.rotation.x = -q1; + transform.transform.rotation.y = -q2; + transform.transform.rotation.z = -q3; + } + else { + transform.header.frame_id = fixed_frame_; + transform.child_frame_id = imu_frame_; + transform.transform.rotation.w = q0; + transform.transform.rotation.x = q1; + transform.transform.rotation.y = q2; + transform.transform.rotation.z = q3; + } + tf_broadcaster_.sendTransform(transform); + +} + +void ImuFilterRos::publishFilteredMsg(const ImuMsg::ConstPtr& imu_msg_raw) +{ + double q0,q1,q2,q3; + filter_.getOrientation(q0,q1,q2,q3); + + // create and publish filtered IMU message + boost::shared_ptr imu_msg = + boost::make_shared(*imu_msg_raw); + + imu_msg->orientation.w = q0; + imu_msg->orientation.x = q1; + imu_msg->orientation.y = q2; + imu_msg->orientation.z = q3; + + imu_msg->orientation_covariance[0] = orientation_variance_; + imu_msg->orientation_covariance[1] = 0.0; + imu_msg->orientation_covariance[2] = 0.0; + imu_msg->orientation_covariance[3] = 0.0; + imu_msg->orientation_covariance[4] = orientation_variance_; + imu_msg->orientation_covariance[5] = 0.0; + imu_msg->orientation_covariance[6] = 0.0; + imu_msg->orientation_covariance[7] = 0.0; + imu_msg->orientation_covariance[8] = orientation_variance_; + + + if(remove_gravity_vector_) { + float gx, gy, gz; + filter_.getGravity(gx, gy, gz); + imu_msg->linear_acceleration.x -= gx; + imu_msg->linear_acceleration.y -= gy; + imu_msg->linear_acceleration.z -= gz; + } + + imu_publisher_.publish(imu_msg); + + if(publish_debug_topics_) + { + geometry_msgs::Vector3Stamped rpy; + tf2::Matrix3x3(tf2::Quaternion(q1,q2,q3,q0)).getRPY(rpy.vector.x, rpy.vector.y, rpy.vector.z); + + rpy.header = imu_msg_raw->header; + rpy_filtered_debug_publisher_.publish(rpy); + } +} + +void ImuFilterRos::publishRawMsg(const ros::Time& t, + float roll, float pitch, float yaw) +{ + geometry_msgs::Vector3Stamped rpy; + rpy.vector.x = roll; + rpy.vector.y = pitch; + rpy.vector.z = yaw ; + rpy.header.stamp = t; + rpy.header.frame_id = imu_frame_; + rpy_raw_debug_publisher_.publish(rpy); +} + + +void ImuFilterRos::reconfigCallback(FilterConfig& config, uint32_t level) +{ + double gain, zeta; + boost::mutex::scoped_lock lock(mutex_); + gain = config.gain; + zeta = config.zeta; + filter_.setAlgorithmGain(gain); + filter_.setDriftBiasGain(zeta); + ROS_INFO("Imu filter gain set to %f", gain); + ROS_INFO("Gyro drift bias set to %f", zeta); + mag_bias_.x = config.mag_bias_x; + mag_bias_.y = config.mag_bias_y; + mag_bias_.z = config.mag_bias_z; + orientation_variance_ = config.orientation_stddev * config.orientation_stddev; + ROS_INFO("Magnetometer bias values: %f %f %f", mag_bias_.x, mag_bias_.y, mag_bias_.z); +} + +void ImuFilterRos::imuMagVectorCallback(const MagVectorMsg::ConstPtr& mag_vector_msg) +{ + MagMsg mag_msg; + mag_msg.header = mag_vector_msg->header; + mag_msg.magnetic_field = mag_vector_msg->vector; + // leaving mag_msg.magnetic_field_covariance set to all zeros (= "covariance unknown") + mag_republisher_.publish(mag_msg); +} + +void ImuFilterRos::checkTopicsTimerCallback(const ros::TimerEvent&) +{ + if (use_mag_) + ROS_WARN_STREAM("Still waiting for data on topics " << ros::names::resolve("imu") << "/data_raw" + << " and " << ros::names::resolve("imu") << "/mag" << "..."); + else + ROS_WARN_STREAM("Still waiting for data on topic " << ros::names::resolve("imu") << "/data_raw" << "..."); +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/stateless_orientation.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/stateless_orientation.cpp new file mode 100644 index 0000000..920c105 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/stateless_orientation.cpp @@ -0,0 +1,172 @@ +/* + * Copyright (C) 2010, CCNY Robotics Lab + * Ivan Dryanovski + * + * http://robotics.ccny.cuny.edu + * + * Based on implementation of Madgwick's IMU and AHRS algorithms. + * http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + * + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "imu_filter_madgwick/stateless_orientation.h" +#include +#include +#include + +template +static inline void crossProduct( + T ax, T ay, T az, + T bx, T by, T bz, + T& rx, T& ry, T& rz) { + rx = ay*bz - az*by; + ry = az*bx - ax*bz; + rz = ax*by - ay*bx; +} + + +template +static inline T normalizeVector(T& vx, T& vy, T& vz) { + T norm = sqrt(vx*vx + vy*vy + vz*vz); + T inv = 1.0 / norm; + vx *= inv; + vy *= inv; + vz *= inv; + return norm; + +} + + +bool StatelessOrientation::computeOrientation( + WorldFrame::WorldFrame frame, + geometry_msgs::Vector3 A, + geometry_msgs::Vector3 E, + geometry_msgs::Quaternion& orientation) { + + float Hx, Hy, Hz; + float Mx, My, Mz; + float normH, invH, invA; + + // A: pointing up + float Ax = A.x, Ay = A.y, Az = A.z; + + // E: pointing down/north + float Ex = E.x, Ey = E.y, Ez = E.z; + + // H: vector horizontal, pointing east + // H = E x A + crossProduct(Ex, Ey, Ez, Ax, Ay, Az, Hx, Hy, Hz); + + // normalize H + normH = normalizeVector(Hx, Hy, Hz); + if (normH < 1E-7) { + // device is close to free fall (or in space?), or close to + // magnetic north pole. + // mag in T => Threshold 1E-7, typical values are > 1E-5. + return false; + } + + // normalize A + normalizeVector(Ax, Ay, Az); + + // M: vector horizontal, pointing north + // M = A x H + crossProduct(Ax, Ay, Az, Hx, Hy, Hz, Mx, My, Mz); + + // Create matrix for basis transformation + tf2::Matrix3x3 R; + switch (frame) { + case WorldFrame::NED: + // vector space world W: + // Basis: bwx (1,0,0) north, bwy (0,1,0) east, bwz (0,0,1) down + // vector space local L: + // Basis: M ,H, -A + // W(1,0,0) => L(M) + // W(0,1,0) => L(H) + // W(0,0,1) => L(-A) + + // R: Transform Matrix local => world equals basis of L, because basis of W is I + R[0][0] = Mx; R[0][1] = Hx; R[0][2] = -Ax; + R[1][0] = My; R[1][1] = Hy; R[1][2] = -Ay; + R[2][0] = Mz; R[2][1] = Hz; R[2][2] = -Az; + break; + + case WorldFrame::NWU: + // vector space world W: + // Basis: bwx (1,0,0) north, bwy (0,1,0) west, bwz (0,0,1) up + // vector space local L: + // Basis: M ,H, -A + // W(1,0,0) => L(M) + // W(0,1,0) => L(-H) + // W(0,0,1) => L(A) + + // R: Transform Matrix local => world equals basis of L, because basis of W is I + R[0][0] = Mx; R[0][1] = -Hx; R[0][2] = Ax; + R[1][0] = My; R[1][1] = -Hy; R[1][2] = Ay; + R[2][0] = Mz; R[2][1] = -Hz; R[2][2] = Az; + break; + + default: + case WorldFrame::ENU: + // vector space world W: + // Basis: bwx (1,0,0) east, bwy (0,1,0) north, bwz (0,0,1) up + // vector space local L: + // Basis: H, M , A + // W(1,0,0) => L(H) + // W(0,1,0) => L(M) + // W(0,0,1) => L(A) + + // R: Transform Matrix local => world equals basis of L, because basis of W is I + R[0][0] = Hx; R[0][1] = Mx; R[0][2] = Ax; + R[1][0] = Hy; R[1][1] = My; R[1][2] = Ay; + R[2][0] = Hz; R[2][1] = Mz; R[2][2] = Az; + break; + } + + // Matrix.getRotation assumes vector rotation, but we're using + // coordinate systems. Thus negate rotation angle (inverse). + tf2::Quaternion q; + R.getRotation(q); + tf2::convert(q.inverse(), orientation); + return true; +} + + +bool StatelessOrientation::computeOrientation( + WorldFrame::WorldFrame frame, + geometry_msgs::Vector3 A, + geometry_msgs::Quaternion& orientation) { + + // This implementation could be optimized regarding speed. + + // magnetic Field E must not be parallel to A, + // choose an arbitrary orthogonal vector + geometry_msgs::Vector3 E; + if (fabs(A.x) > 0.1 || fabs(A.y) > 0.1) { + E.x = A.y; + E.y = A.x; + E.z = 0.0; + } else if (fabs(A.z) > 0.1) { + E.x = 0.0; + E.y = A.z; + E.z = A.y; + } else { + // free fall + return false; + } + + return computeOrientation(frame, A, E, orientation); +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/madgwick_test.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/madgwick_test.cpp new file mode 100644 index 0000000..1c6ac1d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/madgwick_test.cpp @@ -0,0 +1,121 @@ +#include +#include +#include "test_helpers.h" + +#define FILTER_ITERATIONS 10000 + + +template +void filterStationary( + float Ax, float Ay, float Az, + float Mx, float My, float Mz, + double& q0, double& q1, double& q2, double& q3) { + float dt = 0.1; + float Gx = 0.0, Gy = 0.0, Gz = 0.0; // Stationary state => Gyro = (0,0,0) + + ImuFilter filter; + filter.setDriftBiasGain(0.0); + filter.setAlgorithmGain(0.1); + + // initialize with some orientation + filter.setOrientation(q0,q1,q2,q3); + filter.setWorldFrame(FRAME); + + for (int i = 0; i < FILTER_ITERATIONS; i++) { + filter.madgwickAHRSupdate(Gx, Gy, Gz, Ax, Ay, Az, Mx, My, Mz, dt); + } + + filter.getOrientation(q0,q1,q2,q3); +} + + +template +void filterStationary( + float Ax, float Ay, float Az, + double& q0, double& q1, double& q2, double& q3) { + float dt = 0.1; + float Gx = 0.0, Gy = 0.0, Gz = 0.0; // Stationary state => Gyro = (0,0,0) + + ImuFilter filter; + filter.setDriftBiasGain(0.0); + filter.setAlgorithmGain(0.1); + + // initialize with some orientation + filter.setOrientation(q0,q1,q2,q3); + filter.setWorldFrame(FRAME); + + for (int i = 0; i < FILTER_ITERATIONS; i++) { + filter.madgwickAHRSupdateIMU(Gx, Gy, Gz, Ax, Ay, Az, dt); + } + + filter.getOrientation(q0,q1,q2,q3); +} + + +#define TEST_STATIONARY_ENU(in_am, exp_result) \ + TEST(MadgwickTest, Stationary_ENU_ ## in_am){ \ + double q0 = .5, q1 = .5, q2 = .5, q3 = .5; \ + filterStationary(in_am, q0, q1, q2, q3); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); } \ + TEST(MadgwickTest, Stationary_ENU_NM_ ## in_am){ \ + double q0 = .5, q1 = .5, q2 = .5, q3 = .5; \ + filterStationary(ACCEL_ONLY(in_am), q0, q1, q2, q3); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); } + +#define TEST_STATIONARY_NED(in_am, exp_result) \ + TEST(MadgwickTest, Stationary_NED_ ## in_am){ \ + double q0 = .5, q1 = .5, q2 = .5, q3 = .5; \ + filterStationary(in_am, q0, q1, q2, q3); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); } \ + TEST(MadgwickTest, Stationary_NED_NM_ ## in_am){ \ + double q0 = .5, q1 = .5, q2 = .5, q3 = .5; \ + filterStationary(ACCEL_ONLY(in_am), q0, q1, q2, q3); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); } + +#define TEST_STATIONARY_NWU(in_am, exp_result) \ + TEST(MadgwickTest, Stationary_NWU_ ## in_am){ \ + double q0 = .5, q1 = .5, q2 = .5, q3 = .5; \ + filterStationary(in_am, q0, q1, q2, q3); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); } \ + TEST(MadgwickTest, Stationary_NWU_NM_ ## in_am){ \ + double q0 = .5, q1 = .5, q2 = .5, q3 = .5; \ + filterStationary(ACCEL_ONLY(in_am), q0, q1, q2, q3); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); } + +TEST_STATIONARY_NWU(AM_NORTH_EAST_DOWN, QUAT_X_180) +TEST_STATIONARY_NWU(AM_NORTH_WEST_UP, QUAT_IDENTITY) +TEST_STATIONARY_NWU(AM_WEST_NORTH_DOWN_RSD, QUAT_WEST_NORTH_DOWN_RSD_NWU) +TEST_STATIONARY_NWU(AM_NE_NW_UP_RSD, QUAT_NE_NW_UP_RSD_NWU) + +TEST_STATIONARY_ENU(AM_EAST_NORTH_UP, QUAT_IDENTITY) +TEST_STATIONARY_ENU(AM_SOUTH_UP_WEST, QUAT_XMYMZ_120) +TEST_STATIONARY_ENU(AM_SOUTH_EAST_UP, QUAT_MZ_90) +TEST_STATIONARY_ENU(AM_WEST_NORTH_DOWN_RSD, QUAT_WEST_NORTH_DOWN_RSD_ENU) +TEST_STATIONARY_ENU(AM_NE_NW_UP_RSD, QUAT_NE_NW_UP_RSD_ENU) + +TEST_STATIONARY_NED(AM_NORTH_EAST_DOWN, QUAT_IDENTITY) +TEST_STATIONARY_NED(AM_NORTH_WEST_UP, QUAT_X_180) +TEST_STATIONARY_NED(AM_WEST_NORTH_DOWN_RSD, QUAT_WEST_NORTH_DOWN_RSD_NED) +TEST_STATIONARY_NED(AM_NE_NW_UP_RSD, QUAT_NE_NW_UP_RSD_NED) + + + +TEST(MadgwickTest, TestQuatEqNoZ) { + + ASSERT_TRUE(quat_eq_ex_z(QUAT_IDENTITY, QUAT_MZ_90)); + ASSERT_FALSE(quat_eq_ex_z(QUAT_IDENTITY, QUAT_X_180)); + +} + + + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/stateless_orientation_test.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/stateless_orientation_test.cpp new file mode 100644 index 0000000..cb7a47c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/stateless_orientation_test.cpp @@ -0,0 +1,117 @@ +#include +#include "test_helpers.h" + + +template +bool computeOrientation( + float Ax, float Ay, float Az, + float Mx, float My, float Mz, + double& q0, double& q1, double& q2, double& q3) { + + geometry_msgs::Vector3 A, M; + geometry_msgs::Quaternion orientation; + A.x = Ax; A.y = Ay; A.z = Az; + M.x = Mx; M.y = My; M.z = Mz; + + bool res = StatelessOrientation::computeOrientation(FRAME, A, M, orientation); + + q0 = orientation.w; + q1 = orientation.x; + q2 = orientation.y; + q3 = orientation.z; + + return res; +} + +template +bool computeOrientation( + float Ax, float Ay, float Az, + double& q0, double& q1, double& q2, double& q3) { + + geometry_msgs::Vector3 A; + geometry_msgs::Quaternion orientation; + A.x = Ax; A.y = Ay; A.z = Az; + + bool res = StatelessOrientation::computeOrientation(FRAME, A, orientation); + + q0 = orientation.w; + q1 = orientation.x; + q2 = orientation.y; + q3 = orientation.z; + + return res; +} + + +#define TEST_STATELESS_ENU(in_am, exp_result) \ + TEST(StatelessOrientationTest, Stationary_ENU_ ## in_am){ \ + double q0, q1, q2, q3; \ + ASSERT_TRUE(computeOrientation(in_am, q0, q1, q2, q3)); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); } \ + TEST(StatelessOrientationTest, Stationary_ENU_NM_ ## in_am){ \ + double q0, q1, q2, q3; \ + ASSERT_TRUE(computeOrientation(ACCEL_ONLY(in_am), q0, q1, q2, q3)); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); } + +#define TEST_STATELESS_NED(in_am, exp_result) \ + TEST(StatelessOrientationTest, Stationary_NED_ ## in_am){ \ + double q0, q1, q2, q3; \ + ASSERT_TRUE(computeOrientation(in_am, q0, q1, q2, q3)); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); } \ + TEST(StatelessOrientationTest, Stationary_NED_NM_ ## in_am){ \ + double q0, q1, q2, q3; \ + ASSERT_TRUE(computeOrientation(ACCEL_ONLY(in_am), q0, q1, q2, q3)); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); } + +#define TEST_STATELESS_NWU(in_am, exp_result) \ + TEST(StatelessOrientationTest, Stationary_NWU_ ## in_am){ \ + double q0, q1, q2, q3; \ + ASSERT_TRUE(computeOrientation(in_am, q0, q1, q2, q3)); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); } \ + TEST(StatelessOrientationTest, Stationary_NWU_NM_ ## in_am){ \ + double q0, q1, q2, q3; \ + ASSERT_TRUE(computeOrientation(ACCEL_ONLY(in_am), q0, q1, q2, q3)); \ + ASSERT_IS_NORMALIZED(q0, q1, q2, q3); \ + ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); } + +TEST_STATELESS_ENU(AM_EAST_NORTH_UP, QUAT_IDENTITY) +TEST_STATELESS_ENU(AM_SOUTH_UP_WEST, QUAT_XMYMZ_120) +TEST_STATELESS_ENU(AM_SOUTH_EAST_UP, QUAT_MZ_90) +TEST_STATELESS_ENU(AM_WEST_NORTH_DOWN_RSD, QUAT_WEST_NORTH_DOWN_RSD_ENU) +TEST_STATELESS_ENU(AM_NE_NW_UP_RSD, QUAT_NE_NW_UP_RSD_ENU) + + +TEST_STATELESS_NED(AM_NORTH_EAST_DOWN, QUAT_IDENTITY) +TEST_STATELESS_NED(AM_WEST_NORTH_DOWN, QUAT_MZ_90) +TEST_STATELESS_NED(AM_WEST_NORTH_DOWN_RSD, QUAT_WEST_NORTH_DOWN_RSD_NED) +TEST_STATELESS_NED(AM_NE_NW_UP_RSD, QUAT_NE_NW_UP_RSD_NED) + + +TEST_STATELESS_NWU(AM_NORTH_EAST_DOWN, QUAT_X_180) +TEST_STATELESS_NWU(AM_NORTH_WEST_UP, QUAT_IDENTITY) +TEST_STATELESS_NWU(AM_WEST_NORTH_DOWN_RSD, QUAT_WEST_NORTH_DOWN_RSD_NWU) +TEST_STATELESS_NWU(AM_NE_NW_UP_RSD, QUAT_NE_NW_UP_RSD_NWU) + + +TEST(StatelessOrientationTest, Check_NoAccel){ + double q0, q1, q2, q3; + ASSERT_FALSE(computeOrientation( + 0.0, 0.0, 0.0, + 0.0, 0.0005, -0.0005, + q0, q1, q2, q3)); +} + +TEST(StatelessOrientationTest, Check_NoMag){ + double q0, q1, q2, q3; + ASSERT_FALSE(computeOrientation( + 0.0, 0.0, 9.81, + 0.0, 0.0, 0.0, + q0, q1, q2, q3)); +} + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/test_helpers.h b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/test_helpers.h new file mode 100644 index 0000000..bdbbd0c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/test_helpers.h @@ -0,0 +1,102 @@ + +#ifndef TEST_TEST_HELPERS_H_ +#define TEST_TEST_HELPERS_H_ + +#include +#include + +#define MAX_DIFF 0.05 + +template +static inline void normalize_quaternion(T& q0, T& q1, T& q2, T& q3) { + T invNorm = 1 / sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3); + T max = q0; + if (fabs(max) < fabs(q1)) max = q1; + if (fabs(max) < fabs(q2)) max = q2; + if (fabs(max) < fabs(q3)) max = q3; + if (max < 0) invNorm *= -1.0; + + q0 *= invNorm; + q1 *= invNorm; + q2 *= invNorm; + q3 *= invNorm; +} + +// Tests for normalization in the same way as tf2: +// https://github.com/ros/geometry2/blob/bd490515b1434caeff521ea14901dfe04063ca27/tf2/src/buffer_core.cpp#L244-L247 +template +static inline bool is_normalized(T q0, T q1, T q2, T q3) { + return std::abs((q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3) - 1.0f) < 10e-6; +} + +template +static inline bool quat_equal(T q0, T q1, T q2, T q3, T qr0, T qr1, T qr2, T qr3) { + normalize_quaternion(q0, q1, q2, q3); + normalize_quaternion(qr0, qr1, qr2, qr3); + + return (fabs(q0 - qr0) < MAX_DIFF) && + (fabs(q1 - qr1) < MAX_DIFF) && + (fabs(q2 - qr2) < MAX_DIFF) && + (fabs(q3 - qr3) < MAX_DIFF); +} + +template +static inline bool quat_eq_ex_z(T q0, T q1, T q2, T q3, T qr0, T qr1, T qr2, T qr3) { + // assert q == qr * qz + tf2::Quaternion q(q1, q2, q3, q0); + tf2::Quaternion qr(qr1, qr2, qr3, qr0); + tf2::Quaternion qz = q * qr.inverse(); + + // remove x and y components. + qz.setX(0.0); + qz.setY(0.0); + + tf2::Quaternion qr_ = qz * qr; + + return quat_equal(q0, q1, q2, q3, + qr_.getW(), + qr_.getX(), + qr_.getY(), + qr_.getZ()); +} + +#define ASSERT_IS_NORMALIZED_(q0, q1, q2, q3) ASSERT_TRUE(is_normalized(q0, q1, q2, q3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3; +#define ASSERT_IS_NORMALIZED(...) ASSERT_IS_NORMALIZED_(__VA_ARGS__) + +#define ASSERT_QUAT_EQUAL_(q0, q1, q2, q3, qr0, qr1, qr2, qr3) ASSERT_TRUE(quat_equal(q0, q1, q2, q3, qr0, qr1, qr2, qr3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3; +#define ASSERT_QUAT_EQUAL(...) ASSERT_QUAT_EQUAL_(__VA_ARGS__) + +#define ASSERT_QUAT_EQUAL_EX_Z_(q0, q1, q2, q3, qr0, qr1, qr2, qr3) ASSERT_TRUE(quat_eq_ex_z(q0, q1, q2, q3, qr0, qr1, qr2, qr3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3; +#define ASSERT_QUAT_EQUAL_EX_Z(...) ASSERT_QUAT_EQUAL_EX_Z_(__VA_ARGS__) + +// Well known states +// scheme: AM_x_y_z +#define AM_EAST_NORTH_UP /* Acceleration */ 0.0, 0.0, 9.81, /* Magnetic */ 0.0, 0.0005, -0.0005 +#define AM_NORTH_EAST_DOWN /* Acceleration */ 0.0, 0.0, -9.81, /* Magnetic */ 0.0005, 0.0, 0.0005 +#define AM_NORTH_WEST_UP /* Acceleration */ 0.0, 0.0, 9.81, /* Magnetic */ 0.0005, 0.0, -0.0005 +#define AM_SOUTH_UP_WEST /* Acceleration */ 0.0, 9.81, 0.0, /* Magnetic */ -0.0005, -0.0005, 0.0 +#define AM_SOUTH_EAST_UP /* Acceleration */ 0.0, 0.0, 9.81, /* Magnetic */ -0.0005, 0.0, -0.0005 +#define AM_WEST_NORTH_DOWN /* Acceleration */ 0.0, 0.0, -9.81, /* Magnetic */ 0.0, 0.0005, 0.0005 + +// Real sensor data +#define AM_WEST_NORTH_DOWN_RSD /* Acceleration */ 0.12, 0.29, -9.83, /* Magnetic */ 6.363e-06, 1.0908e-05, 4.2723e-05 +#define AM_NE_NW_UP_RSD /* Acceleration */ 0.20, 0.55, 9.779, /* Magnetic */ 8.484e-06, 8.181e-06, -4.3329e-05 + +// Strip accelration from am +#define ACCEL_ONLY(ax,ay,az, mx,my,mz) ax, ay, az + +// Well known quaternion +// scheme: QUAT_axis_angle +#define QUAT_IDENTITY 1.0, 0.0, 0.0, 0.0 +#define QUAT_MZ_90 0.707107, 0.0, 0.0, -0.707107 +#define QUAT_X_180 0.0, 1.0, 0.0, 0.0 +#define QUAT_XMYMZ_120 0.5, 0.5, -0.5, -0.5 +#define QUAT_WEST_NORTH_DOWN_RSD_NWU 0.01, 0.86, 0.50, 0.012 /* axis: (0.864401, 0.502559, 0.0120614) | angle: 178.848deg */ +#define QUAT_WEST_NORTH_DOWN_RSD_ENU 0.0, -0.25, -0.97, -0.02/* Axis: (-0.2, -0.96, 0.02), Angle: 180deg */ +#define QUAT_WEST_NORTH_DOWN_RSD_NED 0.86, -0.01, 0.01, -0.50 /* Axis: -Z, Angle: 60deg */ +#define QUAT_NE_NW_UP_RSD_NWU 0.91, 0.03, -0.02, -0.41 /* axis: (0.0300376, -0.020025, -0.410513) | angle: 48.6734deg */ +#define QUAT_NE_NW_UP_RSD_ENU 0.93, 0.03, 0.0, 0.35 /* Axis: Z, Angle: 41deg */ +#define QUAT_NE_NW_UP_RSD_NED 0.021, -0.91, -0.41, 0.02 /* Axis: (0.9, 0.4, 0.0), Angle: 180deg */ + + +#endif /* TEST_TEST_HELPERS_H_ */ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.catkin_workspace b/Code/RK3588/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ipa_coverage_planning/src/ipa_coverage_planning b/Code/RK3588/PIBot_ROS/ros_ws/src/ipa_coverage_planning/src/ipa_coverage_planning new file mode 160000 index 0000000..d2e9227 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ipa_coverage_planning/src/ipa_coverage_planning @@ -0,0 +1 @@ +Subproject commit d2e922718991210048848b6ca06a1c118c96be2e diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/CMakeLists.txt new file mode 100644 index 0000000..3b2d712 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(laserscan_to_pointcloud) + +## 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 laser_geometry laser_filters tf) + +## 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 exec_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 exec_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 # Or other packages containing 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 exec_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 laserscan_to_pointcloud +# CATKIN_DEPENDS other_catkin_pkg +# 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}/laserscan_to_pointcloud.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/laserscan_to_pointcloud.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 +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_laserscan_to_pointcloud.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/config/default_scan_shadow_filter.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/config/default_scan_shadow_filter.yaml new file mode 100644 index 0000000..f759644 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/config/default_scan_shadow_filter.yaml @@ -0,0 +1,8 @@ +scan_filter_chain: +- name: shadows + type: laser_filters/ScanShadowsFilter + params: + min_angle: 5 + max_angle: 175 + neighbors: 3 + window: 1 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/launch/laserscan_to_pointcloud_shadow_filtered.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/launch/laserscan_to_pointcloud_shadow_filtered.launch new file mode 100644 index 0000000..03da1ce --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/launch/laserscan_to_pointcloud_shadow_filtered.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/package.xml new file mode 100644 index 0000000..5043c1f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/package.xml @@ -0,0 +1,59 @@ + + + laserscan_to_pointcloud + 0.0.0 + The laserscan_to_pointcloud package + + + + + david + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/src/laserscan_to_pointcloud.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/src/laserscan_to_pointcloud.cpp new file mode 100644 index 0000000..0bd70f1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/src/laserscan_to_pointcloud.cpp @@ -0,0 +1,128 @@ + +#include +#include +#include + +#include + +class LaserscanToPointcloud { + public: + LaserscanToPointcloud() : filter_chain_("sensor_msgs::LaserScan") { + ros::NodeHandle nh_; + + scan_sub_ = + nh_.subscribe("scan", 10, &LaserscanToPointcloud::scanCallback, this); + point_cloud2_pub_ = + nh_.advertise("scan_cloud", 10, false); + + ros::NodeHandle pnh_("~"); + pnh_.param("max_range", p_max_range_, 29.0); + pnh_.param("min_range", p_min_range_, 0.0); + + filter_chain_.configure("scan_filter_chain", pnh_); + + pnh_.param("use_high_fidelity_projection", p_use_high_fidelity_projection_, + false); + + if (p_use_high_fidelity_projection_) { + pnh_.param("target_frame", p_target_frame_, + std::string("NO_TARGET_FRAME_SPECIFIED")); + + if (p_target_frame_ == "NO_TARGET_FRAME_SPECIFIED") { + ROS_ERROR( + "No target frame specified! Needs to be set for high fidelity " + "projection to work"); + p_use_high_fidelity_projection_ = false; + return; + } + + tfl_.reset(new tf::TransformListener()); + wait_duration_ = ros::Duration(0.5); + } + } + + void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_in) { + filter_chain_.update(*scan_in, scan_filtered_); + + cloud2_.data.clear(); + + const sensor_msgs::LaserScan* scan_to_convert = &scan_filtered_; + + if (p_min_range_ > 0.0) { + scan_min_range_ = scan_filtered_; + + size_t num_scans = scan_min_range_.ranges.size(); + + std::vector& ranges_vec = scan_min_range_.ranges; + + float min_range = static_cast(p_min_range_); + + for (size_t i = 0; i < num_scans; ++i) { + if (ranges_vec[i] < min_range) { + ranges_vec[i] = -INFINITY; + } + } + + scan_to_convert = &scan_min_range_; + } + + if (p_use_high_fidelity_projection_) { + ros::Time end_time = scan_in->header.stamp + + ros::Duration().fromSec(scan_in->ranges.size() * + scan_in->time_increment); + + if (tfl_->waitForTransform(p_target_frame_, scan_in->header.frame_id, + scan_in->header.stamp, wait_duration_) && + tfl_->waitForTransform(p_target_frame_, scan_in->header.frame_id, + end_time, wait_duration_)) { + projector_.transformLaserScanToPointCloud( + p_target_frame_, *scan_to_convert, cloud2_, *tfl_, p_max_range_, + laser_geometry::channel_option::Intensity); + } else { + ROS_WARN( + "Timed out waiting for transform between %s and %s for %f seconds. " + "Unable to transform laser scan.", + p_target_frame_.c_str(), scan_in->header.frame_id.c_str(), + wait_duration_.toSec()); + return; + } + + } else { + projector_.projectLaser(*scan_to_convert, cloud2_, p_max_range_, + laser_geometry::channel_option::Intensity); + } + + if (cloud2_.data.size() > 0) { + point_cloud2_pub_.publish(cloud2_); + } + } + + protected: + ros::Subscriber scan_sub_; + ros::Publisher point_cloud2_pub_; + + boost::shared_ptr tfl_; + ros::Duration wait_duration_; + + double p_max_range_; + double p_min_range_; + bool p_use_high_fidelity_projection_; + std::string p_target_frame_; + + laser_geometry::LaserProjection projector_; + + sensor_msgs::PointCloud2 cloud2_; + sensor_msgs::LaserScan scan_min_range_; + + sensor_msgs::LaserScan scan_filtered_; + + filters::FilterChain filter_chain_; +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "hector_laserscan_to_pointcloud_node"); + + LaserscanToPointcloud ls; + + ros::spin(); +} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/CMakeLists.txt new file mode 100644 index 0000000..bbc3ef5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/CMakeLists.txt @@ -0,0 +1,213 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pibot) + +set(ROS_DISTRO $ENV{ROS_DISTRO}) +if (${ROS_DISTRO} STREQUAL "kinetic") + add_compile_options(-std=c++11) +endif() + +## 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 + dynamic_reconfigure + message_generation + roscpp + tf + nav_msgs + pibot_msgs + common_utils +) + +find_package(jsoncpp) +find_package(PkgConfig REQUIRED) +pkg_check_modules(YAMLCPP yaml-cpp REQUIRED) +find_package(PCL REQUIRED) + +link_directories(${YAMLCPP_LIBRARY_DIRS}) + +## 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 # Or other packages containing 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_options( + cfg/CalibrateAngular.cfg + cfg/CalibrateLinear.cfg +) +## 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 you 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 pibot +# CATKIN_DEPENDS other_catkin_pkg +# 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} + ${PCL_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(pibot +# src/${PROJECT_NAME}/pibot.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(pibot ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +add_executable(pibot_facade src/pibot_facade.cpp + src/main.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(pibot_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(pibot_facade + ${catkin_LIBRARIES} + ${YAMLCPP_LIBRARIES} + common_utils + ${PCL_LIBRARIES} + jsoncpp +) + +############# +## 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 pibot pibot_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_pibot.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateAngular.cfg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateAngular.cfg new file mode 100644 index 0000000..986994d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateAngular.cfg @@ -0,0 +1,20 @@ +#!/usr/bin/env python + +PACKAGE = "pibot" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("test_angle", double_t, 0, "Test Angle", 360.0, 0.0, 360.0) + +gen.add("speed", double_t, 0, "Angular speed in radians per second", 0.5, -1.5, 1.5) + +gen.add("tolerance", double_t, 0, "Error tolerance to goal angle in degrees", 1.0, 1.0, 10.0) + +gen.add("odom_angular_scale_correction", double_t, 0, "Angular correction factor", 1.0, 0.0, 3.0) + +gen.add("start_test", bool_t, 0, "Check to start the test", False) + + +exit(gen.generate(PACKAGE, "calibrate_angular", "CalibrateAngular")) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateLinear.cfg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateLinear.cfg new file mode 100644 index 0000000..ab0a44f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateLinear.cfg @@ -0,0 +1,20 @@ +#! /usr/bin/env python + +PACKAGE = "pibot" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("test_distance", double_t, 0, "Test distance in meters", 1.0, 0.0, 2.0) + +gen.add("speed", double_t, 0, "Robot speed in meters per second", 0.15, 0.0, 0.3) + +gen.add("tolerance", double_t, 0, "Error tolerance to goal distance in meters", 0.01, 0.0, 0.1) + +gen.add("odom_linear_scale_correction", double_t, 0, "Linear correction factor", 1.0, 0.0, 3.0) + +gen.add("start_test", bool_t, 0, "Check to start the test", False) + + +exit(gen.generate(PACKAGE, "calibrate_linear", "CalibrateLinear")) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/msg_definition.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/msg_definition.h new file mode 100644 index 0000000..4e2dd90 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/msg_definition.h @@ -0,0 +1,47 @@ +#ifndef _MSG_DEFINITION_H_ +#define _MSG_DEFINITION_H_ + +#include + +// msgs +// 地图坐标系(opencv坐标系) +// 地图左上角为原点 +// ----------------------> x +// | +// | +// | +// | +// | +// | +// Y + +// topic names +static const std::string LaserPointsTopic = "laser_points"; // 激光雷达的激光点(地图坐标系) +static const std::string RobotStateTopic = "robot_state"; // j运行状态 位置 速度 等 +static const std::string PathPointsTopic = "path_points"; // 导航规划的路径点(地图坐标系) +static const std::string NaviStateTopic = "navi_state"; // 导航状态 + +// advice service +static const std::string MappingService = "mapping"; // 开始/停止/取消 建图 +static const std::string SetLocationModeService = "set_location_mode"; // 设置定位模式，定位模式下可以进行导航 +static const std::string NaviService = "navi"; // 启动/取消 导航到目的地 +static const std::string SetPoseService = + "set_pose"; // 设置当前定位(应用于辅助定位) +static const std::string RelocationService = "relocation"; // 重定位 + +static const std::string StaicMapService = "/static_map"; + +// call service +static const std::string AmclSetPoseTopic = "/initialpose"; // 设置当前定位(应用于辅助定位) +static const std::string CartoSetPoseService = "set_pose"; // 设置当前定位(应用于辅助定位) +static const std::string SetMapService = "/set_map"; +static const std::string CartoMappingService = "/map_build_trans"; + +// sub topic +static const std::string MappingTopic = "/map"; + +static const std::string CartoPoseTopic = "/tracked_pose"; +static const std::string AmclPoseTopic = "/amcl_pose"; +static const std::string planTopic = "/move_base/NavfnROS/plan"; // movebase path + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/pibot_facade.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/pibot_facade.h new file mode 100644 index 0000000..5f96c41 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/pibot_facade.h @@ -0,0 +1,185 @@ +#ifndef _PIBOT_FACADE_H_ +#define _PIBOT_FACADE_H_ + +#include +#include "nav_msgs/Odometry.h" + +#include "tf/tf.h" +#include "tf/transform_listener.h" + +#include "pibot/utils.h" + +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include + +typedef actionlib::SimpleActionClient MoveBaseClient; + +#ifndef SCAN_PC_TYPE +#define SCAN_PC_TYPE 2 +#endif + +class PibotManager { + //状态基 + enum RobotState { + RS_WAIT, + RS_MAPPING, + RS_LOCALIZATION, + RS_NAVIGATION, + RS_RELOCATION + }; + + public: + PibotManager(); + ~PibotManager(); + + void PublishMessages(); + + private: + // callback method + bool MappingCB(pibot_msgs::MappingParams::Request& req, pibot_msgs::MappingParams::Response& res); + bool SetLocationModeCB(pibot_msgs::ActionParams::Request& req, pibot_msgs::ActionParams::Response& res); + bool NaviCB(pibot_msgs::NaviParams::Request& req, pibot_msgs::NaviParams::Response& res); + bool SetPoseCB(pibot_msgs::SetPoseParams::Request& req, pibot_msgs::SetPoseParams::Response& res); + bool RelocationCB(pibot_msgs::ActionParams::Request& req, pibot_msgs::ActionParams::Response& res); + + bool StaticMapCB(nav_msgs::GetMap::Request& req, nav_msgs::GetMap::Response& res); + + // subscribe method + void onReceiveCartoPose(const geometry_msgs::PoseStamped::ConstPtr msg); + void onReceiveAmclPose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr msg); + +#if SCAN_PC_TYPE == 1 + void onReceiveLDS(const sensor_msgs::PointCloud::ConstPtr msg); +#else + void onReceiveLDS2(const sensor_msgs::PointCloud2::ConstPtr msg); +#endif + + void onReceiveMap(const nav_msgs::OccupancyGrid::ConstPtr msg); + void onReceivePath(const nav_msgs::Path::ConstPtr msg); + void onReceiveOdom(const nav_msgs::Odometry& msg); + void onReceiveRelocationResult(const pibot_msgs::RelocateResult::ConstPtr& msg); + + // load map config + int LoadConfigFile(); + int LoadMapInfo(); + int LoadYamlFile(string fileName); + + int WorldToMap(const geometry_msgs::Point& world_point, pibot_msgs::Pose& map_pose); + int WorldToMap(const geometry_msgs::Pose& world_pose, pibot_msgs::Pose& map_pose); + + int MapToWorld(const pibot_msgs::Pose& map_pose, geometry_msgs::Pose& world_pose); + + int MapToWorld(const Point& mapPoint, Point2f& worldPoint); + + // publish the map + int PublishMap(const Mat& image); + + private: + // movebase action callback + void MoveBaseActionDoneCallback(const actionlib::SimpleClientGoalState& state, + const move_base_msgs::MoveBaseResultConstPtr& result); + void MoveBaseActionActiveCallback(); + void MoveBaseActionFeedbackCallback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback); + + bool SendGoal(const Point& point, float angle, bool normal = true); + bool CancelGoal(); + + private: + MoveBaseClient move_base_action_client_; + boost::thread* pub_thread_ = nullptr; + ros::NodeHandle nodeHandle; + + // params + bool inner_mapping_func_; // true 内部建图命令 false 调用子进程启动相关launch + std::string start_mapping_cmd_; + std::string stop_mapping_cmd_; + std::string cancel_mapping_cmd_; + + std::string map_mapping_topic_; + std::string map_dir_; + + std::string laser_frame_; + + bool inner_location_func_; // true 内部定位命令 false 调用子进程启动相关launch + std::string location_type_; // amcl or other + std::string odom_topic_; + std::string scan_pcl_topic_; + std::string start_location_cmd_; + std::string cancel_location_cmd_; + + // suply ros service server for client + ros::ServiceServer mapping_srv_; // start/stop/cancel mapping + ros::ServiceServer set_mode_srv_; // enable/disable location mode(for navi) + ros::ServiceServer navi_srv_; // start/cancel navi gaols + ros::ServiceServer set_pose_srv_; // estimate robot position for a giving pose + ros::ServiceServer relocation_srv_; // auto relocation + ros::ServiceServer static_map_srv_; + + // publisher + ros::Publisher robot_status_pub_; // robot status used of image coordinate; + ros::Publisher laser_ponits_pub_; // out pub laser points used of image coordinate + ros::Publisher path_points_pub_; // send out path points used of image coordinate + // ros::Publisher goal_pub_; // pub goal used of image + // coordinate; + ros::Publisher navi_state_pub_; // navi state + + ros::Publisher map_meta_data_pub_; + ros::Publisher grid_map_pub_; + + ros::Publisher amcl_initialpose_pub_; + + // subscribe + ros::Subscriber planner_path_sub_; + ros::Subscriber robot_pose_sub_; + ros::Subscriber odom_sub_; + ros::Subscriber lds_sub_; + + ros::Subscriber mapping_map_sub_; + + ros::Subscriber relocation_result_sub_; + + // tf + tf::TransformListener laser_listener_; + tf::TransformListener base_listener_; + + private: + // map coordinates + pibot_msgs::Pose robot_pose_in_img_; + + // world coordinates + Point2f origin_world_point_; + float origin_world_angle_; + + nav_msgs::OccupancyGrid occupancy_grid_map_msg_; + std::mutex map_mutex_; + + // active map info + int map_img_width_; + int map_img_height_; + float map_resolution_; + string map_name_; + string pb_name_; + string map_config_file_; + int negate_; + double occ_th_, free_th_; + vector> _virtual_wall_list_; + + RobotState now_robot_state_; // robot state + + bool relocation_result_ = false; // last relocation result + + double odom_vx_, odom_vy_, odom_w_; + ros::Time last_pub_scan_time_; +}; + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/utils.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/utils.h new file mode 100644 index 0000000..f98591a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/include/pibot/utils.h @@ -0,0 +1,50 @@ +#ifndef _PIBOT_UTILS_H_ +#define _PIBOT_UTILS_H_ + +#include +#include + +// msgs +#include "pibot_msgs/PointArray.h" +#include "pibot_msgs/Pose.h" +#include "pibot_msgs/RobotState.h" + +// srvs +#include "pibot_msgs/Action.h" +#include "pibot_msgs/ActionParams.h" +#include "pibot_msgs/ManualLocation.h" +#include "pibot_msgs/MappingParams.h" +#include "pibot_msgs/NaviParams.h" +#include "pibot_msgs/NaviStatus.h" +#include "pibot_msgs/RelocateResult.h" +#include "pibot_msgs/Relocation.h" +#include "pibot_msgs/SetMapParams.h" +#include "pibot_msgs/SetPoseParams.h" + +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include "nav_msgs/OccupancyGrid.h" +#include "nav_msgs/Path.h" + +#include +#include + +#include + +#include "pibot/msg_definition.h" + +template +void operator>>(const YAML::Node& node, T& i) { + i = node.as(); +} + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/navigation_multi_demo.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/navigation_multi_demo.launch new file mode 100644 index 0000000..5a34e99 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/navigation_multi_demo.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_amcl.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_amcl.launch new file mode 100644 index 0000000..e85c3e2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_amcl.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_carto.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_carto.launch new file mode 100644 index 0000000..99d56ea --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_carto.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_carto_without_odom.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_carto_without_odom.launch new file mode 100644 index 0000000..bcd8158 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_carto_without_odom.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_gmapping.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_gmapping.launch new file mode 100644 index 0000000..53070a2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/start_gmapping.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/stop_carto.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/stop_carto.launch new file mode 100644 index 0000000..d59a89a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/stop_carto.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/stop_gmapping.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/stop_gmapping.launch new file mode 100644 index 0000000..d59a89a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/stop_gmapping.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer.launch new file mode 100644 index 0000000..d795053 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer_without_odom.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer_without_odom.launch new file mode 100644 index 0000000..6b451d4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer_without_odom.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_gmapping.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_gmapping.launch new file mode 100644 index 0000000..3667de4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/launch/t_gmapping.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/package.xml new file mode 100644 index 0000000..95597ab --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/package.xml @@ -0,0 +1,55 @@ + + + pibot + 0.0.0 + The pibot package + + + + + pibotek + + + + + + TODO + + + + + + + + + + + + + + + + + + + message_generation + roscpp + std_msgs + geometry_msgs + tf + pibot_msgs + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_angular.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_angular.py new file mode 100644 index 0000000..837e41f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_angular.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python + +""" calibrate_angular.py - Version 1.1 2013-12-20 + + Rotate the robot 360 degrees to check the odometry parameters of the base controller. + + Created for the Pi Robot Project: http://www.pirobot.org + Copyright (c) 2012 Patrick Goebel. All rights reserved. + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version.5 + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details at: + + http://www.gnu.org/licenses/gpl.html + +""" + +import rospy +from geometry_msgs.msg import Twist, Quaternion +from nav_msgs.msg import Odometry +from dynamic_reconfigure.server import Server +import dynamic_reconfigure.client +from pibot.cfg import CalibrateAngularConfig +import tf +from math import radians, copysign +from transform_utils import quat_to_angle, normalize_angle + +class CalibrateAngular(): + def __init__(self): + # Give the node a name + rospy.init_node('calibrate_angular', anonymous=False) + + # Set rospy to execute a shutdown function when terminating the script + rospy.on_shutdown(self.shutdown) + + # How fast will we check the odometry values? + self.rate = rospy.get_param('~rate', 20) + r = rospy.Rate(self.rate) + + # The test angle is 360 degrees + self.test_angle = radians(rospy.get_param('~test_angle', 360.0)) + + self.speed = rospy.get_param('~speed', 1.0) # radians per second + self.tolerance = radians(rospy.get_param('tolerance', 1)) # degrees converted to radians + self.odom_angular_scale_correction = rospy.get_param('~odom_angular_scale_correction', 1.0) + self.start_test = rospy.get_param('~start_test', True) + + # Publisher to control the robot's speed + self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=5) + + # Fire up the dynamic_reconfigure server + dyn_server = Server(CalibrateAngularConfig, self.dynamic_reconfigure_callback) + + # Connect to the dynamic_reconfigure server + dyn_client = dynamic_reconfigure.client.Client("calibrate_angular", timeout=60) + + # The base frame is usually base_link or base_footprint + self.base_frame = rospy.get_param('~base_frame', '/base_link') + + # The odom frame is usually just /odom + self.odom_frame = rospy.get_param('~odom_frame', '/odom') + + # Initialize the tf listener + self.tf_listener = tf.TransformListener() + + # Give tf some time to fill its buffer + rospy.sleep(2) + + # Make sure we see the odom and base frames + self.tf_listener.waitForTransform(self.odom_frame, self.base_frame, rospy.Time(), rospy.Duration(60.0)) + + rospy.loginfo("Bring up rqt_reconfigure to control the test.") + + reverse = 1 + + while not rospy.is_shutdown(): + if self.start_test: + # Get the current rotation angle from tf + self.odom_angle = self.get_odom_angle() + + last_angle = self.odom_angle + turn_angle = 0 + self.test_angle *= reverse + error = self.test_angle - turn_angle + + # Alternate directions between tests + reverse = -reverse + + while abs(error) > self.tolerance and self.start_test: + if rospy.is_shutdown(): + return + + # Rotate the robot to reduce the error + move_cmd = Twist() + move_cmd.angular.z = copysign(self.speed, error) + self.cmd_vel.publish(move_cmd) + r.sleep() + + # Get the current rotation angle from tf + self.odom_angle = self.get_odom_angle() + + # Compute how far we have gone since the last measurement + delta_angle = self.odom_angular_scale_correction * normalize_angle(self.odom_angle - last_angle) + + # Add to our total angle so far + turn_angle += delta_angle + + # Compute the new error + error = self.test_angle - turn_angle + + # Store the current angle for the next comparison + last_angle = self.odom_angle + + # Stop the robot + self.cmd_vel.publish(Twist()) + + # Update the status flag + self.start_test = False + params = {'start_test': False} + dyn_client.update_configuration(params) + + rospy.sleep(0.5) + + # Stop the robot + self.cmd_vel.publish(Twist()) + + def get_odom_angle(self): + # Get the current transform between the odom and base frames + try: + (trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0)) + except (tf.Exception, tf.ConnectivityException, tf.LookupException): + rospy.loginfo("TF Exception") + return + + # Convert the rotation from a quaternion to an Euler angle + return quat_to_angle(Quaternion(*rot)) + + def dynamic_reconfigure_callback(self, config, level): + self.test_angle = radians(config['test_angle']) + self.speed = config['speed'] + self.tolerance = radians(config['tolerance']) + self.odom_angular_scale_correction = config['odom_angular_scale_correction'] + self.start_test = config['start_test'] + + return config + + def shutdown(self): + # Always stop the robot when shutting down the node + rospy.loginfo("Stopping the robot...") + self.cmd_vel.publish(Twist()) + rospy.sleep(1) + +if __name__ == '__main__': + try: + CalibrateAngular() + except: + rospy.loginfo("Calibration terminated.") diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_linear.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_linear.py new file mode 100644 index 0000000..6d0b917 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_linear.py @@ -0,0 +1,155 @@ +#!/usr/bin/env python + +""" calibrate_linear.py - Version 1.1 2013-12-20 + + Move the robot 1.0 meter to check on the PID parameters of the base controller. + + Created for the Pi Robot Project: http://www.pirobot.org + Copyright (c) 2012 Patrick Goebel. All rights reserved. + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version.5 + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details at: + + http://www.gnu.org/licenses/gpl.html + +""" + +import rospy +from geometry_msgs.msg import Twist, Point +from math import copysign, sqrt, pow +from dynamic_reconfigure.server import Server +import dynamic_reconfigure.client +from pibot.cfg import CalibrateLinearConfig +import tf + +class CalibrateLinear(): + def __init__(self): + # Give the node a name + rospy.init_node('calibrate_linear', anonymous=False) + + # Set rospy to execute a shutdown function when terminating the script + rospy.on_shutdown(self.shutdown) + + # How fast will we check the odometry values? + self.rate = rospy.get_param('~rate', 20) + r = rospy.Rate(self.rate) + + # Set the distance to travel + self.test_distance = rospy.get_param('~test_distance', 1.0) # meters + self.speed = rospy.get_param('~speed', 0.15) # meters per second + self.tolerance = rospy.get_param('~tolerance', 0.01) # meters + self.odom_linear_scale_correction = rospy.get_param('~odom_linear_scale_correction', 1.0) + self.start_test = rospy.get_param('~start_test', True) + + # Publisher to control the robot's speed + self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=5) + + # Fire up the dynamic_reconfigure server + dyn_server = Server(CalibrateLinearConfig, self.dynamic_reconfigure_callback) + + # Connect to the dynamic_reconfigure server + dyn_client = dynamic_reconfigure.client.Client("calibrate_linear", timeout=60) + + # The base frame is base_footprint for the TurtleBot but base_link for Pi Robot + self.base_frame = rospy.get_param('~base_frame', '/base_link') + + # The odom frame is usually just /odom + self.odom_frame = rospy.get_param('~odom_frame', '/odom') + + # Initialize the tf listener + self.tf_listener = tf.TransformListener() + + # Give tf some time to fill its buffer + rospy.sleep(2) + + # Make sure we see the odom and base frames + self.tf_listener.waitForTransform(self.odom_frame, self.base_frame, rospy.Time(), rospy.Duration(60.0)) + + rospy.loginfo("Bring up rqt_reconfigure to control the test.") + + self.position = Point() + + # Get the starting position from the tf transform between the odom and base frames + self.position = self.get_position() + + x_start = self.position.x + y_start = self.position.y + + move_cmd = Twist() + + while not rospy.is_shutdown(): + # Stop the robot by default + move_cmd = Twist() + + if self.start_test: + # Get the current position from the tf transform between the odom and base frames + self.position = self.get_position() + + # Compute the Euclidean distance from the target point + distance = sqrt(pow((self.position.x - x_start), 2) + + pow((self.position.y - y_start), 2)) + + # Correct the estimated distance by the correction factor + distance *= self.odom_linear_scale_correction + + # How close are we? + error = distance - self.test_distance + + # Are we close enough? + if not self.start_test or abs(error) < self.tolerance: + self.start_test = False + params = {'start_test': False} + rospy.loginfo(params) + dyn_client.update_configuration(params) + else: + # If not, move in the appropriate direction + move_cmd.linear.x = copysign(self.speed, -1 * error) + else: + self.position = self.get_position() + x_start = self.position.x + y_start = self.position.y + + self.cmd_vel.publish(move_cmd) + r.sleep() + + # Stop the robot + self.cmd_vel.publish(Twist()) + + def dynamic_reconfigure_callback(self, config, level): + self.test_distance = config['test_distance'] + self.speed = config['speed'] + self.tolerance = config['tolerance'] + self.odom_linear_scale_correction = config['odom_linear_scale_correction'] + self.start_test = config['start_test'] + + return config + + def get_position(self): + # Get the current transform between the odom and base frames + try: + (trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0)) + except (tf.Exception, tf.ConnectivityException, tf.LookupException): + rospy.loginfo("TF Exception") + return + + return Point(*trans) + + def shutdown(self): + # Always stop the robot when shutting down the node + rospy.loginfo("Stopping the robot...") + self.cmd_vel.publish(Twist()) + rospy.sleep(1) + +if __name__ == '__main__': + try: + CalibrateLinear() + rospy.spin() + except: + rospy.loginfo("Calibration terminated.") diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/get_pos_demo.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/get_pos_demo.py new file mode 100644 index 0000000..c50aefa --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/get_pos_demo.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python +import rospy + +from tf_conversions import transformations +from math import pi +import tf + +class Robot: + def __init__(self): + self.tf_listener = tf.TransformListener() + try: + self.tf_listener.waitForTransform('/map', '/base_link', rospy.Time(), rospy.Duration(1.0)) + except (tf.Exception, tf.ConnectivityException, tf.LookupException): + return + + def get_pos(self): + try: + (trans, rot) = self.tf_listener.lookupTransform('/map', '/base_link', rospy.Time(0)) + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + rospy.loginfo("tf Error") + return None + euler = transformations.euler_from_quaternion(rot) + #print euler[2] / pi * 180 + + x = trans[0] + y = trans[1] + th = euler[2] / pi * 180 + return (x, y, th) + +if __name__ == "__main__": + rospy.init_node('get_pos_demo',anonymous=True) + robot = Robot() + r = rospy.Rate(100) + r.sleep() + while not rospy.is_shutdown(): + print(robot.get_pos()) + r.sleep() \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/killall_carto.sh b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/killall_carto.sh new file mode 100644 index 0000000..98d96af --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/killall_carto.sh @@ -0,0 +1,3 @@ +#!/bin/bash +rosnode kill cartographer_node +rosnode kill cartographer_occupancy_grid_node diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/killall_hector_mapping.sh b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/killall_hector_mapping.sh new file mode 100644 index 0000000..550382d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/killall_hector_mapping.sh @@ -0,0 +1,5 @@ +#!/bin/bash +rosnode kill hector_mapping +rosnode kill hector_geotiff_node +rosnode kill hector_trajectory_server +rosnode kill imu_attitude_to_tf_node diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/launch_demo.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/launch_demo.py new file mode 100644 index 0000000..a7696be --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/launch_demo.py @@ -0,0 +1,39 @@ +import subprocess +import rospy +import rosnode + +class launch_demo: + def __init__(self, cmd=None): + self.cmd = cmd + + def launch(self): + self.child = subprocess.Popen(self.cmd) + return True + + def shutdown(self): + self.child.terminate() + self.child.wait() + return True + +if __name__ == "__main__": + rospy.init_node('launch_demo',anonymous=True) + + launch_nav = launch_demo(["roslaunch", "pibot_simulator", "nav.launch"]) + + launch_nav.launch() + + r = rospy.Rate(0.2) + r.sleep() + + rospy.loginfo("switch map...") + r = rospy.Rate(1) + r.sleep() + + rosnode.kill_nodes(['map_server']) + + map_name = "/home/pibot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml" + + map_node = subprocess.Popen(["rosrun", "map_server", "map_server", map_name, "__name:=map_server"]) + + while not rospy.is_shutdown(): + r.sleep() \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/marker_server.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/marker_server.py new file mode 100644 index 0000000..ba0c6e1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/marker_server.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python +import rospy +from geometry_msgs.msg import Twist, Pose +from interactive_markers.interactive_marker_server import * +from visualization_msgs.msg import * +import tf +from tf.transformations import euler_from_quaternion +import copy + +def processFeedback(feedback): + _,_,yaw = euler_from_quaternion((feedback.pose.orientation.x, feedback.pose.orientation.y, feedback.pose.orientation.z, feedback.pose.orientation.w)) + + twist = Twist() + twist.angular.z = 2.2 * yaw + twist.linear.x = 1.0 * feedback.pose.position.x + + vel_pub.publish(twist) + + server.setPose("pibot_marker", Pose()) + server.applyChanges() + +if __name__ == "__main__": + rospy.init_node("interactive_marker_server") + server = InteractiveMarkerServer("pibot_marker_server") + vel_pub = rospy.Publisher("cmd_vel", Twist, queue_size = 5) + int_marker = InteractiveMarker() + int_marker.header.frame_id = "base_link" + int_marker.name = "pibot_marker" + + + control = InteractiveMarkerControl() + control.orientation_mode = InteractiveMarkerControl.FIXED + control.orientation.w = 1 + control.orientation.x = 1 + control.orientation.y = 0 + control.orientation.z = 0 + control.name = "move_x" + control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS + control.always_visible = True + int_marker.controls.append(copy.deepcopy(control)) + + control.orientation.w = 1 + control.orientation.x = 0 + control.orientation.y = 1 + control.orientation.z = 0 + control.name = "rotate_z" + + control.interaction_mode = InteractiveMarkerControl.MOVE_ROTATE + int_marker.controls.append(copy.deepcopy(control)) + + server.insert(int_marker, processFeedback) + + server.applyChanges() + + rospy.spin() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_goal.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_goal.py new file mode 100644 index 0000000..bab03a1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_goal.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python +from launch_demo import launch_demo +import rospy + +import actionlib +from actionlib_msgs.msg import * +from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal +from nav_msgs.msg import Path +from geometry_msgs.msg import PoseWithCovarianceStamped +from tf_conversions import transformations +from math import pi + +class navigation_demo: + def __init__(self): + self.set_pose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped, queue_size=5) + + self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) + self.move_base.wait_for_server(rospy.Duration(60)) + + def set_pose(self, p): + if self.move_base is None: + return False + + x, y, th = p + + pose = PoseWithCovarianceStamped() + pose.header.stamp = rospy.Time.now() + pose.header.frame_id = 'map' + pose.pose.pose.position.x = x + pose.pose.pose.position.y = y + q = transformations.quaternion_from_euler(0.0, 0.0, th/180.0*pi) + pose.pose.pose.orientation.x = q[0] + pose.pose.pose.orientation.y = q[1] + pose.pose.pose.orientation.z = q[2] + pose.pose.pose.orientation.w = q[3] + + self.set_pose_pub.publish(pose) + return True + + def _done_cb(self, status, result): + rospy.loginfo("navigation done! status:%d result:%s"%(status, result)) + + def _active_cb(self): + rospy.loginfo("[Navi] navigation has be actived") + + def _feedback_cb(self, feedback): + rospy.loginfo("[Navi] navigation feedback\r\n%s"%feedback) + + def goto(self, p): + goal = MoveBaseGoal() + + goal.target_pose.header.frame_id = 'map' + goal.target_pose.header.stamp = rospy.Time.now() + goal.target_pose.pose.position.x = p[0] + goal.target_pose.pose.position.y = p[1] + q = transformations.quaternion_from_euler(0.0, 0.0, p[2]/180.0*pi) + goal.target_pose.pose.orientation.x = q[0] + goal.target_pose.pose.orientation.y = q[1] + goal.target_pose.pose.orientation.z = q[2] + goal.target_pose.pose.orientation.w = q[3] + + self.move_base.send_goal(goal, self._done_cb, self._active_cb, self._feedback_cb) + return True + + def cancel(self): + self.move_base.cancel_all_goals() + return True + +if __name__ == "__main__": + rospy.init_node('navigation_demo',anonymous=True) + + launch_nav = launch_demo(["roslaunch", "pibot_simulator", "nav.launch"]) + launch_nav.launch() + + r = rospy.Rate(0.2) + r.sleep() + + rospy.loginfo("set pose...") + r = rospy.Rate(1) + r.sleep() + navi = navigation_demo() + navi.set_pose([-0.7,-0.4,0]) + + rospy.loginfo("goto goal...") + r = rospy.Rate(1) + r.sleep() + navi.goto([0.25,4, 90]) + + while not rospy.is_shutdown(): + r.sleep() \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_multi_goals.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_multi_goals.py new file mode 100644 index 0000000..25c8de1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_multi_goals.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python +from launch_demo import launch_demo +import rospy + + +import actionlib +from actionlib_msgs.msg import * +from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal +from nav_msgs.msg import Path +from geometry_msgs.msg import PoseWithCovarianceStamped +from tf_conversions import transformations +from math import pi + +class navigation_demo: + def __init__(self): + self.set_pose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped, queue_size=5) + + self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) + self.move_base.wait_for_server(rospy.Duration(60)) + + def set_pose(self, p): + if self.move_base is None: + return False + + x, y, th = p + + pose = PoseWithCovarianceStamped() + pose.header.stamp = rospy.Time.now() + pose.header.frame_id = 'map' + pose.pose.pose.position.x = x + pose.pose.pose.position.y = y + q = transformations.quaternion_from_euler(0.0, 0.0, th/180.0*pi) + pose.pose.pose.orientation.x = q[0] + pose.pose.pose.orientation.y = q[1] + pose.pose.pose.orientation.z = q[2] + pose.pose.pose.orientation.w = q[3] + + self.set_pose_pub.publish(pose) + return True + + def _done_cb(self, status, result): + rospy.loginfo("navigation done! status:%d result:%s"%(status, result)) + + def _active_cb(self): + rospy.loginfo("[Navi] navigation has be actived") + + def _feedback_cb(self, feedback): + rospy.loginfo("[Navi] navigation feedback\r\n%s"%feedback) + + def goto(self, p): + rospy.loginfo("[Navi] goto %s"%p) + + goal = MoveBaseGoal() + + goal.target_pose.header.frame_id = 'map' + goal.target_pose.header.stamp = rospy.Time.now() + goal.target_pose.pose.position.x = p[0] + goal.target_pose.pose.position.y = p[1] + q = transformations.quaternion_from_euler(0.0, 0.0, p[2]/180.0*pi) + goal.target_pose.pose.orientation.x = q[0] + goal.target_pose.pose.orientation.y = q[1] + goal.target_pose.pose.orientation.z = q[2] + goal.target_pose.pose.orientation.w = q[3] + + self.move_base.send_goal(goal, self._done_cb, self._active_cb, self._feedback_cb) + result = self.move_base.wait_for_result(rospy.Duration(60)) + if not result: + self.move_base.cancel_goal() + rospy.loginfo("Timed out achieving goal") + else: + state = self.move_base.get_state() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("reach goal %s succeeded!"%p) + return True + + def cancel(self): + self.move_base.cancel_all_goals() + return True + +if __name__ == "__main__": + rospy.init_node('navigation_demo',anonymous=True) + + goalListX = rospy.get_param('~goalListX', '2.0, 2.0') + goalListY = rospy.get_param('~goalListY', '2.0, 4.0') + goalListYaw = rospy.get_param('~goalListYaw', '0, 90.0') + + goals = [[float(x), float(y), float(yaw)] for (x, y, yaw) in zip(goalListX.split(","),goalListY.split(","),goalListYaw.split(","))] + navi = navigation_demo() + + r = rospy.Rate(1) + r.sleep() + + for goal in goals: + navi.goto(goal) + + while not rospy.is_shutdown(): + r.sleep() \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/teleop_twist_keyboard.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/teleop_twist_keyboard.py new file mode 100644 index 0000000..cb1eb66 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/teleop_twist_keyboard.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python +import roslib; roslib.load_manifest('teleop_twist_keyboard') +import rospy + +from geometry_msgs.msg import Twist + +import sys, select, termios, tty + +msg = """ +Reading from the keyboard and Publishing to Twist! +--------------------------- +Moving around: + u i o + j k l + m , . +For Holonomic mode (strafing), hold down the shift key: +--------------------------- + U I O + J K L + M < > +t : up (+z) +b : down (-z) +anything else : stop +q/z : increase/decrease max speeds by 10% +w/x : increase/decrease only linear speed by 10% +e/c : increase/decrease only angular speed by 10% +CTRL-C to quit +""" + +moveBindings = { + 'i':(1,0,0,0), + 'o':(1,0,0,-1), + 'j':(0,0,0,1), + 'l':(0,0,0,-1), + 'u':(1,0,0,1), + ',':(-1,0,0,0), + '.':(-1,0,0,1), + 'm':(-1,0,0,-1), + 'O':(1,-1,0,0), + 'I':(1,0,0,0), + 'J':(0,1,0,0), + 'L':(0,-1,0,0), + 'U':(1,1,0,0), + '<':(-1,0,0,0), + '>':(-1,-1,0,0), + 'M':(-1,1,0,0), + 't':(0,0,1,0), + 'b':(0,0,-1,0), + } + +speedBindings={ + 'q':(1.1,1.1), + 'z':(.9,.9), + 'w':(1.1,1), + 'x':(.9,1), + 'e':(1,1.1), + 'c':(1,.9), + } + +def getKey(): + tty.setraw(sys.stdin.fileno()) + select.select([sys.stdin], [], [], 0) + key = sys.stdin.read(1) + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + + +def vels(speed,turn): + return "currently:\tspeed %s\tturn %s " % (speed,turn) + +if __name__=="__main__": + settings = termios.tcgetattr(sys.stdin) + + pub = rospy.Publisher('cmd_vel', Twist, queue_size = 1) + rospy.init_node('teleop_twist_keyboard') + + speed = rospy.get_param("~speed", 0.3) + turn = rospy.get_param("~turn", 1.0) + x = 0 + y = 0 + z = 0 + th = 0 + status = 0 + + try: + print(msg) + print(vels(speed,turn)) + while(1): + key = getKey() + if key in moveBindings.keys(): + x = moveBindings[key][0] + y = moveBindings[key][1] + z = moveBindings[key][2] + th = moveBindings[key][3] + elif key in speedBindings.keys(): + speed = speed * speedBindings[key][0] + turn = turn * speedBindings[key][1] + + print(vels(speed,turn)) + if (status == 14): + print(msg) + status = (status + 1) % 15 + else: + x = 0 + y = 0 + z = 0 + th = 0 + if (key == '\x03'): + break + + twist = Twist() + twist.linear.x = x*speed; twist.linear.y = y*speed; twist.linear.z = z*speed; + twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = th*turn + pub.publish(twist) + + except: + print(e) + + finally: + twist = Twist() + twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0 + twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0 + pub.publish(twist) + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/transform_utils.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/transform_utils.py new file mode 100644 index 0000000..42df31a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/scripts/transform_utils.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python + +""" A couple of handy conversion utilities taken from the turtlebot_node.py script found in the + turtlebot_node ROS package at: + + http://www.ros.org/wiki/turtlebot_node + +""" + +import PyKDL +from math import pi + +def quat_to_angle(quat): + rot = PyKDL.Rotation.Quaternion(quat.x, quat.y, quat.z, quat.w) + return rot.GetRPY()[2] + +def normalize_angle(angle): + res = angle + while res > pi: + res -= 2.0 * pi + while res < -pi: + res += 2.0 * pi + return res \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/src/main.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/src/main.cpp new file mode 100644 index 0000000..c49d84d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/src/main.cpp @@ -0,0 +1,12 @@ +#include "pibot/pibot_facade.h" + +int main(int argc, char** argv) { + ros::init(argc, argv, "pibot_facade"); + + PibotManager* manager = new PibotManager(); + + MultiThreadedSpinner s; + spin(s); + + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/src/pibot_facade.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/src/pibot_facade.cpp new file mode 100644 index 0000000..29cc043 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot/src/pibot_facade.cpp @@ -0,0 +1,974 @@ +#include "pibot/pibot_facade.h" + +#define STATE_PUB_RATE 100 +#define LDS_PUB_INTERVAL 1000 + +PibotManager::PibotManager() + : move_base_action_client_("move_base", true), + odom_vx_(0.0f), + odom_vy_(0.0f), + odom_w_(0.0f) { + ros::NodeHandle private_nh("~"); + // params + private_nh.param("location_type", location_type_, std::string("amcl")); + private_nh.param("odom_topic", odom_topic_, std::string("/odom")); + private_nh.param("scan_pcl_topic", scan_pcl_topic_, std::string("/scan_cloud")); + private_nh.param("mapping_topic", map_mapping_topic_, MappingTopic); + + private_nh.param("laser_frame", laser_frame_, std::string("/laser_link")); + + char* dir = getenv("PIBOT_MAPS_DIR"); + if (dir == NULL) { + map_dir_ = "~/maps"; + } else { + map_dir_ = dir; + } + + // mapping cmd + private_nh.param("inner_mapping_func", inner_mapping_func_, false); + private_nh.param("start_mapping_cmd", start_mapping_cmd_, + std::string("roslaunch pibot start_mapping.launch")); + start_mapping_cmd_ += "&"; + private_nh.param("stop_mapping_cmd", stop_mapping_cmd_, std::string("roslaunch pibot stop_mapping.launch")); + private_nh.param("cancel_mapping_cmd", cancel_mapping_cmd_, std::string("rosnode kill slam_gmapping")); + + // location cmd + private_nh.param("inner_location_func", inner_location_func_, false); + private_nh.param("start_location_cmd", start_location_cmd_, std::string("roslaunch pibot start_location.launch")); + start_location_cmd_ += "&"; + private_nh.param("cancel_location_cmd", cancel_location_cmd_, std::string("rosnode kill amcl")); + + ROS_INFO("mapping func: %d, location func : %d", inner_mapping_func_, inner_location_func_); + + // advertise service + mapping_srv_ = private_nh.advertiseService(MappingService, &PibotManager::MappingCB, this); + set_mode_srv_ = private_nh.advertiseService(SetLocationModeService, &PibotManager::SetLocationModeCB, this); + navi_srv_ = private_nh.advertiseService(NaviService, &PibotManager::NaviCB, this); + set_pose_srv_ = private_nh.advertiseService(SetPoseService, &PibotManager::SetPoseCB, this); + relocation_srv_ = private_nh.advertiseService(RelocationService, &PibotManager::RelocationCB, this); + + // pub + robot_status_pub_ = private_nh.advertise(RobotStateTopic.c_str(), 1); // robot status used of image coordinate; + laser_ponits_pub_ = private_nh.advertise(LaserPointsTopic.c_str(), 1); // out pub laser points used of image coordinate; + last_pub_scan_time_ = ros::Time::now(); + path_points_pub_ = private_nh.advertise(PathPointsTopic.c_str(), 1); // send out path points + navi_state_pub_ = private_nh.advertise(NaviStateTopic.c_str(), 1); + + mapping_map_sub_ = nodeHandle.subscribe(map_mapping_topic_, 100, &PibotManager::onReceiveMap, this); + if (inner_location_func_) { + robot_pose_sub_ = nodeHandle.subscribe(CartoPoseTopic, 100, &PibotManager::onReceiveCartoPose, + this); // pose from carto + } else { + if (location_type_ == "amcl") { + robot_pose_sub_ = nodeHandle.subscribe(AmclPoseTopic, 100, &PibotManager::onReceiveAmclPose, this); // pose from amcl + amcl_initialpose_pub_ = nodeHandle.advertise(AmclSetPoseTopic, 1); // set pose by amcl + static_map_srv_ = nodeHandle.advertiseService(StaicMapService, &PibotManager::StaticMapCB, this); + } else { + ROS_WARN("unknown location type"); + } + } + + odom_sub_ = nodeHandle.subscribe(odom_topic_, 10, &PibotManager::onReceiveOdom, this); // odom + +#if SCAN_PC_TYPE == 1 + lds_sub_ = nodeHandle.subscribe(scan_pcl_topic_, 100, &PibotManager::onReceiveLDS, this); // laser point cloud +#else + lds_sub_ = nodeHandle.subscribe(scan_pcl_topic_, 100, &PibotManager::onReceiveLDS2, this); // laser point cloud +#endif + + planner_path_sub_ = nodeHandle.subscribe(planTopic, 100, &PibotManager::onReceivePath, this); // path from planner + + relocation_result_sub_ = nodeHandle.subscribe("/relocation_result", 100, &PibotManager::onReceiveRelocationResult, this); + + // wait for service + ROS_INFO("waitForTransform..."); + laser_listener_.waitForTransform("map", laser_frame_, ros::Time(0), ros::Duration(1.0)); + + map_name_ = ""; + + now_robot_state_ = RS_WAIT; + pub_thread_ = new boost::thread(boost::bind(&PibotManager::PublishMessages, this)); + + ROS_INFO("Pibot Manager Inited!"); +} + +PibotManager::~PibotManager() { + pub_thread_->interrupt(); + pub_thread_->join(); + delete pub_thread_; +} + +void PibotManager::onReceiveOdom(const nav_msgs::Odometry& msg) { + odom_vx_ = msg.twist.twist.linear.x; + odom_vy_ = msg.twist.twist.linear.y; + odom_w_ = msg.twist.twist.angular.z; + + if (!inner_mapping_func_ && (now_robot_state_ == RS_MAPPING)) { + tf::StampedTransform tf_transform; + + tf::Vector3 origin; + tf::Quaternion rotation; + tf::Vector3 axis; + int seq = 0; + + try { + base_listener_.lookupTransform("map", "base_link", ros::Time(0), tf_transform); + } catch (tf::TransformException& exception) { + ROS_ERROR("%s", exception.what()); + } + + geometry_msgs::Pose robot_map_pose; + + robot_map_pose.position.x = tf_transform.getOrigin().getX(); + robot_map_pose.position.y = tf_transform.getOrigin().getY(); + robot_map_pose.position.z = tf_transform.getOrigin().getZ(); + robot_map_pose.orientation.x = tf_transform.getRotation().getX(); + robot_map_pose.orientation.y = tf_transform.getRotation().getY(); + robot_map_pose.orientation.z = tf_transform.getRotation().getZ(); + robot_map_pose.orientation.w = tf_transform.getRotation().getW(); + + if (WorldToMap(robot_map_pose, robot_pose_in_img_) == 0) { + // ROS_INFO("===%0.3f %0.3f %0.3f", robot_pose_in_img_.x, + // robot_pose_in_img_.y, robot_pose_in_img_.theta); + } + } +} + +void PibotManager::PublishMessages() { + ros::Rate rate(STATE_PUB_RATE); + ros::NodeHandle nh; + while (nh.ok()) { + { + pibot_msgs::RobotState robot_state_msg; + robot_state_msg.vlinear_x = odom_vx_; + robot_state_msg.vlinear_y = odom_vy_; + robot_state_msg.vangular = odom_w_; + if (map_img_height_ != 0 && map_img_width_ != 0) { + robot_state_msg.pose.x = robot_pose_in_img_.x; + robot_state_msg.pose.y = robot_pose_in_img_.y; + robot_state_msg.pose.theta = robot_pose_in_img_.theta; + } else { + robot_state_msg.pose.x = 0; + robot_state_msg.pose.y = 0; + robot_state_msg.pose.theta = 0; + } + + if (now_robot_state_ == RS_WAIT) { + robot_state_msg.state = 0; + } else if (now_robot_state_ == RS_MAPPING) { + robot_state_msg.state = 1; + } else if (now_robot_state_ == RS_LOCALIZATION) { + robot_state_msg.state = 2; + } else { + robot_state_msg.state = 3; + } + + if (now_robot_state_ == RS_LOCALIZATION) { + // TODO relocation + } + + robot_status_pub_.publish(robot_state_msg); + } + rate.sleep(); + } +} + +int PibotManager::LoadMapInfo() { + ifstream ifs(map_config_file_); + if (!ifs) { + ROS_ERROR("NO JSON FILE, ErrorCode=%d", -1); + return -1; + } + + Json::Value jsonroot; + Json::Reader jsonreader; + + if (!jsonreader.parse(ifs, jsonroot)) { + ROS_ERROR("FAIL TO LOAD JSON, ErrorCode=%d", -2); + return -2; + } + + // virtual wall + _virtual_wall_list_.clear(); + Json::Value vwalls = jsonroot["vwalls"]; + + for (int i = 0; i < vwalls.size(); i++) { + Json::Value points = vwalls[i]["points"]; + vector vwallPoints; + + for (int j = 0; j < points.size(); j++) { + vwallPoints.push_back(Point(points[j]["x"].asInt(), points[j]["y"].asInt())); + } + _virtual_wall_list_.push_back(vwallPoints); + } + + return 0; +} + +int PibotManager::LoadConfigFile() { + string config_path = map_dir_ + "/config.json"; + + cout << config_path << endl; + ifstream ifs(config_path.c_str()); + + if (!ifs) { + ROS_ERROR("%s not found", config_path.c_str()); + return -1; + } + + Json::Value jsonroot; + Json::Reader jsonreader; + + if (!jsonreader.parse(ifs, jsonroot)) { + ROS_ERROR("fail to load %s", config_path.c_str()); + return -2; + } + + string mapID = jsonroot["default_map"].asString(); + string yaml_file = map_dir_ + "/" + mapID + "/map.yaml"; + + int state = LoadYamlFile(yaml_file); + if (state != 0) { + return state; + } + + pb_name_ = map_dir_ + "/" + mapID + "/map.pbstream"; + + map_config_file_ = map_dir_ + "/" + mapID + "/map.json"; + + Mat mMatLoad = imread(map_name_); + if (mMatLoad.empty()) { + ROS_ERROR("fail to read image %s", map_name_.c_str()); + return -4; + } + + LoadMapInfo(); + + map_img_width_ = mMatLoad.cols; + map_img_height_ = mMatLoad.rows; + + PublishMap(mMatLoad); + + return 0; +} + +int PibotManager::LoadYamlFile(string path) { + ifstream ifs2(path.c_str()); + if (!ifs2) { + ROS_ERROR("%s not found", path.c_str()); + return -3; + } + + YAML::Node doc = YAML::Load(ifs2); + + doc["image"] >> map_name_; + + doc["origin"][0] >> origin_world_point_.x; + doc["origin"][1] >> origin_world_point_.y; + doc["origin"][2] >> origin_world_angle_; + + doc["resolution"] >> map_resolution_; + + // other infomation + doc["negate"] >> negate_; + doc["occupied_thresh"] >> occ_th_; + doc["free_thresh"] >> free_th_; + + return 0; +} + +bool PibotManager::MappingCB(pibot_msgs::MappingParams::Request& req, pibot_msgs::MappingParams::Response& res) { + bool valid = false; + + // 状态判断 + if (req.action.type == pibot_msgs::Action::ACTION_START) { // start mapping + ROS_INFO("start mapping"); + if (now_robot_state_ != RS_WAIT) { + res.result = 1; + ROS_INFO("NOT AVAILABLE,CANT START MAPPING, ErrorCode=%d", res.result); + return true; + } + valid = true; + } else { + ROS_INFO("finish mapping"); + if (now_robot_state_ == RS_MAPPING) { + valid = true; + } + } + + if (!valid) { + res.result = 2; + ROS_WARN("nowstate is wrong"); + return true; + } + + if (inner_mapping_func_) { // 内部service client 启动相关建图应用 + ros::ServiceClient client_map_build = nodeHandle.serviceClient(CartoMappingService); + + pibot_msgs::MappingParams map_build_request; + map_build_request.request = req; + + client_map_build.call(map_build_request); + + res = map_build_request.response; + + if (res.result == 0) { + if (now_robot_state_ == RS_WAIT) { + now_robot_state_ = RS_MAPPING; + } else if (now_robot_state_ == RS_MAPPING) { + now_robot_state_ = RS_WAIT; + } + res.result = 0; + } else { + res.result = 1; + ROS_ERROR("mapbuild call failed: %d", map_build_request.response.result); + } + } else { // 使用子进程的方式加载建图应用 + res.result = 0; + if (req.action.type == pibot_msgs::Action::ACTION_START) { + if (!start_mapping_cmd_.empty()) { + ROS_INFO("launch map cmd: %s", start_mapping_cmd_.c_str()); + FILE* fp = popen(start_mapping_cmd_.c_str(), "r"); + + fclose(fp); + + ROS_WARN("wait for tf of map to base_link"); + base_listener_.waitForTransform("map", "base_link", ros::Time(0), + ros::Duration(5.0)); + } else { + ROS_WARN("null start_mapping_cmd"); + res.result = -1; + } + } else { + if (req.action.type == pibot_msgs::Action::ACTION_STOP) { + std::string map_dir = map_dir_; + map_dir += "/" + req.id; + + if (access(map_dir.c_str(), F_OK) == -1) { + if (mkdir(map_dir.c_str(), 0777) != 0) { + ROS_WARN("create failed"); + return true; + } + } + + std::string save_mapping_cmd = stop_mapping_cmd_ + " map_name:=" + map_dir + "/map"; + + ROS_INFO("save_map cmd: %s", save_mapping_cmd.c_str()); + FILE* fp = popen(save_mapping_cmd.c_str(), "r"); + + fclose(fp); + } + + if (!cancel_mapping_cmd_.empty()) { + ROS_INFO("kill mappping cmd: %s", cancel_mapping_cmd_.c_str()); + FILE* fp = popen(cancel_mapping_cmd_.c_str(), "r"); + fclose(fp); + } else { + ROS_WARN("null cancel_mapping_cmd"); + res.result = -1; + } + } + + if (res.result == 0) { + if (now_robot_state_ == RS_WAIT) { + now_robot_state_ = RS_MAPPING; + } else if (now_robot_state_ == RS_MAPPING) { + now_robot_state_ = RS_WAIT; + } + } + } + + return true; +} + +bool PibotManager::SetLocationModeCB(pibot_msgs::ActionParams::Request& req, pibot_msgs::ActionParams::Response& res) { + if (req.action.type == pibot_msgs::Action::ACTION_START) { // set to localization mode for navi + if (now_robot_state_ != RS_WAIT) { + ROS_ERROR("NOT AVAILABLE,CANT START LOCALIZATION, ErrorCode is %d", + res.result); + res.result = 1; + return true; + } + + int result = LoadConfigFile(); + if (0 != result) { + res.result = 2; + ROS_ERROR("load Default JsonFile is failed, ErrorCode is %d", res.result); + return true; + } + + if (inner_location_func_) { // 内部service client 启动相关建图应用 + ros::ServiceClient client_set_map = nodeHandle.serviceClient(SetMapService); + + pibot_msgs::SetMapParams set_map_params; + set_map_params.request.id = pb_name_; + + client_set_map.call(set_map_params); + + if (set_map_params.response.result != 0) { + res.result = 3; + ROS_ERROR("set_map request is fail, ErrorCode is %d", res.result); + return true; + } + } else { + if (location_type_ == "amcl") { + ROS_INFO("launch location cmd: %s", start_location_cmd_.c_str()); + FILE* fp = popen(start_location_cmd_.c_str(), "r"); + + fclose(fp); + } + + // wait for move_base + while (!move_base_action_client_.waitForServer(ros::Duration(5.0))) { + ROS_INFO("Waiting for move_base action server startup"); + } + } + + // 启动重定位 + if (inner_location_func_) { // 内部service client 启动相关建图应用 + // ROS_INFO("start_location(inner)"); + // now_robot_state_ = RS_RELOCATION; + // ros::ServiceClient start_location_client = nodeHandle.serviceClient("start_location"); + + // pibot_msgs::start_location start_location_req; + // start_location_req.request.filename = pb_name_; + // start_location_req.request.action_mode = 0; + // start_location_req.request.to_trajectory_id = 0; + + // start_location_client.call(start_location_req); + + // now_robot_state_ = RS_LOCALIZATION; + + // if (relocation_result_ != 0) { + // ROS_ERROR("start_location Service return fail, ErrorCode is %d", + // res.result); + // res.result = start_location_req.response.result; + // return true; + // } + } else { + if (location_type_ == "amcl") { + ROS_INFO("start_location for amcl"); + ros::ServiceClient global_localization_client = nodeHandle.serviceClient("global_localization"); + std_srvs::Empty params; + if (global_localization_client.call(params)) { + } + } + + now_robot_state_ = RS_LOCALIZATION; + } + } else { // set free mode + if (now_robot_state_ == RS_LOCALIZATION) { + map_meta_data_pub_.shutdown(); + grid_map_pub_.shutdown(); + + if (inner_location_func_) { // 内部service client 启动相关建图应用 + // ROS_INFO("start_finish_location"); + // ros::ServiceClient start_location_client = nodeHandle.serviceClient("start_location"); + + // pibot_msgs::start_location start_location_req; + // start_location_req.request.filename = pb_name_; + // start_location_req.request.action_mode = 1; + // start_location_req.request.to_trajectory_id = 0; + + // start_location_client.call(start_location_req); + // res.result = start_location_req.response.result; + + // if (res.result == 0) { + // now_robot_state_ = RS_WAIT; + // } + } else { + if (location_type_ == "amcl") { + std::unique_lock lock(map_mutex_); + occupancy_grid_map_msg_.data.clear(); + } + + ROS_INFO("cancel location cmd: %s", cancel_location_cmd_.c_str()); + FILE* fp = popen(cancel_location_cmd_.c_str(), "r"); + + fclose(fp); + now_robot_state_ = RS_WAIT; + } + } else { + ROS_INFO("now_robot_state_ is already [WAIT],res.result = %d", 2); + res.result = 2; + return true; + } + } + + res.result = 0; + + return true; +} + +bool PibotManager::NaviCB(pibot_msgs::NaviParams::Request& req, pibot_msgs::NaviParams::Response& res) { + ROS_INFO("Navi, action: %d, goal: [%f , %f, %f]", req.action.type, req.goal.x, + req.goal.y, req.goal.theta); + + if (now_robot_state_ != RS_LOCALIZATION) { + ROS_INFO("NO LOCALIZATION INFO,CANT NAVIGATION"); + res.result = 1; + return true; + } + + if (map_img_width_ == 0 || map_img_height_ == 0) { + ROS_ERROR("size of image map is exception"); + res.result = 2; + return true; + } + + if (req.action.type == pibot_msgs::Action::ACTION_START) { + ros::ServiceClient clear_costmaps_client = nodeHandle.serviceClient("/move_base/clear_costmaps"); + std_srvs::Empty params; + if (clear_costmaps_client.call(params)) { + } + + bool ret = SendGoal(Point(req.goal.x, req.goal.y), req.goal.theta); + if (!ret) { + res.result = 3; + return true; + } + } else { + CancelGoal(); + } + + res.result = 0; + return true; +} + +bool PibotManager::SetPoseCB(pibot_msgs::SetPoseParams::Request& req, pibot_msgs::SetPoseParams::Response& res) { + ROS_INFO("Set Pose CB: %f, %f, %f", req.pose.x, req.pose.y, req.pose.theta); + + if (map_img_width_ == 0 || map_img_height_ == 0) { + ROS_ERROR("size of image map is exception"); + res.result = 2; + return true; + } + + geometry_msgs::PoseWithCovarianceStamped estimate_pose_msg; + estimate_pose_msg.header.stamp = ros::Time::now(); + estimate_pose_msg.header.frame_id = "map"; + + if (MapToWorld(req.pose, estimate_pose_msg.pose.pose) != 0) { + ROS_WARN("err req pose"); + res.result = 3; + return true; + } + + if (inner_location_func_) { + ros::service::waitForService("manual_location_trans"); + ros::ServiceClient manual_relocation_client = nodeHandle.serviceClient<::pibot_msgs::ManualLocation>( + "manual_location_trans"); + + pibot_msgs::ManualLocation relocation_req; + relocation_req.request.pose = estimate_pose_msg.pose.pose; + relocation_req.request.filename = pb_name_; + manual_relocation_client.call(relocation_req); + + if (relocation_req.response.result != 0) { + ROS_ERROR("response of manual manualReLocationCallback is fail!"); + res.result = 1; + return true; + } + ROS_INFO("Service [manual_location_trans] return"); + res.result = 0; + } else { + if (location_type_ == "amcl") { + amcl_initialpose_pub_.publish(estimate_pose_msg); + } + } + + return true; +} + +bool PibotManager::RelocationCB(pibot_msgs::ActionParams::Request& req, pibot_msgs::ActionParams::Response& res) { + ROS_INFO("Auto Location"); + + if (map_img_width_ == 0 || map_img_height_ == 0) { + ROS_ERROR("size of image map is exception"); + res.result = 2; + return true; + } + + if (location_type_ == "amcl") { + ros::ServiceClient global_localization_client = nodeHandle.serviceClient("global_localization"); + std_srvs::Empty params; + if (global_localization_client.call(params)) { + } + } else { + } + + return true; +} + +void PibotManager::onReceiveRelocationResult(const pibot_msgs::RelocateResult::ConstPtr& msg) { + relocation_result_ = msg->relocate_result; + + ROS_ERROR("onReceiveRelocationResult: %d", (int)msg->relocate_result); +} + +void PibotManager::onReceiveCartoPose(const geometry_msgs::PoseStamped::ConstPtr msg) { + WorldToMap(msg->pose, robot_pose_in_img_); +} + +void PibotManager::onReceiveAmclPose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr msg) { + WorldToMap(msg->pose.pose, robot_pose_in_img_); +} + +#if SCAN_PC_TYPE == 1 +void PibotManager::onReceiveLDS(const sensor_msgs::PointCloud::ConstPtr msg) { + if (map_img_width_ == 0 || map_img_height_ == 0) { + return; + } + + // upload freq + ros::Time current_scan_time = ros::Time::now(); + if ((current_scan_time - last_pub_scan_time_).toSec() * 1000 < LDS_PUB_INTERVAL) { + return; + } + + last_pub_scan_time_ = ros::Time::now(); + + tf::StampedTransform transform; + + try { + laser_listener_.lookupTransform("map", laser_frame_, ros::Time(0), transform); + + pibot_msgs::PointArray laser_points_msg; + laser_points_msg.header.stamp = ros::Time::now(); + + if (0 != msg->points.size()) { + laser_points_msg.points.resize(msg->points.size()); + } + + for (int i = 0; i < msg->points.size(); i++) { + geometry_msgs::PointStamped local_point; + local_point.header.frame_id = laser_frame_; + local_point.point.x = msg->points[i].x; + local_point.point.y = msg->points[i].y; + local_point.point.z = msg->points[i].z; + + geometry_msgs::PointStamped world_point; + world_point.header.frame_id = "map"; + laser_listener_.transformPoint("map", local_point, world_point); // laser link转换为world坐标 + + pibot_msgs::Pose laser_pose; + WorldToMap(world_point.point, laser_pose); // 转换得到地图像素坐标 + + laser_points_msg.points[i].x = laser_pose.x; + laser_points_msg.points[i].y = laser_pose.y; + } + + if (0 != msg->points.size()) { + laser_ponits_pub_.publish(laser_points_msg); + } + } catch (tf::TransformException& ex) { + } +} +#else +void PibotManager::onReceiveLDS2(const sensor_msgs::PointCloud2::ConstPtr msg) { + if (map_img_width_ == 0 || map_img_height_ == 0) { + return; + } + + // upload freq + ros::Time current_scan_time = ros::Time::now(); + if ((current_scan_time - last_pub_scan_time_).toSec() * 1000 < LDS_PUB_INTERVAL) { + return; + } + + pcl::PCLPointCloud2 pcl_pc2; + pcl_conversions::toPCL(*msg, pcl_pc2); + pcl::PointCloud::Ptr temp_cloud(new pcl::PointCloud); + pcl::fromPCLPointCloud2(pcl_pc2, *temp_cloud); + + last_pub_scan_time_ = ros::Time::now(); + + tf::StampedTransform transform; + + try { + laser_listener_.lookupTransform("map", laser_frame_, ros::Time(0), transform); + + pibot_msgs::PointArray laser_points_msg; + laser_points_msg.header.stamp = ros::Time::now(); + + if (0 != temp_cloud->size()) { + laser_points_msg.points.resize(temp_cloud->size()); + } + + for (int i = 0; i < temp_cloud->size(); i++) { + geometry_msgs::PointStamped local_point; + local_point.header.frame_id = laser_frame_; + local_point.point.x = (*temp_cloud)[i].x; + local_point.point.y = (*temp_cloud)[i].y; + local_point.point.z = (*temp_cloud)[i].z; + + geometry_msgs::PointStamped world_point; + world_point.header.frame_id = "map"; + laser_listener_.transformPoint("map", local_point, world_point); // laser link转换为world坐标 + + pibot_msgs::Pose laser_pose; + WorldToMap(world_point.point, laser_pose); // 转换得到地图像素坐标 + + laser_points_msg.points[i].x = laser_pose.x; + laser_points_msg.points[i].y = laser_pose.y; + } + + if (0 != temp_cloud->size()) { + laser_ponits_pub_.publish(laser_points_msg); + } + } catch (tf::TransformException& ex) { + } +} +#endif + +void PibotManager::onReceiveMap(const nav_msgs::OccupancyGrid::ConstPtr msg) { + if (now_robot_state_ != RS_MAPPING) { + return; + } + + map_img_width_ = msg->info.width; + map_img_height_ = msg->info.height; + map_resolution_ = msg->info.resolution; + + origin_world_point_ = Point2f(msg->info.origin.position.x, msg->info.origin.position.y); +} + +void PibotManager::onReceivePath(const nav_msgs::Path::ConstPtr msg) { + if (map_img_width_ == 0 || map_img_height_ == 0) { + return; + } + + pibot_msgs::PointArray path_msg; + path_msg.header.stamp = ros::Time::now(); + int num = msg->poses.size(); + + if (num > 0) { + path_msg.points.resize(num); + for (int i = 0; i < num; i++) { + pibot_msgs::Pose path_pose; + WorldToMap(msg->poses[i].pose.position, path_pose); + + path_msg.points[i].x = path_pose.x; + path_msg.points[i].y = path_pose.y; + } + } + path_points_pub_.publish(path_msg); +} + +int PibotManager::WorldToMap(const geometry_msgs::Point& world_point, pibot_msgs::Pose& map_pose) { + if (map_resolution_ == 0.0f || map_img_width_ == 0 || map_img_height_ == 0 || + origin_world_point_ == Point2f()) { + return -1; + } + + map_pose.x = (world_point.x - origin_world_point_.x) / map_resolution_; + map_pose.y = map_img_height_ - 1 - (world_point.y - origin_world_point_.y) / map_resolution_; + + if (map_pose.x < 0 || map_pose.x > map_img_width_ - 1 || map_pose.y < 0 || + map_pose.y > map_img_height_ - 1) { + return -2; + } + + return 0; +} + +int PibotManager::WorldToMap(const geometry_msgs::Pose& world_pose, pibot_msgs::Pose& map_pose) { + if (map_resolution_ == 0.0f || map_img_width_ == 0 || map_img_height_ == 0 || + origin_world_point_ == Point2f()) { + return -1; + } + + map_pose.x = (world_pose.position.x - origin_world_point_.x) / map_resolution_; + map_pose.y = map_img_height_ - 1 - (world_pose.position.y - origin_world_point_.y) / map_resolution_; + map_pose.theta = RADIAN_TO_DEGREE(-tf::getYaw(world_pose.orientation)); + + if (map_pose.x < 0 || map_pose.x > map_img_width_ - 1 || map_pose.y < 0 || + map_pose.y > map_img_height_ - 1) { + return -2; + } + + return 0; +} + +int PibotManager::MapToWorld(const pibot_msgs::Pose& map_pose, geometry_msgs::Pose& world_pose) { + if (map_resolution_ == 0.0f || map_img_width_ == 0 || map_img_height_ == 0 || + origin_world_point_ == Point2f()) { + return -1; + } + + if (map_pose.x < 0 || map_pose.x > map_img_width_ - 1 || map_pose.y < 0 || + map_pose.y > map_img_height_ - 1) { + return -2; + } + + world_pose.position.x = map_pose.x * map_resolution_ + origin_world_point_.x; + world_pose.position.y = (map_img_height_ - 1 - map_pose.y) * map_resolution_ + origin_world_point_.y; + world_pose.orientation = tf::createQuaternionMsgFromYaw(DEGREE_TO_RADIAN(-map_pose.theta)); + + return 0; +} + +int PibotManager::MapToWorld(const Point& mapPoint, Point2f& worldPoint) { + if (map_resolution_ == 0.0f || map_img_width_ == 0 || map_img_height_ == 0 || origin_world_point_ == Point2f()) { + return -1; + } + + if (mapPoint.x < 0 || mapPoint.x > map_img_width_ - 1 || mapPoint.y < 0 || mapPoint.y > map_img_height_ - 1) { + return -2; + } + + worldPoint.x = mapPoint.x * map_resolution_ + origin_world_point_.x; + worldPoint.y = mapPoint.y * map_resolution_ + origin_world_point_.y; + + return 0; +} + +int PibotManager::PublishMap(const Mat& image) { + if (image.empty()) { + return -1; + } + + Mat mMat = image.clone(); + Mat mMatClone = imread(map_name_, CV_8UC1); + // add map infomation// + for (int i = 0; i < _virtual_wall_list_.size(); i++) { + // dont link the last and first point + for (int j = 0; j < _virtual_wall_list_[i].size() - 1; j++) { + int start = j; + int end = j + 1; // getIndex(j + 1,_virtual_wall_list_[i].size()); + + line(mMat, Point(_virtual_wall_list_[i][start]), + Point(_virtual_wall_list_[i][end]), Scalar(0, 0, 0), 1, 8, 0); + line(mMatClone, Point(_virtual_wall_list_[i][start]), + Point(_virtual_wall_list_[i][end]), Scalar(0, 0, 0), 1, 8, 0); + } + } + + std::unique_lock lock(map_mutex_); + + // Copy the image data into the map structure + occupancy_grid_map_msg_.info.width = mMat.cols; + occupancy_grid_map_msg_.info.height = mMat.rows; + occupancy_grid_map_msg_.info.resolution = map_resolution_; + occupancy_grid_map_msg_.info.origin.position.x = origin_world_point_.x; + occupancy_grid_map_msg_.info.origin.position.y = origin_world_point_.y; + occupancy_grid_map_msg_.info.origin.position.z = 0.0; + occupancy_grid_map_msg_.info.origin.orientation = tf::createQuaternionMsgFromYaw(origin_world_angle_); + occupancy_grid_map_msg_.data.resize(occupancy_grid_map_msg_.info.width * occupancy_grid_map_msg_.info.height); + + for (int row = 0; row < mMat.rows; row++) { + for (int col = 0; col < mMat.cols; col++) { + double color = mMat.at(row, col)[0]; + if (negate_) { + color = 255 - color; + } + + double occ = (255 - color) / 255.0; + unsigned char value; + + if (occ > occ_th_) { + value = 100; // black + } else if (occ < free_th_) { + value = 0; // white + } else { + value = -1; // gray + } + + int index = col + (mMat.rows - 1 - row) * mMat.cols; + occupancy_grid_map_msg_.data[index] = value; + } + } + + occupancy_grid_map_msg_.info.map_load_time = ros::Time::now(); + occupancy_grid_map_msg_.header.frame_id = "map"; + occupancy_grid_map_msg_.header.stamp = ros::Time::now(); + + map_mutex_.unlock(); + + nav_msgs::MapMetaData map_meta_data_msg = occupancy_grid_map_msg_.info; + + map_meta_data_pub_ = nodeHandle.advertise("map_metadata", 1, true); + grid_map_pub_ = nodeHandle.advertise("map", 1, true); + + map_meta_data_pub_.publish(map_meta_data_msg); + grid_map_pub_.publish(occupancy_grid_map_msg_); + + return 0; +} + +bool PibotManager::StaticMapCB(nav_msgs::GetMap::Request& req, nav_msgs::GetMap::Response& res) { + std::unique_lock lock(map_mutex_); + + if (occupancy_grid_map_msg_.data.empty()) { + return false; + } + + res.map = occupancy_grid_map_msg_; + + return true; +} + +void PibotManager::MoveBaseActionDoneCallback(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result) { + ROS_INFO("Goal Plan Complete, state: %d-%s", state.state_, state.toString().c_str()); + pibot_msgs::NaviStatus navi_msg; + navi_msg.status = state.state_; + navi_state_pub_.publish(navi_msg); +} + +void PibotManager::MoveBaseActionActiveCallback() { + ROS_INFO("Planning Goal Active"); +} + +void PibotManager::MoveBaseActionFeedbackCallback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback) { + if (feedback->base_position.header.frame_id == "map") { + pibot_msgs::Pose map_pose; + WorldToMap(feedback->base_position.pose, map_pose); + + // output pose in map + ROS_INFO("MoveBase Feedback [%.2f %.2f %.2f]", map_pose.x, map_pose.y, map_pose.theta); + } +} + +bool PibotManager::SendGoal(const Point& point, float angle, bool normal) { + Point2f worldPoint; + + Point mapPoint = Point(point.x, map_img_height_ - 1 - point.y); + int result = MapToWorld(mapPoint, worldPoint); + if (0 != result) { + return false; + } + +#if 0 + geometry_msgs::PoseStamped goal; + goal.header.stamp = ros::Time::now(); + goal.header.frame_id = "map"; + goal.pose.position.x = worldPoint.x; + goal.pose.position.y = worldPoint.y; + goal.pose.position.z = normal ? 0 : -1; + goal.pose.orientation = tf::createQuaternionMsgFromYaw(-DEGREE_TO_RADIAN(angle)); + goal_pub_.publish(goal); +#else + move_base_msgs::MoveBaseGoal goal; + + goal.target_pose.header.frame_id = "map"; + goal.target_pose.header.stamp = ros::Time::now(); + + goal.target_pose.pose.position.x = worldPoint.x; + goal.target_pose.pose.position.y = worldPoint.y; + goal.target_pose.pose.position.z = 0; + goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(-DEGREE_TO_RADIAN(angle)); + + // move_base_action_client_.sendGoal(goal); + move_base_action_client_.sendGoal(goal, + boost::bind(&PibotManager::MoveBaseActionDoneCallback, this, _1, _2), + boost::bind(&PibotManager::MoveBaseActionActiveCallback, this), + boost::bind(&PibotManager::MoveBaseActionFeedbackCallback, this, _1)); +#endif + + return true; +} + +bool PibotManager::CancelGoal() { + move_base_action_client_.cancelAllGoals(); + return true; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/.gitignore b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/.gitignore new file mode 100644 index 0000000..5c79431 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/.gitignore @@ -0,0 +1,3 @@ +camera_umd +ros_astra_camera +ros_astra_launch diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/CMakeLists.txt new file mode 100644 index 0000000..e02b94c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(pibot_3dsensor) + +## 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) + +## 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 exec_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 exec_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 # Or other packages containing 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 exec_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 pibot_3dsensor +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/pibot_3dsensor.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_3dsensor_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 +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_pibot_3dsensor.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/depth_PS1080_PrimeSense.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/depth_PS1080_PrimeSense.yaml new file mode 100644 index 0000000..ca5ad63 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/depth_PS1080_PrimeSense.yaml @@ -0,0 +1,20 @@ +image_width: 640 +image_height: 480 +camera_name: depth_PS1080_PrimeSense +camera_matrix: + rows: 3 + cols: 3 + data: [546.0500834384593, 0.0, 318.26543549764034, 0.0, 545.7495208147751, 235.530988776277, 0.0, 0.0, 1.0] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.02445400737474688, 0.015558351939314555, 0.0010451121492915797, -0.004270544037870965, 0.0] +rectification_matrix: + rows: 3 + cols: 3 + data: [1, 0, 0, 0, 1, 0, 0, 0, 1] +projection_matrix: + rows: 3 + cols: 4 + data: [579.1331176757812, 0.0, 314.36071062675546, 0.0, 0.0, 580.1824340820312, 251.67534864987465, 0.0, 0.0, 0.0, 1.0, 0.0] \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/rgb_PS1080_PrimeSense.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/rgb_PS1080_PrimeSense.yaml new file mode 100644 index 0000000..ed07bfc --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/rgb_PS1080_PrimeSense.yaml @@ -0,0 +1,20 @@ +image_width: 640 +image_height: 480 +camera_name: rgb_PS1080_PrimeSense +camera_matrix: + rows: 3 + cols: 3 + data: [546.0500834384593, 0.0, 318.26543549764034, 0.0, 545.7495208147751, 235.530988776277, 0.0, 0.0, 1.0] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [0.07270573116068803, -0.18543929362134534, -0.0011832045804703304, -0.0034080201993029564, 0.0] +rectification_matrix: + rows: 3 + cols: 3 + data: [1, 0, 0, 0, 1, 0, 0, 0, 1] +projection_matrix: + rows: 3 + cols: 4 + data: [546.8461303710938, 0.0, 315.7269048503658, 0.0, 0.0, 549.0361938476562, 234.61483550908815, 0.0, 0.0, 0.0, 1.0, 0.0] diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml new file mode 100644 index 0000000..1ec970f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml @@ -0,0 +1,27 @@ +image_width: 640 +image_height: 480 +camera_name: camera +camera_matrix: + rows: 3 + cols: 3 + data: [577.54679, 0. , 310.24326, + 0. , 578.63325, 253.65539, + 0. , 0. , 1. ] +camera_model: plumb_bob +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [0.125197, -0.196591, 0.006816, -0.006225, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [590.55457, 0. , 306.57339, 0. , + 0. , 592.83978, 256.43008, 0. , + 0. , 0. , 1. , 0. ] diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml new file mode 100644 index 0000000..9ff93fb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml @@ -0,0 +1,20 @@ +image_width: 640 +image_height: 480 +camera_name: depth_Astra_Orbbec +camera_matrix: + rows: 3 + cols: 3 + data: [582.795354, 0.000000, 326.415982, 0.000000, 584.395006, 249.989410, 0.000000, 0.000000, 1.000000] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.068613, 0.174404, 0.001015, 0.006240, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] +projection_matrix: + rows: 3 + cols: 4 + data: [586.186035, 0.000000, 329.702427, 0.000000, 0.000000, 590.631409, 250.167765, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000] diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/astra.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/astra.launch new file mode 100644 index 0000000..0cbbf1a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/astra.launch @@ -0,0 +1,149 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/d435i.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/d435i.launch new file mode 100644 index 0000000..7c538be --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/d435i.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/kinectV1.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/kinectV1.launch new file mode 100644 index 0000000..f1f4b8c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/kinectV1.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/xtion.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/xtion.launch new file mode 100644 index 0000000..deed30c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/xtion.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/package.xml new file mode 100644 index 0000000..22005f6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_3dsensor/package.xml @@ -0,0 +1,59 @@ + + + pibot_3dsensor + 0.0.0 + The pibot_3dsensor package + + + + + david + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/CMakeLists.txt new file mode 100644 index 0000000..da55901 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pibot_bringup) + +## 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) + +## 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 + roscpp + tf + dynamic_reconfigure +) +## * 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 # Or other packages containing 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/pibot_parameter.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 pibot_bringup +# CATKIN_DEPENDS other_catkin_pkg +# 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} + include ${catkin_INCLUDE_DIRS} + include include/pibot_bringup/ +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/pibot_bringup.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_bringup_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_pibot_bringup.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) + +# add_definitions(-DUSE_BOOST_SERIAL_TRANSPORT) + +add_executable(pibot_driver + src/main.cpp + src/base_driver_config.cpp + src/base_driver.cpp + src/data_holder.cpp + src/simple_dataframe_master.cpp + # src/serial_transport.cpp + src/serial_transport2.cpp + +) +add_dependencies(pibot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(pibot_driver + ${catkin_LIBRARIES} +) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/cfg/pibot_parameter.cfg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/cfg/pibot_parameter.cfg new file mode 100644 index 0000000..6669100 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/cfg/pibot_parameter.cfg @@ -0,0 +1,54 @@ +#!/usr/bin/env python + +PACKAGE = 'pibot_bringup' + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_t + +gen = ParameterGenerator() + +model_type_enum = gen.enum([ gen.const("2WD_Diff", int_t, 1, "Two-wheel Diff Drive"), + gen.const("4WD_Diff", int_t, 2, "Four-wheel Diff Drive"), + gen.const("3WD_Omni", int_t, 101, "Three-wheel Omni Drvie"), + # gen.const("4WD_Omni", int_t, 102, "Four-wheel Omni Drvie"), + gen.const("4WD_Mecanum", int_t, 201, "Four-wheel Mecanum Drvie"), + gen.const("UNKNOWN", int_t, 255, "unknown model")], + "pibot dirver list") + +gen.add("model_type", int_t, 0, "model type", 1, 1, 255, edit_method = model_type_enum) + +gen.add("motor1_exchange_flag", bool_t, 0, "exchange motor1 wire", False) +gen.add("motor2_exchange_flag", bool_t, 0, "exchange motor2 wire", False) +gen.add("motor3_exchange_flag", bool_t, 0, "exchange motor3 wire", False) +gen.add("motor4_exchange_flag", bool_t, 0, "exchange motor4 wire", False) + +gen.add("encoder1_exchange_flag", bool_t, 0, "exchange encoder1 wire", False) +gen.add("encoder2_exchange_flag", bool_t, 0, "exchange encoder2 wire", False) +gen.add("encoder3_exchange_flag", bool_t, 0, "exchange encoder3 wire", False) +gen.add("encoder4_exchange_flag", bool_t, 0, "exchange encoder4 wire", False) + +gen.add("wheel_diameter", int_t, 0, "The diameter of the wheel", 30, 10, 500) +gen.add("wheel_track", int_t, 0, "The track of the wheel", 300, 50, 1000) +gen.add("encoder_resolution", int_t, 0, "The resolution of the encoder", 1560, 1 , 32000) +gen.add("motor_ratio", int_t, 0, "The ratio of the motor", 1, 1, 1000) + +gen.add("do_pid_interval", int_t, 0, "The interval of do pid", 10, 1, 80) +gen.add("kp", int_t, 0, "Kp value", 20, 0, 10000) +gen.add("ki", int_t, 0, "Ki value", 20, 0, 32000) +gen.add("kd", int_t, 0, "Kd value", 20, 0, 1000) +gen.add("ko", int_t, 0, "Ko value", 20, 0, 1000) + +gen.add("cmd_last_time", int_t, 0, "cmd_last_time value", 200, 0, 1000) + +gen.add("max_v_liner_x", int_t, 0, "liner x", 60, 0, 500) +gen.add("max_v_liner_y", int_t, 0, "liner y", 0, 0, 500) +gen.add("max_v_angular_z", int_t, 0, "angular z", 120, 0, 2000) + +imu_type_enum = gen.enum([ gen.const("GY65", int_t, 49, "mpu6050"), + gen.const("GY85", int_t, 69, "adxl345_it43200_hmc5883l"), + gen.const("GY87", int_t, 71, "mpu6050_hmc5883l"), + gen.const("nonimu", int_t, 255, "disable imu")], + "imu type list") + +gen.add("imu_type", int_t, 0, "imu type", 69, 1, 255, edit_method = imu_type_enum) + +exit(gen.generate(PACKAGE, "pibot_bringup", "pibot_parameter")) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick-holonomic.config.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick-holonomic.config.yaml new file mode 100644 index 0000000..a25dab3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick-holonomic.config.yaml @@ -0,0 +1,15 @@ +axis_linear: + x: 1 # 遥感索引1的值表示控制linear的x方向(前进后退) + y: 0 # 遥感索引0的值表示控制linear的y方向(左右平移) +scale_linear: + x: 0.50 # 低速运动linear x最大值 + y: 0.50 # 低速运动linear y最大值 + +axis_angular: + yaw: 3 # 遥感索引3的值表示控制angular(旋转) +scale_angular: + yaw: 1.2 # 低速运动angular最大值 + +enable_button: 0 # 实现低速运动使能键 +enable_turbo_button: -1 # 实现高速度运动使能键 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick.config.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick.config.yaml new file mode 100644 index 0000000..2ab4262 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick.config.yaml @@ -0,0 +1,10 @@ +axis_linear: 1 # 遥感索引1的值表示控制linear 索引rostopic echo joy可以看出axes数字 +scale_linear: 0.5 # 低速运动linear最大值 +scale_linear_turbo: 1.5 # 高度速运动linear最大值 + +axis_angular: 0 # 遥感索引0的表示angular方向 +scale_angular: 1.2 # 低速运动angular最大值 +scale_angular_turbo: 2.0 # 高度速运动angular最大值 + +enable_button: 0 # 实现低速运动使能键 +enable_turbo_button: 1 # 实现高速度运动使能键 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver.h new file mode 100644 index 0000000..4838177 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver.h @@ -0,0 +1,88 @@ +#include + +#include +#include "base_driver_config.h" + + +#include +#include +#include +#include +#include +#include "pibot_bringup/transport.h" +#include "pibot_bringup/dataframe.h" +#include + +class BaseDriver +{ +private: + BaseDriver(); + +public: + static BaseDriver* Instance() + { + if (instance == NULL) + instance = new BaseDriver(); + + return instance; + } + ~BaseDriver(); + void work_loop(); + +private: + void cmd_vel_callback(const geometry_msgs::Twist& vel_cmd); + void init_cmd_odom(); + void init_pid_debug(); + void init_imu(); + void read_param(); + + void update_param(); + void update_odom(); + void update_speed(); + void update_pid_debug(); + void update_imu(); + +public: + + BaseDriverConfig& getBaseDriverConfig() { + return bdg; + } + + ros::NodeHandle* getNodeHandle(){ + return &nh; + } + + ros::NodeHandle* getPrivateNodeHandle() { + return &pn; + } +private: + static BaseDriver* instance; + + BaseDriverConfig bdg; + boost::shared_ptr trans; + boost::shared_ptr frame; + + ros::Subscriber cmd_vel_sub; + + ros::Publisher odom_pub; + + nav_msgs::Odometry odom; + geometry_msgs::TransformStamped odom_trans; + tf::TransformBroadcaster odom_broadcaster; + + ros::NodeHandle nh; + ros::NodeHandle pn; + + #define MAX_MOTOR_COUNT 4 + ros::Publisher pid_debug_pub_input[MAX_MOTOR_COUNT]; + ros::Publisher pid_debug_pub_output[MAX_MOTOR_COUNT]; + + std_msgs::Int32 pid_debug_msg_input[MAX_MOTOR_COUNT]; + std_msgs::Int32 pid_debug_msg_output[MAX_MOTOR_COUNT]; + + bool need_update_speed; + + pibot_msgs::RawImu raw_imu_msgs; + + ros::Publisher raw_imu_pub; +}; \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver_config.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver_config.h new file mode 100644 index 0000000..817ba20 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver_config.h @@ -0,0 +1,60 @@ +#ifndef BASE_DRIVER_CONFIG_ +#define BASE_DRIVER_CONFIG_ + +#include + +#define USE_DYNAMIC_RECONFIG +#ifdef USE_DYNAMIC_RECONFIG +#include +#include "pibot_bringup/pibot_parameterConfig.h" +#endif + +class Robot_parameter; +class BaseDriverConfig +{ +public: + BaseDriverConfig(ros::NodeHandle &p); + ~BaseDriverConfig(); + + void init(Robot_parameter* r); + void SetRobotParameters(); + +#ifdef USE_DYNAMIC_RECONFIG + + void dynamic_callback(pibot_bringup::pibot_parameterConfig &config, uint32_t level); + bool get_param_update_flag(); + + private: + dynamic_reconfigure::Server server; + dynamic_reconfigure::Server::CallbackType f; +#endif +public: + Robot_parameter* rp; + + std::string port; + int32_t baudrate; + + std::string base_frame; + std::string odom_frame; + + bool publish_tf; + + //double ticks_per_meter; + + std::string cmd_vel_topic; + std::string odom_topic; + + int32_t freq; + + bool out_pid_debug_enable; + private: +#ifdef USE_DYNAMIC_RECONFIG + bool param_update_flag; +#endif + ros::NodeHandle& pn; + ros::ServiceClient client; + + bool set_flag; +}; + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/data_holder.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/data_holder.h new file mode 100644 index 0000000..a52ce6c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/data_holder.h @@ -0,0 +1,144 @@ +#ifndef DATA_HOLDER_H_ +#define DATA_HOLDER_H_ + +#include + +#pragma pack(1) + +typedef int int32; +typedef short int16; +typedef unsigned short uint16; + +struct Robot_firmware +{ + char version[16]; //固件版本 + char time[16]; //构建时间 +}; + +enum IMU_TYPE +{ + IMU_TYPE_GY65 = 49, + IMU_TYPE_GY85 = 69, + IMU_TYPE_GY87 = 71 +}; + +enum MODEL_TYPE +{ + MODEL_TYPE_2WD_DIFF = 1, + MODEL_TYPE_4WD_DIFF = 2, + MODEL_TYPE_3WD_OMNI = 101, + MODEL_TYPE_4WD_OMNI = 102, + MODEL_TYPE_4WD_MECANUM = 201, +}; + +#define MOTOR_ENCODER_1_FLAG 0x01 +#define MOTOR_ENCODER_2_FLAG 0x02 +#define MOTOR_ENCODER_3_FLAG 0x04 +#define MOTOR_ENCODER_4_FLAG 0x08 + +struct Robot_parameter +{ + union + { + char buff[64]; + struct + { + unsigned short wheel_diameter; //轮子直径 mm + unsigned short wheel_track; //差分：轮距， 三全向轮：直径，四全向：前后轮距+左右轮距 mm + unsigned short encoder_resolution; //编码器分辨率 + unsigned char do_pid_interval; //pid间隔 (ms) + unsigned short kp; + unsigned short ki; + unsigned short kd; + unsigned short ko; //pid参数比例 + unsigned short cmd_last_time; //命令持久时间ms 超过该时间会自动停止运动 + unsigned short max_v_liner_x; // 最大x线速度 + unsigned short max_v_liner_y; // 最大y线速度 + unsigned short max_v_angular_z; // 最大角速度 + unsigned char imu_type; // imu类型 参见IMU_TYPE + unsigned short motor_ratio; // 电机减速比 + unsigned char model_type; // 运动模型类型 参见MODEL_TYPE + unsigned char motor_nonexchange_flag; // 电机标志参数 1 正接 0 反接(相当于电机线交换) + unsigned char encoder_nonexchange_flag; // 编码器标志参数 1 正接 0 反接(相当于编码器ab相交换) + }; + }; +}; + +struct Robot_velocity +{ + short v_liner_x; //线速度 前>0 cm/s + short v_liner_y; //差分轮 为0 cm/s + short v_angular_z; //角速度 左>0 0.01rad/s 100 means 1 rad/s +}; + +struct Robot_odom +{ + short v_liner_x; //线速度 前>0 后<0 cm/s + short v_liner_y; //差分轮 为0 cm/s + short v_angular_z; //角速度 左>0 右<0 0.01rad/s 100 means 1 rad/s + int32 x; //里程计坐标x cm (这里long为4字节，下同) + int32 y; //里程计坐标y cm + short yaw; //里程计航角 0.01rad 100 means 1 rad +}; + +struct Robot_pid_data +{ + int32 input[4]; //各轮子驱动输入值 + int32 output[4]; //个轮子输出值 +}; + +struct Robot_imu +{ + union { + float imu_data[9]; + + struct + { + float ax; // 加速度x m2/s + float ay; // 加速度y m2/s + float az; // 加速度z m2/s + float gx; // 角速度x rad/s + float gy; // 角速度y rad/s + float gz; // 角速度z rad/s + float mx; // 磁力x mGA + float my; // 磁力y mGA + float mz; // 磁力z mGA + } imu; + }; +}; + + +#pragma pack(0) + +class Data_holder +{ +public: + static Data_holder* get() { + static Data_holder dh; + return &dh; + } + + void load_parameter(); + + void save_parameter(); + + static void dump_params(struct Robot_parameter* params); +private: + Data_holder() { + memset(&firmware_info, 0, sizeof(struct Robot_firmware)); + memset(¶meter, 0, sizeof(struct Robot_parameter)); + memset(&velocity, 0, sizeof(struct Robot_velocity)); + memset(&odom, 0, sizeof(struct Robot_odom)); + memset(&pid_data, 0, sizeof(struct Robot_pid_data)); + memset(&imu_data, 0, sizeof(imu_data)); + } +public: + struct Robot_firmware firmware_info; + struct Robot_parameter parameter; + struct Robot_velocity velocity; + struct Robot_odom odom; + struct Robot_pid_data pid_data; + + float imu_data[9]; +}; +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/dataframe.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/dataframe.h new file mode 100644 index 0000000..1294ab2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/dataframe.h @@ -0,0 +1,34 @@ +#ifndef PIBOT_DATA_FRAME_H_ +#define PIBOT_DATA_FRAME_H_ + +enum MESSAGE_ID +{ + ID_GET_VERSION = 0, + ID_SET_ROBOT_PARAMTER = 1, + ID_GET_ROBOT_PARAMTER = 2, + ID_INIT_ODOM = 3, + ID_SET_VELOCITY = 4, + ID_GET_ODOM = 5, + ID_GET_PID_DATA = 6, + ID_GET_IMU_DATA = 7, + ID_MESSGAE_MAX +}; + +class Notify +{ +public: + virtual void update(const MESSAGE_ID id, void* data) = 0; +}; + + +class Dataframe +{ +public: + virtual bool init()=0; + virtual void register_notify(const MESSAGE_ID id, Notify* _nf) = 0; + virtual bool data_recv(unsigned char c)=0; + virtual bool data_parse()=0; + virtual bool interact(const MESSAGE_ID id)=0; +}; + +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/queue.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/queue.h new file mode 100644 index 0000000..7d51625 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/queue.h @@ -0,0 +1,14 @@ +#ifndef PIBOT_QUEUE_H_ +#define PIBOT_QUEUE_H_ + +class Queue +{ +public: + virtual bool put(unsigned char ch)=0; + virtual bool get(unsigned char& ch)=0; + + virtual unsigned short size()=0; + virtual unsigned short max_size()=0; +}; + +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport.h new file mode 100644 index 0000000..97bb152 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport.h @@ -0,0 +1,76 @@ +#ifndef TRANSPORT_SERIAL_H_ +#define TRANSPORT_SERIAL_H_ + +#include "transport.h" + +class SerialParams +{ +public: + std::string serialPort; + unsigned int baudRate; + unsigned int flowControl; + unsigned int parity; + unsigned int stopBits; + SerialParams() : + serialPort(), baudRate(921600), flowControl(0), parity(0), stopBits(0) + { + } + SerialParams( + std::string _serialPort, + unsigned int _baudRate, + unsigned int _flowControl, + unsigned int _parity, + unsigned int _stopBits + ) : + serialPort(_serialPort), + baudRate(_baudRate), + flowControl(_flowControl), + parity(_parity), + stopBits(_stopBits) + { + } +}; + +class Serial_transport : public Transport +{ +public: + Serial_transport (std::string url, int32_t baudrate); + + bool init(); + void set_timeout(int t); + bool is_timeout(); + Buffer read(); + + void write(Buffer &data); + +private: + boost::shared_ptr port_; + SerialParams params_; + // for async read + Buffer temp_read_buf_; + + boost::thread thread_; + // locks + boost::mutex port_mutex_; + boost::mutex write_mutex_; + boost::mutex read_mutex_; + + bool initializeSerial(); + void mainRun(); + + void start_a_read(); + void start_a_write(); + void readHandler(const boost::system::error_code &ec, size_t bytesTransferred); + void writeHandler(const boost::system::error_code &ec); + + std::queue write_buffer_; + std::queue read_buffer_; + + // for boost asio service + boost::shared_ptr ios_; + + boost::shared_ptr timer_; +}; + + +#endif /* TRANSPORT_SERIAL_H_ */ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport2.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport2.h new file mode 100644 index 0000000..7ffd590 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport2.h @@ -0,0 +1,30 @@ +#ifndef TRANSPORT_SERIAL2_H_ +#define TRANSPORT_SERIAL2_H_ + +#include "transport.h" + +class Serial_transport2 : public Transport +{ +public: + Serial_transport2 (std::string url, int32_t baudrate); + ~Serial_transport2(); + bool init(); + Buffer read(); + + void write(Buffer &data); + + void set_timeout(int t); + bool is_timeout(); +private: + void mainRun(); + + unsigned long m_timeout_us; + + bool m_timeoutFlag; + int m_fd; + std::string m_port; + int32_t m_baudrate; +}; + + +#endif /* TRANSPORT_SERIAL_H_ */ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe.h new file mode 100644 index 0000000..978ec93 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe.h @@ -0,0 +1,55 @@ +#ifndef PIBOT_SIMPLE_DATAFRAME_H_ +#define PIBOT_SIMPLE_DATAFRAME_H_ + +#include "dataframe.h" +#include + +static const unsigned short MESSAGE_BUFFER_SIZE = 255; + +#define FIX_HEAD 0x5A + +struct Head +{ + unsigned char flag;// 头部标记,固定值:0X5A + unsigned char msg_id;// 消息ID,表示消息具体作用,决定消息体具体格式 + unsigned char length;// 消息体长度 +}; + + +struct Message +{ + struct Head head; + unsigned char data[MESSAGE_BUFFER_SIZE]; + unsigned char check; + unsigned char recv_count;//已经接收的字节数 + + Message(){} + Message(unsigned char msg_id, unsigned char* data=0,unsigned char len=0) { + head.flag = FIX_HEAD; + head.msg_id = msg_id; + head.length = recv_count = len; + check = 0; + + if (data != 0 && len !=0) + memcpy(this->data, data, len); + + unsigned char* _send_buffer = (unsigned char*)this; + + unsigned int i = 0; + for (i = 0; i < sizeof(head)+head.length; i++) + check += _send_buffer[i]; + + _send_buffer[sizeof(head)+head.length] = check; + } +}; + +enum RECEIVE_STATE +{ + STATE_RECV_FIX=0, + STATE_RECV_ID, + STATE_RECV_LEN, + STATE_RECV_DATA, + STATE_RECV_CHECK +}; + +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h new file mode 100644 index 0000000..60e935d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h @@ -0,0 +1,32 @@ +#ifndef PIBOT_SIMPLE_DATAFRAME_MASTER_H_ +#define PIBOT_SIMPLE_DATAFRAME_MASTER_H_ + +#include "simple_dataframe.h" +#include + +class Transport; +class Simple_dataframe : public Dataframe +{ +public: + Simple_dataframe(Transport* trans=0); + ~Simple_dataframe(); + void register_notify(const MESSAGE_ID id, Notify* _nf) { + } + + bool data_recv(unsigned char c); + bool data_parse(); + bool init(); + bool interact(const MESSAGE_ID id); +private: + bool recv_proc(); +private: + bool send_message(const MESSAGE_ID id); + bool send_message(const MESSAGE_ID id, unsigned char* data, unsigned char len); + bool send_message(Message* msg); +private: + Message active_rx_msg; + + RECEIVE_STATE recv_state; + Transport* trans; +}; +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h new file mode 100644 index 0000000..495fd2e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h @@ -0,0 +1,30 @@ +#ifndef TRANSPORT_H_ +#define TRANSPORT_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +typedef std::vector Buffer; + +class Transport +{ +public: + virtual ~Transport(){} + virtual bool init()=0; + virtual void set_timeout(int t)=0; + virtual bool is_timeout()=0; + virtual Buffer read() = 0; + + virtual void write(Buffer &data) = 0; +}; + + + +#endif /* TRANSPORT_BASE_H_ */ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/variable_queue.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/variable_queue.h new file mode 100644 index 0000000..9c6a4a6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/variable_queue.h @@ -0,0 +1,72 @@ +#ifndef PIBOT_VARIABLE_QUEUE_H_ +#define PIBOT_VARIABLE_QUEUE_H_ + +#include +#include +template +class VQueue : public Queue +{ +public: + VQueue(); + bool put(unsigned char ch); + bool get(unsigned char& ch); + + unsigned short size(); + unsigned short max_size(); +private: + unsigned char _buffer[MAX_SIZE]; + unsigned short _max_size; + unsigned short _head; + unsigned short _tail; +}; + +template +VQueue::VQueue() +{ + _max_size = MAX_SIZE; + memset(_buffer, 0, MAX_SIZE); + _head = 0; + _tail = 0; +} + +template +unsigned short VQueue::size() +{ + return (_tail+_max_size-_head)%_max_size; +} + +template +unsigned short VQueue::max_size() +{ + return _max_size; +} + +template +bool VQueue::put(unsigned char ch) +{ + if (_tail+1 == _head) + return false; + + _buffer[_tail++] = ch; + + if (_tail >= MAX_SIZE) + _tail = 0; + + return true; +} + +template +bool VQueue::get(unsigned char& ch) +{ + if (_head == _tail) + return false; + + ch = _buffer[_head++]; + + if (_head >= MAX_SIZE) + _head = 0; + + return true; +} + +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/apollo_bringup_smoother.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/apollo_bringup_smoother.launch new file mode 100644 index 0000000..e894004 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/apollo_bringup_smoother.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup.launch new file mode 100644 index 0000000..4667726 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch new file mode 100644 index 0000000..37001bb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch @@ -0,0 +1,86 @@ + + + + + + + + + + + + + + + + + + + + + + + + + imu/accelerometer_bias: {x: 0.005436, y: 0.014684, z: -0.395418} + imu/gyroscope_bias: {x: -0.035592, y: 0.080670, z: 0.001216} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/joystick.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/joystick.launch new file mode 100644 index 0000000..5536e46 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/joystick.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/keyboard_teleop.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/keyboard_teleop.launch new file mode 100644 index 0000000..b1b5c1f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/keyboard_teleop.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/model.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/model.launch new file mode 100644 index 0000000..c38414c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/model.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/robot.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/robot.launch new file mode 100644 index 0000000..9d8872b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/robot.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera.launch new file mode 100644 index 0000000..49f6df6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera_old.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera_old.launch new file mode 100644 index 0000000..ac96a6b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera_old.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/view_model.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/view_model.launch new file mode 100644 index 0000000..916352f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/launch/view_model.launch @@ -0,0 +1,7 @@ + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/package.xml new file mode 100644 index 0000000..8690654 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/package.xml @@ -0,0 +1,60 @@ + + + pibot_bringup + 0.0.0 + The pibot_bringup package + + + + + robot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + pibot_msgs + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py new file mode 100644 index 0000000..9db038d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python + +""" odom_ekf.py - Version 1.1 2013-12-20 + + Republish the /robot_pose_ekf/odom_combined topic which is of type + geometry_msgs/PoseWithCovarianceStamped as an equivalent message of + type nav_msgs/Odometry so we can view it in RViz. + + Created for the Pi Robot Project: http://www.pirobot.org + Copyright (c) 2012 Patrick Goebel. All rights reserved. + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version.5 + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details at: + + http://www.gnu.org/licenses/gpl.html + +""" + +import rospy + +from geometry_msgs.msg import PoseWithCovarianceStamped +from geometry_msgs.msg import TwistWithCovariance + +from nav_msgs.msg import Odometry + +ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0, + 0, 1e-3, 0, 0, 0, 0, + 0, 0, 1e6, 0, 0, 0, + 0, 0, 0, 1e6, 0, 0, + 0, 0, 0, 0, 1e6, 0, + 0, 0, 0, 0, 0, 1e3] + +class OdomEKF(): + def __init__(self): + self.use_wheel_odom = rospy.get_param('~use_wheel_odom', True) + self.wheel_odom_topic = rospy.get_param('~wheel_odom_topic', 'wheel_odom') + self.twist = TwistWithCovariance() + self.twist.covariance = ODOM_TWIST_COVARIANCE + + # Give the node a name + rospy.init_node('odom_ekf', anonymous=False) + + # Publisher of type nav_msgs/Odometry + self.ekf_pub = rospy.Publisher('output', Odometry, queue_size=5) + + # Wait for the /odom_combined topic to become available + rospy.wait_for_message('input', PoseWithCovarianceStamped) + + if self.use_wheel_odom: + rospy.wait_for_message(self.wheel_odom_topic, Odometry) + # Subscribe to the /wheel_odom topic + rospy.Subscriber(self.wheel_odom_topic, Odometry, self._wheel_odom) + + + # Subscribe to the /odom_combined topic + rospy.Subscriber('input', PoseWithCovarianceStamped, self.pub_ekf_odom) + + rospy.loginfo("Publishing combined odometry on") + + def pub_ekf_odom(self, msg): + odom = Odometry() + odom.header = msg.header + odom.header.frame_id = '/odom' + odom.child_frame_id = 'base_link' + odom.pose = msg.pose + odom.twist = self.twist + self.ekf_pub.publish(odom) + + def _wheel_odom(self, msg): + self.twist = msg.twist + +if __name__ == '__main__': + try: + OdomEKF() + rospy.spin() + except: + pass + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp new file mode 100644 index 0000000..4bbce0a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp @@ -0,0 +1,260 @@ +#include "base_driver.h" +#include "data_holder.h" + +#include +#ifdef USE_BOOST_SERIAL_TRANSPORT +#include "serial_transport.h" +#else +#include "serial_transport2.h" +#endif +#include "simple_dataframe_master.h" +#include + +BaseDriver* BaseDriver::instance = NULL; + +BaseDriver::BaseDriver() : pn("~"), bdg(pn) +{ + //init config + bdg.init(&Data_holder::get()->parameter); + +#ifdef USE_BOOST_SERIAL_TRANSPORT + trans = boost::make_shared(bdg.port, bdg.baudrate); +#else + trans = boost::make_shared(bdg.port, bdg.baudrate); +#endif + + frame = boost::make_shared(trans.get()); + + + ROS_INFO("BaseDriver startup..."); + if (trans->init()) { + ROS_INFO("connected to main board"); + } else { + ROS_ERROR("oops!!! can't connect to main board, please check the usb connection or baudrate!"); + return; + } + + + frame->init(); + + for (int i=0;i<3;i++) { + if (frame->interact(ID_GET_VERSION)) + break; + ros::Duration(1).sleep(); //wait for device + } + + ROS_INFO("robot version:%s build time:%s", Data_holder::get()->firmware_info.version, + Data_holder::get()->firmware_info.time); + + init_cmd_odom(); + + init_pid_debug(); + + read_param(); + + init_imu(); +} + +BaseDriver::~BaseDriver() +{ + if (instance != NULL) + delete instance; +} + +void BaseDriver::init_cmd_odom() +{ + frame->interact(ID_INIT_ODOM); + + ROS_INFO_STREAM("subscribe cmd topic on [" << bdg.cmd_vel_topic << "]"); + cmd_vel_sub = nh.subscribe(bdg.cmd_vel_topic, 1000, &BaseDriver::cmd_vel_callback, this); + + ROS_INFO_STREAM("advertise odom topic on [" << bdg.odom_topic << "]"); + odom_pub = nh.advertise(bdg.odom_topic, 50); + + //init odom_trans + odom_trans.header.frame_id = bdg.odom_frame; + odom_trans.child_frame_id = bdg.base_frame; + + odom_trans.transform.translation.z = 0; + + //init odom + odom.header.frame_id = bdg.odom_frame; + odom.pose.pose.position.z = 0.0; + odom.child_frame_id = bdg.base_frame; + odom.twist.twist.linear.y = 0; + + if (!bdg.publish_tf) { + odom.pose.covariance = boost::assign::list_of(1e-3) (0) (0) (0) (0) (0) + (0) (1e-3) (0) (0) (0) (0) + (0) (0) (1e6) (0) (0) (0) + (0) (0) (0) (1e6) (0) (0) + (0) (0) (0) (0) (1e6) (0) + (0) (0) (0) (0) (0) (1e3) ; + + odom.twist.covariance = boost::assign::list_of(1e-3) (0) (0) (0) (0) (0) + (0) (1e-3) (0) (0) (0) (0) + (0) (0) (1e6) (0) (0) (0) + (0) (0) (0) (1e6) (0) (0) + (0) (0) (0) (0) (1e6) (0) + (0) (0) (0) (0) (0) (1e3) ; + } + + need_update_speed = false; +} + +void BaseDriver::init_pid_debug() +{ + if (bdg.out_pid_debug_enable) { + const char* input_topic_name[MAX_MOTOR_COUNT]={"motor1_input", "motor2_input", "motor3_input", "motor4_input"}; + const char* output_topic_name[MAX_MOTOR_COUNT]={"motor1_output", "motor2_output", "motor3_output", "motor4_output"}; + for (size_t i = 0; i < MAX_MOTOR_COUNT; i++) { + pid_debug_pub_input[i] = nh.advertise(input_topic_name[i], 1000); + pid_debug_pub_output[i] = nh.advertise(output_topic_name[i], 1000); + } + } +} + +void BaseDriver::init_imu() +{ + raw_imu_pub = nh.advertise("raw_imu", 50); + raw_imu_msgs.header.frame_id = "imu_link"; + raw_imu_msgs.accelerometer = true; + raw_imu_msgs.gyroscope = true; + raw_imu_msgs.magnetometer = true; +} + +void BaseDriver::read_param() +{ + Robot_parameter* param = &Data_holder::get()->parameter; + memset(param,0, sizeof(Robot_parameter)); + + frame->interact(ID_GET_ROBOT_PARAMTER); + + Data_holder::dump_params(param); + + bdg.SetRobotParameters(); +} + +void BaseDriver::cmd_vel_callback(const geometry_msgs::Twist& vel_cmd) +{ + ROS_INFO_STREAM("cmd_vel:[" << vel_cmd.linear.x << " " << vel_cmd.linear.y << " " << vel_cmd.angular.z << "]"); + + Data_holder::get()->velocity.v_liner_x = vel_cmd.linear.x*100; + Data_holder::get()->velocity.v_liner_y = vel_cmd.linear.y*100; + Data_holder::get()->velocity.v_angular_z = vel_cmd.angular.z*100; + + need_update_speed = true; +} + +void BaseDriver::work_loop() +{ + ros::Rate loop(bdg.freq); + while (ros::ok()) { + //boost::posix_time::ptime my_posix_time = ros::Time::now().toBoost(); + update_param(); + + update_odom(); + + update_pid_debug(); + + update_speed(); + + if (Data_holder::get()->parameter.imu_type == IMU_TYPE_GY65 + || Data_holder::get()->parameter.imu_type == IMU_TYPE_GY85 + || Data_holder::get()->parameter.imu_type == IMU_TYPE_GY87) { + update_imu(); + } + + loop.sleep(); + + ros::spinOnce(); + } +} + +void BaseDriver::update_param() +{ +#ifdef USE_DYNAMIC_RECONFIG + if (bdg.get_param_update_flag()) { + frame->interact(ID_SET_ROBOT_PARAMTER); + ros::Rate loop(5); + loop.sleep(); + } +#endif +} + +void BaseDriver::update_odom() +{ + frame->interact(ID_GET_ODOM); + + ros::Time current_time = ros::Time::now(); + + float x = Data_holder::get()->odom.x*0.01; + float y = Data_holder::get()->odom.y*0.01; + float th = Data_holder::get()->odom.yaw*0.01; + + float vxy = Data_holder::get()->odom.v_liner_x*0.01; + float vth = Data_holder::get()->odom.v_angular_z*0.01; + + //ROS_INFO("odom: x=%.2f y=%.2f th=%.2f vxy=%.2f vth=%.2f", x, y ,th, vxy,vth); + + geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th); + + //publish_tf + if (bdg.publish_tf) { + odom_trans.header.stamp = current_time; + odom_trans.transform.translation.x = x; + odom_trans.transform.translation.y = y; + odom_trans.transform.rotation = odom_quat; + odom_broadcaster.sendTransform(odom_trans); + } + + //publish the message + odom.header.stamp = current_time; + odom.pose.pose.position.x = x; + odom.pose.pose.position.y = y; + odom.pose.pose.orientation = odom_quat; + odom.twist.twist.linear.x = vxy; + odom.twist.twist.angular.z = vth; + + odom_pub.publish(odom); +} + +void BaseDriver::update_speed() +{ + if (need_update_speed) { + ROS_INFO_STREAM("update_speed"); + need_update_speed = !(frame->interact(ID_SET_VELOCITY)); + } +} + +void BaseDriver::update_pid_debug() +{ + if (bdg.out_pid_debug_enable) { + frame->interact(ID_GET_PID_DATA); + + for (size_t i = 0; i < MAX_MOTOR_COUNT; i++) { + pid_debug_msg_input[i].data = Data_holder::get()->pid_data.input[i]; + pid_debug_msg_output[i].data = Data_holder::get()->pid_data.output[i]; + + pid_debug_pub_input[i].publish(pid_debug_msg_input[i]); + pid_debug_pub_output[i].publish(pid_debug_msg_output[i]); + } + } +} + +void BaseDriver::update_imu() +{ + frame->interact(ID_GET_IMU_DATA); + raw_imu_msgs.header.stamp = ros::Time::now(); + raw_imu_msgs.raw_linear_acceleration.x = Data_holder::get()->imu_data[0]; + raw_imu_msgs.raw_linear_acceleration.y = Data_holder::get()->imu_data[1]; + raw_imu_msgs.raw_linear_acceleration.z= Data_holder::get()->imu_data[2]; + raw_imu_msgs.raw_angular_velocity.x = Data_holder::get()->imu_data[3]; + raw_imu_msgs.raw_angular_velocity.y = Data_holder::get()->imu_data[4]; + raw_imu_msgs.raw_angular_velocity.z = Data_holder::get()->imu_data[5]; + raw_imu_msgs.raw_magnetic_field.x = Data_holder::get()->imu_data[6]; + raw_imu_msgs.raw_magnetic_field.y = Data_holder::get()->imu_data[7]; + raw_imu_msgs.raw_magnetic_field.z = Data_holder::get()->imu_data[8]; + + raw_imu_pub.publish(raw_imu_msgs); +} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver_config.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver_config.cpp new file mode 100644 index 0000000..87667c4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver_config.cpp @@ -0,0 +1,126 @@ +#include "base_driver_config.h" + +#include "data_holder.h" +#define PI 3.1415926f + +BaseDriverConfig::BaseDriverConfig(ros::NodeHandle &p) : pn(p) +{ +#ifdef USE_DYNAMIC_RECONFIG + param_update_flag = false; +#endif + + set_flag = true; +} + +BaseDriverConfig::~BaseDriverConfig() +{ + +} + +void BaseDriverConfig::init(Robot_parameter* r) +{ + rp = r; + + //comm param + pn.param("port", port, "/dev/ttyACM0"); + pn.param("baudrate", baudrate, 115200); + + ROS_INFO("port:%s baudrate:%d", port.c_str(), baudrate); + + pn.param("base_frame", base_frame, "base_link"); + pn.param("odom_frame", odom_frame, "odom"); + pn.param("publish_tf", publish_tf, true); + + pn.param("out_pid_debug_enable", out_pid_debug_enable, false); + ROS_INFO("out_pid_debug_enable:%d", out_pid_debug_enable); + + //topic name param + pn.param("cmd_vel_topic", cmd_vel_topic, "cmd_vel"); + pn.param("odom_topic", odom_topic, "odom"); + + pn.param("freq", freq, 1000); +} + +void BaseDriverConfig::SetRobotParameters() +{ +#ifdef USE_DYNAMIC_RECONFIG + static bool flag=true; + if (flag) { + flag = false; + f = boost::bind(&BaseDriverConfig::dynamic_callback, this, _1, _2); + server.setCallback(f); + } +#endif +} + +#ifdef USE_DYNAMIC_RECONFIG +void BaseDriverConfig::dynamic_callback(pibot_bringup::pibot_parameterConfig &config, uint32_t level) +{ + if (set_flag) { + set_flag = false; + config.wheel_diameter = rp->wheel_diameter; + config.wheel_track = rp->wheel_track; + config.do_pid_interval = rp->do_pid_interval; + config.encoder_resolution = rp->encoder_resolution; + config.kp = rp->kp; + config.ki = rp->ki; + config.kd = rp->kd; + config.ko = rp->ko; + config.cmd_last_time = rp->cmd_last_time; + config.max_v_liner_x = rp->max_v_liner_x; + config.max_v_liner_y = rp->max_v_liner_y; + config.max_v_angular_z = rp->max_v_angular_z; + config.imu_type = rp->imu_type; + config.motor_ratio = rp->motor_ratio; + config.model_type = rp->model_type; + + config.motor1_exchange_flag = (~rp->motor_nonexchange_flag & MOTOR_ENCODER_1_FLAG); + config.motor2_exchange_flag = (~rp->motor_nonexchange_flag & MOTOR_ENCODER_2_FLAG)>>1; + config.motor3_exchange_flag = (~rp->motor_nonexchange_flag & MOTOR_ENCODER_3_FLAG)>>2; + config.motor4_exchange_flag = (~rp->motor_nonexchange_flag & MOTOR_ENCODER_4_FLAG)>>3; + + config.encoder1_exchange_flag = (~rp->encoder_nonexchange_flag & MOTOR_ENCODER_1_FLAG); + config.encoder2_exchange_flag = (~rp->encoder_nonexchange_flag & MOTOR_ENCODER_2_FLAG)>>1; + config.encoder3_exchange_flag = (~rp->encoder_nonexchange_flag & MOTOR_ENCODER_3_FLAG)>>2; + config.encoder4_exchange_flag = (~rp->encoder_nonexchange_flag & MOTOR_ENCODER_4_FLAG)>>3; + + return; + } + + rp->wheel_diameter = config.wheel_diameter; + rp->wheel_track = config.wheel_track; + rp->do_pid_interval = config.do_pid_interval; + rp->encoder_resolution = config.encoder_resolution; + rp->kp = config.kp; + rp->ki = config.ki; + rp->kd = config.kd; + rp->ko = config.ko; + rp->cmd_last_time = config.cmd_last_time; + rp->max_v_liner_x = config.max_v_liner_x; + rp->max_v_liner_y = config.max_v_liner_y; + rp->max_v_angular_z = config.max_v_angular_z; + rp->imu_type = config.imu_type; + rp->motor_ratio = config.motor_ratio; + rp->model_type = config.model_type; + + rp->motor_nonexchange_flag = (!config.motor4_exchange_flag << 3) | + (!config.motor3_exchange_flag << 2) | + (!config.motor2_exchange_flag << 1) | + (!config.motor1_exchange_flag); + rp->encoder_nonexchange_flag = (!config.encoder4_exchange_flag << 3) | + (!config.encoder3_exchange_flag << 2) | + (!config.encoder2_exchange_flag << 1) | + (!config.encoder1_exchange_flag); + Data_holder::dump_params(rp); + + param_update_flag = true; +} + +bool BaseDriverConfig::get_param_update_flag() +{ + bool tmp=param_update_flag; + param_update_flag = false; + + return tmp; +} +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/data_holder.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/data_holder.cpp new file mode 100644 index 0000000..9b35349 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/data_holder.cpp @@ -0,0 +1,72 @@ +#include "pibot_bringup/data_holder.h" + +#if _DATAHOLDER_IN_DEVICES +#include "board.h" + +void Data_holder::load_parameter() +{ + Board::get()->get_config((unsigned char*)¶meter, sizeof(parameter)); +} + +void Data_holder::save_parameter() +{ + Board::get()->set_config((unsigned char*)¶meter, sizeof(parameter)); +} +#else +#include +#endif + +void Data_holder::dump_params(struct Robot_parameter* params) +{ +#if _DATAHOLDER_IN_DEVICES +#else + std::string model_name = "UNKNOWN"; + if (params->model_type == MODEL_TYPE_2WD_DIFF) { + model_name = "2WD_DIFF"; + } else if (params->model_type == MODEL_TYPE_4WD_DIFF) { + model_name = "4WD_DIFF"; + } else if (params->model_type == MODEL_TYPE_3WD_OMNI) { + model_name = "3WD_OMNI"; + } else if (params->model_type == MODEL_TYPE_4WD_OMNI) { + model_name = "4WD_OMNI"; + } else if (params->model_type == MODEL_TYPE_4WD_MECANUM) { + model_name = "4WD_MECANUM"; + } + std::string imu_name = "UNKNOWN"; + if (params->imu_type == IMU_TYPE_GY65) { + imu_name = "GY65"; + } else if (params->imu_type == IMU_TYPE_GY85) { + imu_name = "GY85"; + } else if (params->imu_type == IMU_TYPE_GY87) { + imu_name = "GY87"; + } + + ROS_INFO("RobotParameters:\n \ + \t\tmodel: %s(%d)\n \ + \t\twheel_diameter: %dmm\n \ + \t\twheel_track: %dmm\n \ + \t\tencoder_resolution: 4*%d\n \ + \t\tmotor_ratio: 1:%d\n\ + \t\tmotor_exchange_flag: %d\n\ + \t\tencoder_exchange_flag: %d\n\ + \t\tpid interval: %dms\n\ + \t\tkp: %d/%d ki: %d/%d kd: %d/%d\n\ + \t\tcmd hold time: %dms\n\ + \t\tvelocity limit, x: %0.2fm/s y: %0.2fm/s a: %0.2frad/s\n\ + \t\timu: %s(%d)\n \ + " + , model_name.c_str(), params->model_type + , params->wheel_diameter + , params->wheel_track + , params->encoder_resolution/4 + , params->motor_ratio + , params->motor_nonexchange_flag + , params->encoder_nonexchange_flag + , params->do_pid_interval + , params->kp, params->ko, params->ki, params->ko, params->kd, params->ko + , params->cmd_last_time + , params->max_v_liner_x/100., params->max_v_liner_y/100., params->max_v_angular_z/100. + , imu_name.c_str(), params->imu_type + ); +#endif +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/main.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/main.cpp new file mode 100644 index 0000000..b069086 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/main.cpp @@ -0,0 +1,13 @@ +#include +#include "pibot_bringup/base_driver.h" + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "pibot_driver"); + + BaseDriver::Instance()->work_loop(); + + ros::spin(); + + return 0; +} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport.cpp new file mode 100644 index 0000000..1f32119 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport.cpp @@ -0,0 +1,131 @@ +#include "serial_transport.h" + +Serial_transport::Serial_transport(std::string port, int32_t baudrate) : + write_buffer_(), + read_buffer_() +{ + params_.serialPort = port; + params_.baudRate = baudrate; + + ios_ = boost::make_shared(); +} + +void Serial_transport::mainRun() +{ + std::cout << "Transport main read/write started" <run(); +} + +void Serial_transport::start_a_read() +{ + boost::mutex::scoped_lock lock(port_mutex_); + + port_->async_read_some(boost::asio::buffer(temp_read_buf_), + boost::bind(&Serial_transport::readHandler, + this, + boost::asio::placeholders::error, + boost::asio::placeholders::bytes_transferred + )); +} + +void Serial_transport::readHandler(const boost::system::error_code &ec, size_t bytesTransferred) +{ + if (ec) { + std::cerr << "Transport Serial read Error "<< std::endl; + return; + } + + boost::mutex::scoped_lock lock(read_mutex_); + Buffer data(temp_read_buf_.begin(), temp_read_buf_.begin() + bytesTransferred); + read_buffer_.push(data); + start_a_read(); +} + +void Serial_transport::start_a_write() +{ + boost::mutex::scoped_lock lock(port_mutex_); + + if (!write_buffer_.empty()) { + boost::asio::async_write(*port_, boost::asio::buffer((write_buffer_.front())), + boost::bind(&Serial_transport::writeHandler, this, boost::asio::placeholders::error)); + write_buffer_.pop(); + } +} + +void Serial_transport::writeHandler(const boost::system::error_code &ec) +{ + if (ec) { + std::cerr << "Transport Serial write Error "<< std::endl; + return; + } + + boost::mutex::scoped_lock lock(write_mutex_); + + if (!write_buffer_.empty()) start_a_write(); +} + +Buffer Serial_transport::read() +{ + boost::mutex::scoped_lock lock(read_mutex_); + + if (!read_buffer_.empty()) { + Buffer data(read_buffer_.front()); + read_buffer_.pop(); + return data; + } + Buffer data; + return data; +} + +void Serial_transport::write(Buffer &data) +{ + boost::mutex::scoped_lock lock(write_mutex_); + + write_buffer_.push(data); + start_a_write(); +} + +bool Serial_transport::init() +{ + try + { + port_ = boost::make_shared(boost::ref(*ios_), params_.serialPort); + port_->set_option(boost::asio::serial_port::baud_rate(params_.baudRate)); + port_->set_option(boost::asio::serial_port::flow_control((boost::asio::serial_port::flow_control::type)params_.flowControl)); + port_->set_option(boost::asio::serial_port::parity((boost::asio::serial_port::parity::type)params_.parity)); + port_->set_option(boost::asio::serial_port::stop_bits((boost::asio::serial_port::stop_bits::type)params_.stopBits)); + port_->set_option(boost::asio::serial_port::character_size(8)); + } + catch(std::exception &e) + { + std::cerr << "Failed to open the serial port " << std::endl; + std::cerr << "Error info is "<< e.what() << std::endl; + return false; + } + + temp_read_buf_.resize(1024, 0); + try + { + thread_ = boost::thread(boost::bind(&Serial_transport::mainRun, this)); + } + catch(std::exception &e) + { + std::cerr << "Transport Serial thread create failed " << std::endl; + std::cerr << "Error Info: " << e.what() <(boost::ref(*ios_), boost::posix_time::seconds(10)); + + return true; +} + +void Serial_transport::set_timeout(int t) +{ + timer_->expires_from_now(boost::posix_time::millisec(t)); +} + +bool Serial_transport::is_timeout() +{ + return timer_->expires_from_now().is_negative(); +} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport2.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport2.cpp new file mode 100644 index 0000000..104e3e8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport2.cpp @@ -0,0 +1,143 @@ +#include "serial_transport2.h" +#include + +Serial_transport2::Serial_transport2(std::string port, int32_t baudrate) : m_port(port), m_baudrate(baudrate), m_timeout_us(150*1000) +{ + m_timeoutFlag = false; +} + +Serial_transport2::~Serial_transport2() +{ + if (m_fd) + close(m_fd); +} + +bool Serial_transport2::init() +{ + ROS_INFO("open %s %d", m_port.c_str(), m_baudrate); + m_fd = ::open(m_port.c_str(), O_RDWR | O_NDELAY); + if (m_fd < 0) { + ROS_ERROR("open %s err", m_port.c_str()); + return false; + } + + tcflush(m_fd, TCIOFLUSH); + + int n = fcntl(m_fd, F_GETFL, 0); + fcntl(m_fd, F_SETFL, n & ~O_NDELAY); + + struct termios opt; + tcgetattr(m_fd, &opt); + + if (m_baudrate == 921600) { + cfsetispeed(&opt, B921600); + cfsetospeed(&opt, B921600); + } else if (m_baudrate == 1500000) { + cfsetispeed(&opt, B1500000); + cfsetospeed(&opt, B1500000); + } else { //if (m_baudrate == 115200) + cfsetispeed(&opt, B115200); + cfsetospeed(&opt, B115200); + } + + opt.c_cflag &= ~CSIZE | CS8; + opt.c_cflag |= (CLOCAL | CREAD); + + opt.c_cflag &= ~(PARENB|PARODD); + opt.c_cflag &= ~CSTOPB; + + opt.c_cflag &= ~CRTSCTS; + + opt.c_iflag = IGNBRK; + opt.c_iflag &= ~(IXON | IXOFF | IXANY); + + opt.c_lflag = 0; + opt.c_oflag = 0; + + opt.c_cc[VMIN] = 0; + opt.c_cc[VTIME] = 0; + + if((tcsetattr(m_fd, TCSANOW, &opt)) != 0) + return false; + + int mcs = 0; + ioctl(m_fd, TIOCMGET, &mcs); + mcs |= TIOCM_RTS; + ioctl(m_fd, TIOCMGET, &mcs); + + if (tcgetattr(m_fd, &opt)!=0) { + ROS_ERROR("tcsetattr failed"); + } + + opt.c_cflag &= ~CRTSCTS; + + if (tcsetattr(m_fd, TCSANOW, &opt)!=0) { + ROS_ERROR("tcsetattr failed"); + } + + return true; +} + +Buffer Serial_transport2::read() +{ + Buffer data; + + fd_set rfds; + FD_ZERO(&rfds); + FD_SET(m_fd, &rfds); + struct timeval tm; + tm.tv_sec = 0; + tm.tv_usec=m_timeout_us; + + int retval = select(m_fd + 1, &rfds, NULL, NULL, &tm); + if (retval == -1 && errno == EINTR){ + ROS_ERROR("select failure"); + return data; + } + if (retval < 0) { + ROS_ERROR("select failure"); + return data; + } + + if (!FD_ISSET(m_fd, &rfds)) { + m_timeoutFlag = true; + return data; + } + + char buffer[256] = {0}; + int len = ::read(m_fd, buffer, sizeof(buffer)); + if (len > 0){ + // printf("recv: "); + for (int i=0;i +#include + +#include "transport.h" + +Simple_dataframe::Simple_dataframe(Transport* _trans): trans(_trans) +{ + recv_state = STATE_RECV_FIX; +} + +Simple_dataframe::~Simple_dataframe() +{ +} + +bool Simple_dataframe::init() +{ + trans->set_timeout(500); + return true; +} + +bool Simple_dataframe::data_recv(unsigned char c) +{ + //printf("%02x ", c); + switch (recv_state) { + case STATE_RECV_FIX: + if (c == FIX_HEAD) { + memset(&active_rx_msg,0, sizeof(active_rx_msg)); + active_rx_msg.head.flag = c; + active_rx_msg.check += c; + + recv_state = STATE_RECV_ID; + } + else + recv_state = STATE_RECV_FIX; + break; + case STATE_RECV_ID: + if (c < ID_MESSGAE_MAX) { + active_rx_msg.head.msg_id = c; + active_rx_msg.check += c; + recv_state = STATE_RECV_LEN; + } + else + recv_state = STATE_RECV_FIX; + break; + case STATE_RECV_LEN: + active_rx_msg.head.length =c; + active_rx_msg.check += c; + if (active_rx_msg.head.length==0) + recv_state = STATE_RECV_CHECK; + else + recv_state = STATE_RECV_DATA; + break; + case STATE_RECV_DATA: + active_rx_msg.data[active_rx_msg.recv_count++] = c; + active_rx_msg.check += c; + if (active_rx_msg.recv_count >=active_rx_msg.head.length) + recv_state = STATE_RECV_CHECK; + break; + case STATE_RECV_CHECK: + recv_state = STATE_RECV_FIX; + if (active_rx_msg.check == c){ + //printf("\r\n"); + return true; + } + break; + default: + recv_state = STATE_RECV_FIX; + } + + return false; +} + +bool Simple_dataframe::data_parse() +{ + MESSAGE_ID id = (MESSAGE_ID)active_rx_msg.head.msg_id; + + //printf("data_parse:id=%d\r\n", id); + + Data_holder* dh = Data_holder::get(); + switch (id) { + case ID_GET_VERSION: + memcpy(&dh->firmware_info, active_rx_msg.data, sizeof(dh->firmware_info)); + break; + case ID_SET_ROBOT_PARAMTER: + break; + case ID_GET_ROBOT_PARAMTER: + memcpy(&dh->parameter, active_rx_msg.data, sizeof(dh->parameter)); + break; + case ID_INIT_ODOM: + break; + case ID_SET_VELOCITY: + break; + case ID_GET_ODOM: + memcpy(&dh->odom, active_rx_msg.data, sizeof(dh->odom)); + break; + case ID_GET_PID_DATA: + memcpy(&dh->pid_data, active_rx_msg.data, sizeof(dh->pid_data)); + break; + case ID_GET_IMU_DATA: + memcpy(&dh->imu_data, active_rx_msg.data, sizeof(dh->imu_data)); + break; + default: + break; + } + + return true; +} + +bool Simple_dataframe::send_message(const MESSAGE_ID id) +{ + Message msg(id); + + send_message(&msg); + + return true; +} + +bool Simple_dataframe::send_message(const MESSAGE_ID id, unsigned char* data, unsigned char len) +{ + Message msg(id, data, len); + + send_message(&msg); + + return true; +} + +bool Simple_dataframe::send_message(Message* msg) +{ + if (trans == 0) + return true; + + Buffer data((unsigned char*)msg, (unsigned char*)msg+sizeof(msg->head)+msg->head.length+1); + trans->write(data); + + return true; +} + +bool Simple_dataframe::interact(const MESSAGE_ID id) +{ + //printf("make command:id=%d\r\n", id); + + Data_holder* dh = Data_holder::get(); + switch (id) { + case ID_GET_VERSION: + send_message(id); + break; + case ID_SET_ROBOT_PARAMTER: + send_message(id, (unsigned char*)&dh->parameter, sizeof(dh->parameter)); + break; + case ID_GET_ROBOT_PARAMTER: + send_message(id); + break; + case ID_INIT_ODOM: + send_message(id); + break; + case ID_SET_VELOCITY: + send_message(id, (unsigned char*)&dh->velocity, sizeof(dh->velocity)); + break; + case ID_GET_ODOM: + send_message(id); + break; + case ID_GET_PID_DATA: + send_message(id); + break; + case ID_GET_IMU_DATA: + send_message(id); + default: + break; + } + + if (!recv_proc()) + return false; + + return true; +} + +bool Simple_dataframe::recv_proc() +{ + int i=0; + trans->set_timeout(150); + bool got=false; + while(true) { + Buffer data = trans->read(); + + for (int i=0;iis_timeout()) { + ROS_WARN("timeout"); + return false; + } + +#ifdef USE_BOOST_SERIAL_TRANSPORT + usleep(1000); +#endif + } + + if (!data_parse()) + return false; + + return true; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/CMakeLists.txt new file mode 100644 index 0000000..0cf1b5c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/CMakeLists.txt @@ -0,0 +1,195 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pibot_description) + +## 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) + +## 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 # Or other packages containing 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 pibot_description +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/pibot_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_description.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_pibot_description.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/launch/demo_urdf.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/launch/demo_urdf.launch new file mode 100644 index 0000000..b7d1528 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/launch/demo_urdf.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/launch/gazebo.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/launch/gazebo.launch new file mode 100644 index 0000000..89fbc55 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/manifest.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/manifest.xml new file mode 100644 index 0000000..4c16984 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/manifest.xml @@ -0,0 +1,6 @@ + + pi_bot.SLDASM + + me + BSD + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apolloX_base.stl b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apolloX_base.stl new file mode 100644 index 0000000..46a3718 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apolloX_base.stl differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apollo_base.stl b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apollo_base.stl new file mode 100644 index 0000000..e469a00 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apollo_base.stl differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hades_base.stl b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hades_base.stl new file mode 100644 index 0000000..2088593 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hades_base.stl differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hera_base.stl b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hera_base.stl new file mode 100644 index 0000000..2088593 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hera_base.stl differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/zeus_base.stl b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/zeus_base.stl new file mode 100644 index 0000000..c7f74f6 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/zeus_base.stl differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/astra.dae b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/astra.dae new file mode 100644 index 0000000..f0eb549 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/astra.dae @@ -0,0 +1,168 @@ + + + + + Blender User + Blender 2.90.1 commit date:2020-09-23, commit time:06:43, hash:3e85bb34d0d7 + + 2020-11-26T08:57:10 + 2020-11-26T08:57:10 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1000 + 29.99998 + 75 + 0.15 + 0 + 1 + 2 + 0.04999995 + 30.002 + 1 + 3 + 2880 + 3 + 1 + 1 + 0.1 + 0.1 + 1 + + + + + + + + + + + 0 0 0 1 + + + 0.1 0.1 0.1 1 + + + 0.1 0.1 0.1 1 + + + 0.1 0.1 0.1 1 + + + 1.45 + + + + + + + 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+ + + + + + + + + 0 0 0 + + + + + + + xtion.jpg + + + + + + + + + 0.4055214 -1.783895 -5.710271 + 0.5773503 0.5773503 0.5773503 -240 + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/xtion.jpg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/xtion.jpg new file mode 100644 index 0000000..8f4e6ee Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/xtion.jpg differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/package.xml new file mode 100644 index 0000000..47f09ce --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/package.xml @@ -0,0 +1,59 @@ + + + pibot_description + 0.0.0 + The pibot_description package + + + + + robot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf.rviz new file mode 100644 index 0000000..a484019 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf.rviz @@ -0,0 +1,158 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 463 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + laser_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + laser_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.15671158 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.145398423 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.365398407 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 744 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1301 + X: 65 + Y: 24 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/camera.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/camera.urdf.xacro new file mode 100644 index 0000000..c123e41 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/camera.urdf.xacro @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/lidar.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/lidar.urdf.xacro new file mode 100644 index 0000000..16d0538 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/lidar.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro new file mode 100644 index 0000000..013c2d5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro new file mode 100644 index 0000000..fc38261 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_board.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_board.urdf.xacro new file mode 100644 index 0000000..37b406c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_board.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_pillar.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_pillar.urdf.xacro new file mode 100644 index 0000000..64d1e20 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_pillar.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_properties.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_properties.xacro new file mode 100644 index 0000000..3244430 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_properties.xacro @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/demo_urdf.urdf b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/demo_urdf.urdf new file mode 100644 index 0000000..4fc2d6e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/demo_urdf.urdf @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/hades.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/hades.urdf.xacro new file mode 100644 index 0000000..33c1030 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/hades.urdf.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/hera.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/hera.urdf.xacro new file mode 100644 index 0000000..4c64e41 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/hera.urdf.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro new file mode 100644 index 0000000..96177e1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.xacro new file mode 100644 index 0000000..366870c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.xacro @@ -0,0 +1,7 @@ + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro new file mode 100644 index 0000000..1adb1b7 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/CMakeLists.txt new file mode 100644 index 0000000..149a713 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pibot_imu) + +## 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) + +## 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 + roscpp + tf + pibot_msgs +) +## * 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 # Or other packages containing 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 + +################################### +## 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 pibot_imu +# CATKIN_DEPENDS other_catkin_pkg +# 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} + include ${catkin_INCLUDE_DIRS} + include include/pibot_imu/ +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/pibot_imu.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_bringup_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_pibot_bringup.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) + + +add_executable(pibot_imu + src/pibot_imu.cpp + src/pibot_imu_node.cpp +) +add_dependencies(pibot_imu ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(pibot_imu + ${catkin_LIBRARIES} +) \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/include/pibot_imu/pibot_imu.h b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/include/pibot_imu/pibot_imu.h new file mode 100644 index 0000000..ef1d156 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/include/pibot_imu/pibot_imu.h @@ -0,0 +1,55 @@ +#ifndef _PIBOT_IMU_H_ +#define _PIBOT_IMU_H_ + +#include +#include +#include +#include +#include +#include + +static double GRAVITY = -9.81; // [m/s/s] +static double MILIGAUSS_TO_TESLA_SCALE = 0.0000001; // From Milligauss [mG] to Tesla [T] +class PibotIMU +{ + private: + ros::NodeHandle nh_, pnh_; + + bool use_accelerometer_, use_gyroscope_, use_magnetometer_; + bool use_mag_msg_; + + bool perform_calibration_, is_calibrated_; + int calibration_samples_; + std::map acceleration_bias_, gyroscope_bias_; + + // Covariance + double linear_acc_stdev_, angular_vel_stdev_, magnetic_field_stdev_; + boost::array linear_acc_covar_; + boost::array angular_vel_covar_; + boost::array magnetic_field_covar_; + + // Used for mag scaling + double mag_x_min_, mag_x_max_; // [T] + double mag_y_min_, mag_y_max_; + double mag_z_min_, mag_z_max_; + + // ROS pub/sub + ros::Publisher imu_pub_; + ros::Publisher mag_pub_; + ros::Subscriber raw_sub_; + + // ROS services + ros::ServiceServer imu_cal_srv_; + + // ROS member functions + void rawCallback(const pibot_msgs::RawImuConstPtr& raw_msg); + bool calibrateCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + // Non-ROS member functions + void fillRowMajor(boost::array & covar, double stdev); + + public: + PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh); + virtual ~PibotIMU(void){}; +}; + +#endif // _RAW_IMU_BRIDGE_H_ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/launch/imu_ahrs.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/launch/imu_ahrs.launch new file mode 100644 index 0000000..4348586 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/launch/imu_ahrs.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/package.xml new file mode 100644 index 0000000..77f6e6b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/package.xml @@ -0,0 +1,60 @@ + + + pibot_imu + 0.0.0 + The pibot_imu package + + + + + robot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + pibot_msgs + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/scripts/simple_magnometer_calibration b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/scripts/simple_magnometer_calibration new file mode 100644 index 0000000..643919a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/scripts/simple_magnometer_calibration @@ -0,0 +1,59 @@ +#!/usr/bin/env python + +import rospy +import pibot_msgs.msg + +class MagCalibration: + def __init__(self): + rospy.init_node("simple_magnetometer_calibration") + rospy.loginfo("Rotate the mag till there is no more output.") + self.MILIGAUSS_TO_TESLA_SCALE = 0.0000001 + self.mxh = 0 + self.myh = 0 + self.mzh = 0 + self.mxl = 0 + self.myl = 0 + self.mzl = 0 + self.raw_mag_sub = rospy.Subscriber('raw_imu', pibot_msgs.msg.RawImu, self.rawCallback) + rospy.spin() + + def rawCallback(self, raw_imu): + mx = raw_imu.raw_magnetic_field.x * self.MILIGAUSS_TO_TESLA_SCALE + my = raw_imu.raw_magnetic_field.y * self.MILIGAUSS_TO_TESLA_SCALE + mz = raw_imu.raw_magnetic_field.z * self.MILIGAUSS_TO_TESLA_SCALE + + update = False + + if (mx > self.mxh): + self.mxh = mx + update = True + elif (mx < self.mxl): + self.mxl = mx + update = True + + if (my > self.myh): + self.myh = my + update = True + elif ( my < self.myl): + self.myl = my + update = True + + if (mz > self.mzh): + self.mzh = mz + update = True + elif(mz < self.mzl): + self.mzl = mz + update = True + + if (update): + rospy.loginfo("") + print 'X-> Min: %.9f, Max: %.9f' % (self.mxl, self.mxh) + print 'Y-> Min: %.9f, Max: %.9f' % (self.myl, self.myh) + print 'Z-> Min: %.9f, Max: %.9f' % (self.mzl, self.mzh) + + +if __name__ == '__main__': + try: + MagCalibration() + except rospy.ROSInterruptException: + pass diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp new file mode 100644 index 0000000..7c706b8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp @@ -0,0 +1,185 @@ +#include "pibot_imu/pibot_imu.h" + +PibotIMU::PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh): + // Members default values + nh_(nh), + pnh_(pnh), + use_accelerometer_(true), + use_gyroscope_(true), + use_magnetometer_(true), + use_mag_msg_(false), + perform_calibration_(true), + is_calibrated_(false) +{ + pnh_.param("imu/use_accelerometer", use_accelerometer_, use_accelerometer_); + pnh_.param("imu/use_gyroscope", use_gyroscope_, use_gyroscope_); + pnh_.param("imu/use_magnetometer", use_magnetometer_, use_magnetometer_); + pnh_.param("imu/perform_calibration", perform_calibration_, perform_calibration_); + + // 订阅pibot_driver串口读取原始imu数据 + raw_sub_ = nh_.subscribe("raw_imu", 5, &PibotIMU::rawCallback, this); + + // 创建一个服务,用于接收运行中的校准请求, 可以rosservice命令查看 + imu_cal_srv_ = nh_.advertiseService("imu/calibrate_imu", &PibotIMU::calibrateCallback, this); + + // 是否使能加速度计或陀螺仪 + if (use_accelerometer_ || use_gyroscope_) { + // 根据配置决定是否进行校准 + if (!pnh_.getParam("imu/accelerometer_bias", acceleration_bias_) || + !pnh_.getParam("imu/gyroscope_bias", gyroscope_bias_)) { + ROS_WARN("IMU calibration NOT found."); + is_calibrated_ = false; + } else { + ROS_INFO("IMU calibration found."); + pnh_.getParam("imu/accelerometer_bias", acceleration_bias_); + pnh_.getParam("imu/gyroscope_bias", gyroscope_bias_); + is_calibrated_ = true; + } + + // 校准采样点数 + pnh_.param("imu/calibration_samples", calibration_samples_, 500); + + // 转换为ROS标准的sensor_msgs::Imu类型的topic + imu_pub_ = nh_.advertise("imu/data_raw", 1000); + + // 线加速度协方差 + pnh_.param("imu/linear_acc_stdev", linear_acc_stdev_, 0.0); + PibotIMU::fillRowMajor(linear_acc_covar_, linear_acc_stdev_); + + // 角速度协方差 + pnh_.param("imu/angular_vel_stdev", angular_vel_stdev_, 0.0); + PibotIMU::fillRowMajor(angular_vel_covar_, angular_vel_stdev_); + } + + // 是否使能磁力计 + if (use_magnetometer_) { + // Magnetometer calibration values. + pnh_.param("mag/x/min", mag_x_min_, -0.000078936); + pnh_.param("mag/x/max", mag_x_max_, 0.000077924); + pnh_.param("mag/y/min", mag_y_min_, -0.000075532); + pnh_.param("mag/y/max", mag_y_max_, 0.000076360); + pnh_.param("mag/z/min", mag_z_min_, -0.000079948); + pnh_.param("mag/z/max", mag_z_max_, 0.000064216); + + pnh_.param("imu/use_mag_msg", use_mag_msg_, use_mag_msg_); + + if (use_mag_msg_) { + // 转换为ROS标准的sensor_msgs::MagneticField类型的topic + mag_pub_ = nh_.advertise("imu/mag", 5); + + pnh_.param("imu/magnetic_field_stdev", magnetic_field_stdev_, 0.0); + PibotIMU::fillRowMajor(magnetic_field_covar_, magnetic_field_stdev_); + } else { + // 未使能磁力计 则使用Vector3Stamped类型的topic + mag_pub_ = nh_.advertise("imu/mag", 5); + } + } + + ROS_INFO("Starting Raw Imu Bridge."); +} + +void PibotIMU::rawCallback(const pibot_msgs::RawImuConstPtr& raw_msg) +{ + if (!raw_msg->accelerometer && use_accelerometer_) { + ROS_ERROR_ONCE("Accelerometer not found!"); + } + if (!raw_msg->gyroscope && use_gyroscope_) { + ROS_ERROR_ONCE("Gyroscope not found!"); + } + if (!raw_msg->magnetometer && use_magnetometer_) { + ROS_ERROR_ONCE("Magnetometer not found!"); + } + + if (perform_calibration_ || !is_calibrated_) { + ROS_WARN_ONCE("Calibrating accelerometer and gyroscope, make sure robot is stationary and level."); + + static int taken_samples; + + if (taken_samples < calibration_samples_) { + acceleration_bias_["x"] += raw_msg->raw_linear_acceleration.x; + acceleration_bias_["y"] += raw_msg->raw_linear_acceleration.y; + acceleration_bias_["z"] += raw_msg->raw_linear_acceleration.z; + + gyroscope_bias_["x"] += raw_msg->raw_angular_velocity.x; + gyroscope_bias_["y"] += raw_msg->raw_angular_velocity.y; + gyroscope_bias_["z"] += raw_msg->raw_angular_velocity.z; + + taken_samples++; + } else { + acceleration_bias_["x"] /= calibration_samples_; + acceleration_bias_["y"] /= calibration_samples_; + acceleration_bias_["z"] = acceleration_bias_["z"] / calibration_samples_ + GRAVITY; + + gyroscope_bias_["x"] /= calibration_samples_; + gyroscope_bias_["y"] /= calibration_samples_; + gyroscope_bias_["z"] /= calibration_samples_; + + ROS_INFO("Calibrating accelerometer and gyroscope complete."); + ROS_INFO("Bias values can be saved for reuse."); + ROS_INFO("Accelerometer: x: %f, y: %f, z: %f", acceleration_bias_["x"], acceleration_bias_["y"], acceleration_bias_["z"]); + ROS_INFO("Gyroscope: x: %f, y: %f, z: %f", gyroscope_bias_["x"], gyroscope_bias_["y"], gyroscope_bias_["z"]); + + pnh_.setParam("imu/accelerometer_bias", acceleration_bias_); + pnh_.setParam("imu/gyroscope_bias", gyroscope_bias_); + + is_calibrated_ = true; + perform_calibration_ = false; + taken_samples = 0; + } + } else { + if (use_accelerometer_ || use_gyroscope_) { + sensor_msgs::ImuPtr imu_msg = boost::make_shared(); + imu_msg->header = raw_msg->header; + + imu_msg->angular_velocity.x = raw_msg->raw_angular_velocity.x - gyroscope_bias_["x"]; + imu_msg->angular_velocity.y = raw_msg->raw_angular_velocity.y - gyroscope_bias_["y"]; + imu_msg->angular_velocity.z = raw_msg->raw_angular_velocity.z - gyroscope_bias_["z"]; + imu_msg->orientation_covariance = angular_vel_covar_; + + imu_msg->linear_acceleration.x = raw_msg->raw_linear_acceleration.x - acceleration_bias_["x"]; + imu_msg->linear_acceleration.y = raw_msg->raw_linear_acceleration.y - acceleration_bias_["y"]; + imu_msg->linear_acceleration.z = raw_msg->raw_linear_acceleration.z - acceleration_bias_["z"]; + imu_msg->linear_acceleration_covariance = linear_acc_covar_; + + imu_pub_.publish(imu_msg); + } + + if (use_magnetometer_) { + if (use_mag_msg_) { + sensor_msgs::MagneticFieldPtr mag_msg = boost::make_shared(); + mag_msg->header = raw_msg->header; + + mag_msg->magnetic_field.x = (raw_msg->raw_magnetic_field.x * MILIGAUSS_TO_TESLA_SCALE - (mag_x_max_ - mag_x_min_) / 2 - mag_x_min_); + mag_msg->magnetic_field.y = (raw_msg->raw_magnetic_field.y * MILIGAUSS_TO_TESLA_SCALE - (mag_y_max_ - mag_y_min_) / 2 - mag_y_min_); + mag_msg->magnetic_field.z = (raw_msg->raw_magnetic_field.z * MILIGAUSS_TO_TESLA_SCALE - (mag_z_max_ - mag_z_min_) / 2 - mag_z_min_); + mag_msg->magnetic_field_covariance = magnetic_field_covar_; + + mag_pub_.publish(mag_msg); + } else { + geometry_msgs::Vector3StampedPtr mag_msg = boost::make_shared();; + mag_msg->header = raw_msg->header; + + mag_msg->vector.x = (raw_msg->raw_magnetic_field.x - (mag_x_max_ - mag_x_min_) / 2 - mag_x_min_) * MILIGAUSS_TO_TESLA_SCALE; + mag_msg->vector.y = (raw_msg->raw_magnetic_field.y - (mag_y_max_ - mag_y_min_) / 2 - mag_y_min_) * MILIGAUSS_TO_TESLA_SCALE; + mag_msg->vector.z = (raw_msg->raw_magnetic_field.z - (mag_z_max_ - mag_z_min_) / 2 - mag_z_min_) * MILIGAUSS_TO_TESLA_SCALE; + + mag_pub_.publish(mag_msg); + } + } + } +} + +bool PibotIMU::calibrateCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) +{ + ROS_WARN("Calibrating accelerometer and gyroscope, make sure robot is stationary and level."); + perform_calibration_ = true; + return true; +} + +void PibotIMU::fillRowMajor(boost::array & covar, double stdev) +{ + std::fill(covar.begin(), covar.end(), 0.0); + covar[0] = pow(stdev, 2); // X(roll) + covar[4] = pow(stdev, 2); // Y(pitch) + covar[8] = pow(stdev, 2); // Z(yaw) +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp new file mode 100644 index 0000000..27e564d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp @@ -0,0 +1,12 @@ +#include "pibot_imu/pibot_imu.h" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pibot_imu"); + ros::NodeHandle nh, pnh("~"); + PibotIMU pibot_imu(nh, pnh); + + ros::spin(); + + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/CMakeLists.txt new file mode 100644 index 0000000..f8b47d3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(pibot_lidar) + +## 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) + +## 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 exec_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 exec_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 # Or other packages containing 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 exec_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 pibot_lidar +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/pibot_lidar.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_lidar_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 +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_pibot_lidar.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra.launch new file mode 100644 index 0000000..86c4249 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra_pro.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra_pro.launch new file mode 100644 index 0000000..159825b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra_pro.launch @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-g4.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-g4.launch new file mode 100644 index 0000000..1b4f260 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-g4.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-x4.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-x4.launch new file mode 100644 index 0000000..624d08b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-x4.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV1.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV1.launch new file mode 100644 index 0000000..191ecd0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV1.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV2.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV2.launch new file mode 100644 index 0000000..376f7aa --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV2.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a2m7.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a2m7.launch new file mode 100644 index 0000000..36a263b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a2m7.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a3.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a3.launch new file mode 100644 index 0000000..0604c8c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a3.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-s1.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-s1.launch new file mode 100644 index 0000000..30ae09d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-s1.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar.launch new file mode 100644 index 0000000..c590883 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/xtion.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/xtion.launch new file mode 100644 index 0000000..9b4c276 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/launch/xtion.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/package.xml new file mode 100644 index 0000000..5e6c15d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_lidar/package.xml @@ -0,0 +1,59 @@ + + + pibot_lidar + 0.0.0 + The pibot_lidar package + + + + + david + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/CMakeLists.txt new file mode 100644 index 0000000..839266a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pibot_msgs) + +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs) + +add_message_files( + DIRECTORY msg + FILES + Action.msg + RawImu.msg + PointArray.msg + Pose.msg + RobotState.msg + NaviStatus.msg + RelocateResult.msg +) + +add_service_files( + DIRECTORY srv + FILES + ManualLocation.srv + MappingParams.srv + ActionParams.srv + SetMapParams.srv + NaviParams.srv + Relocation.srv + SetPoseParams.srv +) + +generate_messages(DEPENDENCIES std_msgs geometry_msgs) + +catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Action.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Action.msg new file mode 100644 index 0000000..066599b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Action.msg @@ -0,0 +1,5 @@ +int16 ACTION_START = 0 +int16 ACTION_STOP = 1 +int16 ACTION_CANCEL = 2 + +int16 type diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/NaviStatus.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/NaviStatus.msg new file mode 100644 index 0000000..2b56077 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/NaviStatus.msg @@ -0,0 +1 @@ +int16 status \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/PointArray.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/PointArray.msg new file mode 100644 index 0000000..046de3c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/PointArray.msg @@ -0,0 +1,3 @@ +# An array of points with a header for global reference. +Header header +geometry_msgs/Point[] points diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Pose.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Pose.msg new file mode 100644 index 0000000..40f3b27 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Pose.msg @@ -0,0 +1,5 @@ +# 地图像素坐标系 左上角为坐标原点， 水平右为0度(顺时针) + +float32 x +float32 y +float32 theta # (-180-180) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RawImu.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RawImu.msg new file mode 100644 index 0000000..3c5ad41 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RawImu.msg @@ -0,0 +1,7 @@ +Header header +bool accelerometer +bool gyroscope +bool magnetometer +geometry_msgs/Vector3 raw_linear_acceleration +geometry_msgs/Vector3 raw_angular_velocity +geometry_msgs/Vector3 raw_magnetic_field diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RelocateResult.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RelocateResult.msg new file mode 100644 index 0000000..b634836 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RelocateResult.msg @@ -0,0 +1,2 @@ +bool relocate_result +geometry_msgs/Pose relocate_pose diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RobotState.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RobotState.msg new file mode 100644 index 0000000..da45d13 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RobotState.msg @@ -0,0 +1,10 @@ +int16 state +Pose pose +float32 vlinear_x +float32 vlinear_y +float32 vangular +bool relocation_statu +bool laser_statu +bool odom_statu +bool pose_statu +bool pose_normal diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/package.xml new file mode 100644 index 0000000..5b34b41 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/package.xml @@ -0,0 +1,23 @@ + + pibot_msgs + 0.10.0 + + Messages and Services definitions for the PIBOT. + + PIBOT + PIBOT + BSD + + + catkin + + std_msgs + geometry_msgs + message_generation + + std_msgs + geometry_msgs + message_runtime + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ActionParams.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ActionParams.srv new file mode 100644 index 0000000..d03f553 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ActionParams.srv @@ -0,0 +1,3 @@ +Action action +--- +int16 result diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ManualLocation.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ManualLocation.srv new file mode 100644 index 0000000..8af5b82 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ManualLocation.srv @@ -0,0 +1,4 @@ +geometry_msgs/Pose pose +string filename +--- +int16 result diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/MappingParams.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/MappingParams.srv new file mode 100644 index 0000000..ffa9ca2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/MappingParams.srv @@ -0,0 +1,5 @@ +string id +Action action +float32 resolution +--- +int16 result diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/NaviParams.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/NaviParams.srv new file mode 100644 index 0000000..526a908 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/NaviParams.srv @@ -0,0 +1,4 @@ +Action action +Pose goal +--- +int16 result diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/Relocation.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/Relocation.srv new file mode 100644 index 0000000..0927236 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/Relocation.srv @@ -0,0 +1,11 @@ +bool has_initial_trajectory_pose +string pbstream_filename +int32 to_trajectory_id +float32 map_resolution +geometry_msgs/Pose initial_pose +--- +bool relocation_succeed +geometry_msgs/Pose relocation_pose +float32 score +int32 trajectory_id + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetMapParams.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetMapParams.srv new file mode 100644 index 0000000..4ea8adb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetMapParams.srv @@ -0,0 +1,3 @@ +string id +--- +int16 result diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetPoseParams.srv b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetPoseParams.srv new file mode 100644 index 0000000..034b65c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetPoseParams.srv @@ -0,0 +1,3 @@ +Pose pose +--- +int16 result diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/CMakeLists.txt new file mode 100644 index 0000000..5d89c86 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/CMakeLists.txt @@ -0,0 +1,195 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pibot_navigation) + +## 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) + +## 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 # Or other packages containing 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 pibot_navigation +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/pibot_navigation.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_navigation_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_pibot_navigation.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/config/frontier_exploration.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/config/frontier_exploration.yaml new file mode 100644 index 0000000..44189bf --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/config/frontier_exploration.yaml @@ -0,0 +1,33 @@ +transform_tolerance: 0.5 +update_frequency: 5.0 +publish_frequency: 5.0 + +global_frame: map +robot_base_frame: base_link +resolution: 0.05 + +rolling_window: false +track_unknown_space: true + +plugins: + - {name: static, type: "costmap_2d::StaticLayer"} + - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"} + - {name: sensor, type: "costmap_2d::ObstacleLayer"} + - {name: inflation, type: "costmap_2d::InflationLayer"} + +static: + map_topic: /map + subscribe_to_updates: true + +explore_boundary: + resize_to_boundary: false + frontier_travel_point: middle + explore_clear_space: false + +sensor: + observation_sources: laser + laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true, raytrace_range: $(arg sensor_range), obstacle_range: $(arg sensor_range)} + +inflation: + inflation_radius: 0.15 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2.lua b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2.lua new file mode 100644 index 0000000..e6b4ae9 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2.lua @@ -0,0 +1,53 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "base_link", + odom_frame = "odom", + provide_odom_frame = true, + use_odometry = false, + use_laser_scan = true, + use_multi_echo_laser_scan = false, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.5 +TRAJECTORY_BUILDER_2D.max_range = 8. +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) +-- for current lidar only 1 is good value + +SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2 +SPARSE_POSE_GRAPH.optimize_every_n_scans = 35 +SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65 + +return options diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom.lua b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom.lua new file mode 100644 index 0000000..05ce39d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom.lua @@ -0,0 +1,53 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "odom", + odom_frame = "odom", + provide_odom_frame = false, + use_odometry = true, + use_laser_scan = true, + use_multi_echo_laser_scan = false, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.5 +TRAJECTORY_BUILDER_2D.max_range = 8. +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) +-- for current lidar only 1 is good value + +SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2 +SPARSE_POSE_GRAPH.optimize_every_n_scans = 35 +SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65 + +return options diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom_imu.lua b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom_imu.lua new file mode 100644 index 0000000..698c763 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom_imu.lua @@ -0,0 +1,53 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "odom", + odom_frame = "odom", + provide_odom_frame = false, + use_odometry = true, + use_laser_scan = true, + use_multi_echo_laser_scan = false, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.5 +TRAJECTORY_BUILDER_2D.max_range = 8. +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 +TRAJECTORY_BUILDER_2D.use_imu_data = true +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) +-- for current lidar only 1 is good value + +SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2 +SPARSE_POSE_GRAPH.optimize_every_n_scans = 35 +SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65 + +return options diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0.lua b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0.lua new file mode 100644 index 0000000..498b270 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0.lua @@ -0,0 +1,65 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "base_link", + odom_frame = "odom", + provide_odom_frame = true, + publish_frame_projected_to_2d = true, + use_odometry = false, + use_nav_sat = false, + use_landmarks = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 1., + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.5 +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35 +TRAJECTORY_BUILDER_2D.max_range = 8. +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) +-- for current lidar only 1 is good value +TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1 + +POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65 +POSE_GRAPH.optimization_problem.huber_scale = 1e2 +POSE_GRAPH.optimize_every_n_nodes = 35 +POSE_GRAPH.constraint_builder.min_score = 0.65 + +return options diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom.lua b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom.lua new file mode 100644 index 0000000..fa917b0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom.lua @@ -0,0 +1,65 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "odom", + odom_frame = "odom", + provide_odom_frame = false, + publish_frame_projected_to_2d = true, + use_odometry = true, + use_nav_sat = false, + use_landmarks = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 1., + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.5 +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35 +TRAJECTORY_BUILDER_2D.max_range = 8. +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) +-- for current lidar only 1 is good value +TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1 + +POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65 +POSE_GRAPH.optimization_problem.huber_scale = 1e2 +POSE_GRAPH.optimize_every_n_nodes = 35 +POSE_GRAPH.constraint_builder.min_score = 0.65 + +return options diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom_imu.lua b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom_imu.lua new file mode 100644 index 0000000..fa917b0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom_imu.lua @@ -0,0 +1,65 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "odom", + odom_frame = "odom", + provide_odom_frame = false, + publish_frame_projected_to_2d = true, + use_odometry = true, + use_nav_sat = false, + use_landmarks = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 1., + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.5 +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35 +TRAJECTORY_BUILDER_2D.max_range = 8. +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) +-- for current lidar only 1 is good value +TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1 + +POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65 +POSE_GRAPH.optimization_problem.huber_scale = 1e2 +POSE_GRAPH.optimize_every_n_nodes = 35 +POSE_GRAPH.constraint_builder.min_score = 0.65 + +return options diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer.launch new file mode 100644 index 0000000..4d17c0f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer_with_odom.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer_with_odom.launch new file mode 100644 index 0000000..eafbc8f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer_with_odom.launch @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_gmapping.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_gmapping.launch new file mode 100644 index 0000000..0c0f051 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_gmapping.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_nav.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_nav.launch new file mode 100644 index 0000000..fa01336 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_nav.launch @@ -0,0 +1,19 @@ +> + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/frontier_exploration.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/frontier_exploration.launch new file mode 100644 index 0000000..588089f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/frontier_exploration.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/gmapping.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/gmapping.launch new file mode 100644 index 0000000..a298f53 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/gmapping.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping.launch new file mode 100644 index 0000000..45f02f2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping_without_odom.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping_without_odom.launch new file mode 100644 index 0000000..eaf72aa --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping_without_odom.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/amcl.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/amcl.launch.xml new file mode 100644 index 0000000..59e0b62 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/amcl.launch.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/geotiff_mapper.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/geotiff_mapper.launch.xml new file mode 100644 index 0000000..675a48f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/geotiff_mapper.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/gmapping.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/gmapping.launch.xml new file mode 100644 index 0000000..53070a2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/gmapping.launch.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_imu_attitude_to_tf.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_imu_attitude_to_tf.launch.xml new file mode 100644 index 0000000..60e96f1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_imu_attitude_to_tf.launch.xml @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping.launch.xml new file mode 100644 index 0000000..35ab934 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping_without_odom.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping_without_odom.launch.xml new file mode 100644 index 0000000..50bc35e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping_without_odom.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/karto_mapping.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/karto_mapping.launch.xml new file mode 100644 index 0000000..ac6debd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/karto_mapping.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/move_base.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/move_base.launch.xml new file mode 100644 index 0000000..2c9bbc6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/move_base.launch.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_amcl.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_amcl.launch.xml new file mode 100644 index 0000000..7f9b3bf --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_amcl.launch.xml @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_gmapping.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_gmapping.launch.xml new file mode 100644 index 0000000..d4dcc1f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_gmapping.launch.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_move_base.launch.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_move_base.launch.xml new file mode 100644 index 0000000..2c9bbc6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_move_base.launch.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/karto_slam.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/karto_slam.launch new file mode 100644 index 0000000..b72fc3b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/karto_slam.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/nav.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/nav.launch new file mode 100644 index 0000000..7b16655 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/nav.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/save_map.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/save_map.launch new file mode 100644 index 0000000..e9eaecb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/save_map.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_cartographer.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_cartographer.launch new file mode 100644 index 0000000..8b95935 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_cartographer.launch @@ -0,0 +1,5 @@ + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_nav.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_nav.launch new file mode 100644 index 0000000..47996ec --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_nav.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.pgm b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.pgm new file mode 100644 index 0000000..7dcca14 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +1984 1984 +255 + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.yaml new file mode 100644 index 0000000..01946f6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.yaml @@ -0,0 +1,7 @@ +image: blank.pgm +resolution: 0.050000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.pgm b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.pgm new file mode 100644 index 0000000..51e61f5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: Map_generator.cpp 0.050 m/pix +608 480 +255 + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.yaml new file mode 100644 index 0000000..62b4c25 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.yaml @@ -0,0 +1,7 @@ +image: my_lab.pgm +resolution: 0.050000 +origin: [-15.400000, -12.200000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/package.xml new file mode 100644 index 0000000..d18099c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/package.xml @@ -0,0 +1,59 @@ + + + pibot_navigation + 0.0.0 + The pibot_navigation package + + + + + robot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml new file mode 100644 index 0000000..dac0c8d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +#robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +footprint: [[-0.07, -0.10], [0.18, -0.10], [0.18, 0.10], [-0.07, 0.10]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloX.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloX.yaml new file mode 100644 index 0000000..ee8201b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloX.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +#robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +footprint: [[-0.07, -0.16], [0.30, -0.16], [0.30, 0.16], [-0.07, 0.16]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloXL.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloXL.yaml new file mode 100644 index 0000000..a6c8ff2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloXL.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +#robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +footprint: [[-0.07, -0.26], [0.47, -0.26], [0.47, 0.26], [-0.07, 0.26]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hades.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hades.yaml new file mode 100644 index 0000000..a989b8b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hades.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +#robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +footprint: [[-0.16, -0.18], [0.16, -0.18], [0.16, 0.18], [-0.16, 0.18]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hadesX.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hadesX.yaml new file mode 100644 index 0000000..553ad0a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hadesX.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +#robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +footprint: [[-0.22, -0.22], [0.22, -0.22], [0.22, 0.22], [-0.22, 0.22]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hera.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hera.yaml new file mode 100644 index 0000000..a989b8b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hera.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +#robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +footprint: [[-0.16, -0.18], [0.16, -0.18], [0.16, 0.18], [-0.16, 0.18]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_zeus.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_zeus.yaml new file mode 100644 index 0000000..5485241 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_zeus.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +#footprint: [[0.25, 0.25], [0.25, -0.25], [-0.25, -0.25], [-0.25, 0.25]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml new file mode 100644 index 0000000..3313f0c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml @@ -0,0 +1,61 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.1 + min_vel_x: -0.1 + + max_vel_y: 0 + min_vel_y: 0 + + max_vel_trans: 0.35 + min_vel_trans: 0.05 + max_trans_vel: 0.35 # choose slightly less than the base's capability + min_trans_vel: 0.05 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_vel_theta: 1.1 + min_vel_theta: 0.5 + max_rot_vel: 1.1 # choose slightly less than the base's capability + min_rot_vel: 0.5 # this is the min angular velocity when there is negligible translational velocity + theta_stopped_vel: 0.1 + rot_stopped_vel: 0.1 + + acc_lim_x: 2.5 # maximum is theoretically 2.0, but we + acc_lim_theta: 3.6 + acc_lim_y: 0 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.15 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 10 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.4 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? +# holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloX.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloX.yaml new file mode 100644 index 0000000..d8a05c3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloX.yaml @@ -0,0 +1,61 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.35 + min_vel_x: 0 + + max_vel_y: 0 + min_vel_y: 0 + + max_vel_trans: 0.35 + min_vel_trans: 0.05 + max_trans_vel: 0.35 # choose slightly less than the base's capability + min_trans_vel: 0.05 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_vel_theta: 0.8 + min_vel_theta: 0.2 + max_rot_vel: 0.8 # choose slightly less than the base's capability + min_rot_vel: 0.2 # this is the min angular velocity when there is negligible translational velocity + theta_stopped_vel: 0.1 + rot_stopped_vel: 0.1 + + acc_lim_x: 2.5 # maximum is theoretically 2.0, but we + acc_lim_theta: 3.6 + acc_lim_y: 0 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.15 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 10 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.4 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? +# holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloXL.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloXL.yaml new file mode 100644 index 0000000..66d5490 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloXL.yaml @@ -0,0 +1,56 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.35 + min_vel_x: -0.35 + + max_vel_y: 0 + min_vel_y: 0 + + max_trans_vel: 0.35 # choose slightly less than the base's capability + min_trans_vel: 0.001 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 1.4 # choose slightly less than the base's capability + min_rot_vel: 0.8 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 1 # maximum is theoretically 2.0, but we + acc_lim_theta: 1.5 + acc_lim_y: 0 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.15 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 10 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.4 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? +# holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hades.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hades.yaml new file mode 100644 index 0000000..912e8fa --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hades.yaml @@ -0,0 +1,61 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.35 + min_vel_x: -0.35 + + max_vel_y: 0.35 + min_vel_y: -0.35 + + max_vel_trans: 0.35 + min_vel_trans: 0.05 + max_trans_vel: 0.35 # choose slightly less than the base's capability + min_trans_vel: 0.05 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_vel_theta: 1.2 + min_vel_theta: 0.6 + max_rot_vel: 1.2 # choose slightly less than the base's capability + min_rot_vel: 0.6 # this is the min angular velocity when there is negligible translational velocity + theta_stopped_vel: 0.1 + rot_stopped_vel: 0.1 + + acc_lim_x: 2 # maximum is theoretically 2.0, but we + acc_lim_theta: 3 + acc_lim_y: 2 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.15 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 5 # 3 + vy_samples: 5 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.4 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? + holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hadesX.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hadesX.yaml new file mode 100644 index 0000000..4ce9972 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hadesX.yaml @@ -0,0 +1,56 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.35 + min_vel_x: -0.35 + + max_vel_y: 0.35 + min_vel_y: -0.35 + + max_trans_vel: 0.35 # choose slightly less than the base's capability + min_trans_vel: 0.001 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 1.5 # choose slightly less than the base's capability + min_rot_vel: 0.6 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 2 # maximum is theoretically 2.0, but we + acc_lim_theta: 3 + acc_lim_y: 2 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.3 + xy_goal_tolerance: 0.25 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 5 # 3 + vy_samples: 5 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.4 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? + holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hera.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hera.yaml new file mode 100644 index 0000000..ce7eefe --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hera.yaml @@ -0,0 +1,61 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.3 + min_vel_x: -0.3 + + max_vel_y: 0 + min_vel_y: 0 + + max_vel_trans: 0.35 + min_vel_trans: 0.05 + max_trans_vel: 0.35 # choose slightly less than the base's capability + min_trans_vel: 0.05 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_vel_theta: 1.0 + min_vel_theta: 0.4 + max_rot_vel: 1.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + theta_stopped_vel: 0.1 + rot_stopped_vel: 0.1 + + acc_lim_x: 2 # maximum is theoretically 2.0, but we + acc_lim_theta: 3 + acc_lim_y: 0 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.15 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 10 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.4 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? +# holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_zeus.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_zeus.yaml new file mode 100644 index 0000000..65b5a9e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_zeus.yaml @@ -0,0 +1,61 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.35 + min_vel_x: -0.35 + + max_vel_y: 0.35 + min_vel_y: -0.35 + + max_vel_trans: 0.35 + min_vel_trans: 0.05 + max_trans_vel: 0.35 # choose slightly less than the base's capability + min_trans_vel: 0.001 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_vel_theta: 1.2 + min_vel_theta: 0.6 + max_rot_vel: 1.2 # choose slightly less than the base's capability + min_rot_vel: 0.6 # this is the min angular velocity when there is negligible translational velocity + theta_stopped_vel: 0.1 + rot_stopped_vel: 0.1 + + acc_lim_x: 2 # maximum is theoretically 2.0, but we + acc_lim_theta: 3 + acc_lim_y: 2 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.15 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 5 # 3 + vy_samples: 5 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.4 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? + holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_costmap_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_costmap_params.yaml new file mode 100644 index 0000000..949eebf --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + global_frame: map + robot_base_frame: base_link + update_frequency: 10 + publish_frequency: 10 + static_map: true + resolution: 0.05 + transform_tolerance: 0.5 + plugins: + - {name: static_layer, type: "costmap_2d::StaticLayer"} + - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_planner_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_planner_params.yaml new file mode 100644 index 0000000..6d1cf2b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_planner_params.yaml @@ -0,0 +1,20 @@ + +GlobalPlanner: # Also see: http://wiki.ros.org/global_planner + old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false + use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true + use_dijkstra: true # Use dijkstra's algorithm. Otherwise, A*, default true + use_grid_path: false # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false + + allow_unknown: true # Allow planner to plan through unknown space, default true + #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work + planner_window_x: 0.0 # default 0.0 + planner_window_y: 0.0 # default 0.0 + default_tolerance: 0.5 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0 + + publish_scale: 100 # Scale by which the published potential gets multiplied, default 100 + planner_costmap_publish_frequency: 0.0 # default 0.0 + + lethal_cost: 253 # default 253 + neutral_cost: 66 # default 50 + cost_factor: 0.55 # Factor to multiply each cost from costmap by, default 3.0 + publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/local_costmap_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/local_costmap_params.yaml new file mode 100644 index 0000000..60915a3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/local_costmap_params.yaml @@ -0,0 +1,14 @@ +local_costmap: + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 3.5 + height: 3.5 + resolution: 0.05 + transform_tolerance: 0.5 + plugins: + - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/move_base_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/move_base_params.yaml new file mode 100644 index 0000000..d8e7bc3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/params/move_base_params.yaml @@ -0,0 +1,20 @@ +# Move base node parameters. For full documentation of the parameters in this file, please see +# +# http://www.ros.org/wiki/move_base +# +shutdown_costmaps: false + +controller_frequency: 10.0 +controller_patience: 3.0 + + +planner_frequency: 1.0 +planner_patience: 5.0 + +oscillation_timeout: 10.0 +oscillation_distance: 0.2 + +# local planner - default is trajectory rollout +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +base_global_planner: global_planner/GlobalPlanner #"navfn/NavfnROS" #alternatives: , carrot_planner/CarrotPlanner \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/demo_2d.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/demo_2d.rviz new file mode 100644 index 0000000..8de036e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/demo_2d.rviz @@ -0,0 +1,228 @@ +# Copyright 2016 The Cartographer Authors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Submaps1 + - /PointCloud21 + Splitter Ratio: 0.600671 + Tree Height: 821 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + horizontal_laser_link: + Value: true + imu_link: + Value: true + map: + Value: true + odom: + Value: true + vertical_laser_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + horizontal_laser_link: + {} + imu_link: + {} + vertical_laser_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + horizontal_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + vertical_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: Submaps + Enabled: true + Map frame: map + Name: Submaps + Submap query service: /submap_query + Topic: /submap_list + Tracking frame: base_link + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05 + Style: Flat Squares + Topic: /scan_matched_points2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 100; 100; 100 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 10 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1123 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1918 + X: 0 + Y: 24 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/new.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/new.rviz new file mode 100644 index 0000000..38d1f91 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/new.rviz @@ -0,0 +1,156 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Map1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 725 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.652451515197754 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000035efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000035e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000035e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d00650100000000000007380000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz new file mode 100644 index 0000000..f7fb909 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz @@ -0,0 +1,428 @@ +Panels: + - Class: rviz/Displays + Help Height: 81 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Planner1 + - /Local Map1/Planner1 + - /Odometry1 + Splitter Ratio: 0.5 + Tree Height: 481 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 47 + Min Color: 0; 0; 0 + Min Intensity: 47 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0799999982 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 0.800000012 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 291.600006 + Min Color: 0; 0; 0 + Min Intensity: 65.5999985 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/cost_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 3845.65991 + Min Color: 0; 0; 0 + Min Intensity: 5.65999985 + Name: Trajectory Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/trajectory_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: false + Value: false + Enabled: true + Name: Local Map + - Alpha: 1 + Arrow Length: 0.200000003 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: false + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: Amcl Particle Swarm + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: -4.68503332 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 91.187973 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0.143957004 + Y: 0.922994018 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 704 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000002300000026cfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a0000026c000000c600ffffff000000010000010f0000026efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000430000026e0000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000001ca0000026c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1024 + X: 65 + Y: 27 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/CMakeLists.txt new file mode 100644 index 0000000..8d17890 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/CMakeLists.txt @@ -0,0 +1,195 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pibot_simulator) + +## 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) + +## 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 # Or other packages containing 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 pibot_simulator +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/pibot_simulator.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_simulator_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_pibot_simulator.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup.launch new file mode 100644 index 0000000..d062e43 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup_turtlebot.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup_turtlebot.launch new file mode 100644 index 0000000..c89793b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup_turtlebot.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav.launch new file mode 100644 index 0000000..32ae2a7 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch new file mode 100644 index 0000000..f0956af --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.pgm b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.pgm new file mode 100644 index 0000000..c453b21 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: GIMP PNM Filter Version 1.1 +600 600 +255 + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.yaml new file mode 100644 index 0000000..2d3fa51 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.yaml @@ -0,0 +1,6 @@ +image: blank_map.pgm +resolution: 0.01 +origin: [-2.5, -2.5, 0] +occupied_thresh: 0.65 +free_thresh: 0.196 # Taken from the Willow Garage map in the turtlebot_navigation package +negate: 0 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.pgm b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.pgm new file mode 100644 index 0000000..9a4149b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: GIMP PNM Filter Version 1.1 +600 600 +255 + % % \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml new file mode 100644 index 0000000..51ad600 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml @@ -0,0 +1,6 @@ +image: blank_map_with_obstacle.pgm +resolution: 0.01 +origin: [-2.5, -2.5, 0] +occupied_thresh: 0.65 +free_thresh: 0.195 # Taken from the Willow Garage map in the turtlebot_navigation package +negate: 0 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.pgm b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.pgm new file mode 100644 index 0000000..ac9e028 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: GIMP PNM Filter Version 1.1 +576 544 +255 + \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.yaml new file mode 100644 index 0000000..b8337f2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.yaml @@ -0,0 +1,7 @@ +image: test_map.pgm +resolution: 0.050000 +origin: [-13.800000, -12.200000, 0.000000] +negate: 0 +occupied_thresh: 0.9 +free_thresh: 0.196 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/package.xml new file mode 100644 index 0000000..5dc2a8b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/package.xml @@ -0,0 +1,59 @@ + + + pibot_simulator + 0.0.0 + The pibot_simulator package + + + + + apollo + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/arbotix.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/arbotix.yaml new file mode 100644 index 0000000..9b5c233 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/arbotix.yaml @@ -0,0 +1,11 @@ +port: /dev/ttyUSB0 +baud: 115200 +rate: 20 +sync_write: True +sync_read: True +read_rate: 20 +write_rate: 20 + +controllers: { + base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 } +} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/costmap_common_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/costmap_common_params.yaml new file mode 100644 index 0000000..a469f42 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/costmap_common_params.yaml @@ -0,0 +1,53 @@ +max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +robot_radius: 0.16 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +#footprint: [[-0.07, -0.10], [0.18, -0.10], [0.18, 0.10], [-0.07, 0.10]] +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: costmap + +obstacle_layer: + enabled: true + max_obstacle_height: 0.6 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + unknown_threshold: 15 + mark_threshold: 0 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 2.5 + raytrace_range: 3.0 + origin_z: 0.0 + z_resolution: 0.2 + z_voxels: 2 + publish_voxel_map: false + observation_sources: scan + scan: + data_type: LaserScan + topic: scan + inf_is_valid: true + marking: true + clearing: true + min_obstacle_height: 0.05 + max_obstacle_height: 0.35 + #bump: + #data_type: PointCloud2 + #topic: mobile_base/sensors/bumper_pointcloud + #marking: true + #clearing: false + #min_obstacle_height: 0.0 + #max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 1.0 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/dwa_local_planner_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/dwa_local_planner_params.yaml new file mode 100644 index 0000000..6c5de35 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/dwa_local_planner_params.yaml @@ -0,0 +1,56 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.45 # 0.55 + min_vel_x: 0.0 + + max_vel_y: 0.0 # diff drive robot + min_vel_y: 0.0 # diff drive robot + + max_trans_vel: 0.45 # choose slightly less than the base's capability + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.1 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 1.4 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 2 # maximum is theoretically 2.0, but we + acc_lim_theta: 3.6 + acc_lim_y: 0.0 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.15 + # latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 # 1.7 + vx_samples: 10 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 48.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.08 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? +# holonomic_robot: false diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_costmap_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_costmap_params.yaml new file mode 100644 index 0000000..2c6e5e1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + global_frame: map + robot_base_frame: base_link + update_frequency: 1.0 + publish_frequency: 0.5 + static_map: true + resolution: 0.05 + transform_tolerance: 0.5 + # plugins: + # - {name: static_layer, type: "costmap_2d::StaticLayer"} + # - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} + # - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_planner_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_planner_params.yaml new file mode 100644 index 0000000..17c4282 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_planner_params.yaml @@ -0,0 +1,20 @@ + +GlobalPlanner: # Also see: http://wiki.ros.org/global_planner + old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false + use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true + use_dijkstra: true # Use dijkstra's algorithm. Otherwise, A*, default true + use_grid_path: false # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false + + allow_unknown: true # Allow planner to plan through unknown space, default true + #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work + planner_window_x: 0.0 # default 0.0 + planner_window_y: 0.0 # default 0.0 + default_tolerance: 0.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0 + + publish_scale: 100 # Scale by which the published potential gets multiplied, default 100 + planner_costmap_publish_frequency: 0.0 # default 0.0 + + lethal_cost: 253 # default 253 + neutral_cost: 66 # default 50 + cost_factor: 0.55 # Factor to multiply each cost from costmap by, default 3.0 + publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/local_costmap_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/local_costmap_params.yaml new file mode 100644 index 0000000..dd182a7 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/local_costmap_params.yaml @@ -0,0 +1,14 @@ +local_costmap: + global_frame: odom + robot_base_frame: base_link + update_frequency: 5.0 + publish_frequency: 2.0 + static_map: true + rolling_window: true + width: 6.0 + height: 6.0 + resolution: 0.05 + transform_tolerance: 0.5 +# plugins: +# - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} +# - {name: inflation_layer, type: "costmap_2d::InflationLayer"} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/move_base_params.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/move_base_params.yaml new file mode 100644 index 0000000..4f2433f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_simulator/params/move_base_params.yaml @@ -0,0 +1,20 @@ +# Move base node parameters. For full documentation of the parameters in this file, please see +# +# http://www.ros.org/wiki/move_base +# +shutdown_costmaps: false + +controller_frequency: 5.0 +controller_patience: 3.0 + + +planner_frequency: 1.0 +planner_patience: 5.0 + +oscillation_timeout: 10.0 +oscillation_distance: 0.2 + +# local planner - default is trajectory rollout +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +base_global_planner: global_planner/GlobalPlanner #"navfn/NavfnROS" #alternatives: , carrot_planner/CarrotPlanner \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/CMakeLists.txt new file mode 100644 index 0000000..6c2fb68 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(pibot_slam_3d) + +## 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) + +## 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 exec_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 exec_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 # Or other packages containing 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 exec_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 pibot_slam_3d +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/pibot_slam_3d.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/pibot_slam_3d_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 +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_pibot_slam_3d.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/mapping.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/mapping.rviz new file mode 100644 index 0000000..12b28eb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/mapping.rviz @@ -0,0 +1,427 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Image1 + - /Global Map1/Costmap1 + - /Global Map1/Planner1 + - /Local Map1/Polygon1 + - /Local Map1/Costmap1 + - /Local Map1/Planner1 + - /MapCloud1 + Splitter Ratio: 0.5 + Tree Height: 705 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_1_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_2_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_3_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_4_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_board: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 13069 + Min Color: 0; 0; 0 + Min Intensity: 28 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0300000012 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: false + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 0; 0; 0 + Enabled: true + Name: Polygon + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + Enabled: false + Name: Local Map + - Alpha: 1 + Arrow Length: 0.0500000007 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: Amcl Particles + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Goal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_collector/map_objects + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 4 + Cloud from scan: false + Cloud max depth (m): 1.75 + Cloud min depth (m): 0 + Cloud voxel size (m): 0 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter ceiling (m): 2 + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 30 + Node filtering radius (m): 0.0500000007 + Position Transformer: XYZ + Size (Pixels): 4 + Size (m): 0.00999999978 + Style: Points + Topic: /rtabmap/mapData + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10.1918488 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 2.07435036 + Y: -0.930790782 + Z: 0.360236198 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.56479633 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.81318235 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 24 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/navigation.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/navigation.rviz new file mode 100644 index 0000000..12b28eb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/navigation.rviz @@ -0,0 +1,427 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Image1 + - /Global Map1/Costmap1 + - /Global Map1/Planner1 + - /Local Map1/Polygon1 + - /Local Map1/Costmap1 + - /Local Map1/Planner1 + - /MapCloud1 + Splitter Ratio: 0.5 + Tree Height: 705 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_1_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_2_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_3_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_4_pillar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_board: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 13069 + Min Color: 0; 0; 0 + Min Intensity: 28 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0300000012 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: false + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 0; 0; 0 + Enabled: true + Name: Polygon + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + Enabled: false + Name: Local Map + - Alpha: 1 + Arrow Length: 0.0500000007 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: Amcl Particles + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Goal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_collector/map_objects + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 4 + Cloud from scan: false + Cloud max depth (m): 1.75 + Cloud min depth (m): 0 + Cloud voxel size (m): 0 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter ceiling (m): 2 + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 30 + Node filtering radius (m): 0.0500000007 + Position Transformer: XYZ + Size (Pixels): 4 + Size (m): 0.00999999978 + Style: Points + Topic: /rtabmap/mapData + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10.1918488 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 2.07435036 + Y: -0.930790782 + Z: 0.360236198 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.56479633 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.81318235 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 24 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/astra.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/astra.launch new file mode 100644 index 0000000..46b6e66 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/astra.launch @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/d435i.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/d435i.launch new file mode 100644 index 0000000..adbe0fd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/d435i.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/kinectV1.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/kinectV1.launch new file mode 100644 index 0000000..8e8383c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/kinectV1.launch @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/rtabmap.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/rtabmap.launch new file mode 100644 index 0000000..6e31c04 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/rtabmap.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/view.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/view.launch new file mode 100644 index 0000000..8eeef07 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/view.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/xtion.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/xtion.launch new file mode 100644 index 0000000..46b6e66 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/xtion.launch @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/package.xml new file mode 100644 index 0000000..6444196 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/pibot_slam_3d/package.xml @@ -0,0 +1,59 @@ + + + pibot_slam_3d + 0.0.0 + The pibot_slam_3d package + + + + + david + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/CHANGELOG.rst b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/CHANGELOG.rst new file mode 100644 index 0000000..dafad8a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/CHANGELOG.rst @@ -0,0 +1,70 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rplidar_ros +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.10.0 (2019-02-22) +------------------ +* Update RPLIDAR SDK to 1.10.0 +* [new feature] support Rplidar S1 +* Contributors: tony,WubinXia + +1.9.0 (2018-08-24) +------------------ +* Update RPLIDAR SDK to 1.9.0 +* [new feature] support baudrate 57600 and 1382400, support HQ scan response +* [bugfix] TCP channel doesn't work +* [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points +* Contributors: tony,kint + +1.7.0 (2018-07-19) +------------------ +* Update RPLIDAR SDK to 1.7.0 +* support scan points farther than 16.38m +* upport display and set scan mode +* Contributors: kint + + +1.6.0 (2018-05-21) +------------------ +* Release 1.6.0. +* Update RPLIDAR SDK to 1.6.0 +* Support new product RPLIDAR A3(default 16K model and max_distance 25m) +* Contributors: kint + + +1.5.7 (2016-12-15) +------------------ +* Release 1.5.7. +* Update RPLIDAR SDK to 1.5.7 +* Fixed the motor default speed at 10 HZ. Extend the measurement of max_distance from 6m to 8m. +* Contributors: kint + +1.5.5 (2016-08-23) +------------------ +* Release 1.5.5. +* Update RPLIDAR SDK to 1.5.5 +* Add RPLIDAR information print, and fix the standard motor speed of RPLIDAR A2. +* Contributors: kint + +1.5.4 (2016-06-02) +------------------ +* Release 1.5.4. +* Update RPLIDAR SDK to 1.5.4 +* Support RPLIDAR A2 +* Contributors: kint + +1.5.2 (2016-04-29) +------------------ +* Release 1.5.2. +* Update RPLIDAR SDK to 1.5.2 +* Support RPLIDAR A2 +* Contributors: kint + +1.0.1 (2014-06-03) +------------------ +* Release 1.0.1. +* Add angle compensate mechanism to compatible with ROS scan message +* Add RPLIDAR sdk to the repo. +* First release of RPLIDAR ROS package (1.0.0) +* Initial commit +* Contributors: Ling, RoboPeak Public Repos diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/CMakeLists.txt new file mode 100644 index 0000000..a5f2248 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 2.8.3) +project(rplidar_ros) + +set(RPLIDAR_SDK_PATH "./sdk/") + +FILE(GLOB RPLIDAR_SDK_SRC + "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp" + "${RPLIDAR_SDK_PATH}/src/hal/*.cpp" + "${RPLIDAR_SDK_PATH}/src/*.cpp" +) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rosconsole + sensor_msgs +) + +include_directories( + ${RPLIDAR_SDK_PATH}/include + ${RPLIDAR_SDK_PATH}/src + ${catkin_INCLUDE_DIRS} +) + +catkin_package() + +add_executable(rplidarNode src/node.cpp ${RPLIDAR_SDK_SRC}) +target_link_libraries(rplidarNode ${catkin_LIBRARIES}) + +add_executable(rplidarNodeClient src/client.cpp) +target_link_libraries(rplidarNodeClient ${catkin_LIBRARIES}) + +install(TARGETS rplidarNode rplidarNodeClient + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch rviz sdk + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/LICENSE b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/LICENSE new file mode 100644 index 0000000..144df83 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/LICENSE @@ -0,0 +1,24 @@ +Copyright (c) 2009 - 2014 RoboPeak Team +Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/README.md b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/README.md new file mode 100644 index 0000000..12d2a23 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/README.md @@ -0,0 +1,51 @@ +RPLIDAR ROS package +===================================================================== + +ROS node and test application for RPLIDAR + +Visit following Website for more details about RPLIDAR: + +rplidar roswiki: http://wiki.ros.org/rplidar + +rplidar HomePage: http://www.slamtec.com/en/Lidar + +rplidar SDK: https://github.com/Slamtec/rplidar_sdk + +rplidar Tutorial: https://github.com/robopeak/rplidar_ros/wiki + +How to build rplidar ros package +===================================================================== + 1) Clone this project to your catkin's workspace src folder + 2) Running catkin_make to build rplidarNode and rplidarNodeClient + +How to run rplidar ros package +===================================================================== +There're two ways to run rplidar ros package + +I. Run rplidar node and view in the rviz +------------------------------------------------------------ +roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2) +, +roslaunch rplidar_ros view_rplidar_a3.launch (for RPLIDAR A3) +or +roslaunch rplidar_ros view_rplidar_s1.launch (for RPLIDAR S1) + +You should see rplidar's scan result in the rviz. + +II. Run rplidar node and view using test application +------------------------------------------------------------ +roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2) +, +roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3) +or +roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1) + +rosrun rplidar_ros rplidarNodeClient + +You should see rplidar's scan result in the console + +Notice: the different is serial_baudrate between A1/A2 and A3/S1 + +RPLidar frame +===================================================================== +RPLidar frame must be broadcasted according to picture shown in rplidar-frame.png diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar.launch new file mode 100644 index 0000000..4154781 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch new file mode 100644 index 0000000..32b0d35 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1.launch new file mode 100644 index 0000000..2daaac0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1_tcp.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1_tcp.launch new file mode 100644 index 0000000..a1e6b4b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1_tcp.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar.launch new file mode 100644 index 0000000..c8edd80 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar_a3.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar_a3.launch new file mode 100644 index 0000000..94ca69c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar_a3.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar.launch new file mode 100644 index 0000000..e171855 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar.launch @@ -0,0 +1,10 @@ + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_a3.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_a3.launch new file mode 100644 index 0000000..010f6d6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_a3.launch @@ -0,0 +1,10 @@ + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1.launch new file mode 100644 index 0000000..e3c3127 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1.launch @@ -0,0 +1,10 @@ + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1_tcp.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1_tcp.launch new file mode 100644 index 0000000..88b011d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1_tcp.launch @@ -0,0 +1,10 @@ + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/package.xml new file mode 100644 index 0000000..78c1a29 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/package.xml @@ -0,0 +1,20 @@ + + + rplidar_ros + 1.10.0 + The rplidar ros package, support rplidar A2/A1 and A3/S1 + + Slamtec ROS Maintainer + BSD + + catkin + roscpp + rosconsole + sensor_msgs + std_srvs + roscpp + rosconsole + sensor_msgs + std_srvs + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A1.png b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A1.png new file mode 100644 index 0000000..994def4 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A1.png differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A2.png b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A2.png new file mode 100644 index 0000000..3ca9294 Binary files /dev/null and b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A2.png differ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rviz/rplidar.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rviz/rplidar.rviz new file mode 100644 index 0000000..ed62937 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/rviz/rplidar.rviz @@ -0,0 +1,128 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RPLidarLaserScan1 + Splitter Ratio: 0.5 + Tree Height: 413 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0 + Min Value: 0 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: RPLidarLaserScan + Position Transformer: XYZ + Queue Size: 1000 + Selectable: true + Size (Pixels): 5 + Size (m): 0.03 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: laser + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 11.1184 + Focal Point: + X: -0.0344972 + Y: 0.065886 + Z: 0.148092 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.615399 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.82358 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 626 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001950000022cfc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022c000000dd00fffffffb0000000a0049006d006100670065000000028d000000c60000000000000000000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003240000022c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1215 + X: 65 + Y: 24 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/create_udev_rules.sh b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/create_udev_rules.sh new file mode 100644 index 0000000..ff260a9 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/create_udev_rules.sh @@ -0,0 +1,13 @@ +#!/bin/bash + +echo "remap the device serial port(ttyUSBX) to rplidar" +echo "rplidar usb connection as /dev/rplidar , check it using the command : ls -l /dev|grep ttyUSB" +echo "start copy rplidar.rules to /etc/udev/rules.d/" +echo "`rospack find rplidar_ros`/scripts/rplidar.rules" +sudo cp `rospack find rplidar_ros`/scripts/rplidar.rules /etc/udev/rules.d +echo " " +echo "Restarting udev" +echo "" +sudo service udev reload +sudo service udev restart +echo "finish " diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/delete_udev_rules.sh b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/delete_udev_rules.sh new file mode 100644 index 0000000..05c77f8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/delete_udev_rules.sh @@ -0,0 +1,11 @@ +#!/bin/bash + +echo "delete remap the device serial port(ttyUSBX) to rplidar" +echo "sudo rm /etc/udev/rules.d/rplidar.rules" +sudo rm /etc/udev/rules.d/rplidar.rules +echo " " +echo "Restarting udev" +echo "" +sudo service udev reload +sudo service udev restart +echo "finish delete" diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/rplidar.rules b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/rplidar.rules new file mode 100644 index 0000000..d75ed81 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/rplidar.rules @@ -0,0 +1,4 @@ +# set the udev rule , make the device_port be fixed by rplidar +# +KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar" + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/README.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/README.txt new file mode 100644 index 0000000..b05d81f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/README.txt @@ -0,0 +1,34 @@ +Copyright (c) 2009 - 2014 RoboPeak Team +Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + + +This folder contains RPLIDAR SDK source code which is provided by RoboPeak. + +RoboPeak Website: http://www.robopeak.com +SlamTec HomePage: http://www.slamtec.com +RPLIDAR_SDK_VERSION: 1.10.0 +Note: The SDK version may not up-to-date. +rplidar product: http://www.slamtec.com/en/Lidar diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar.h new file mode 100644 index 0000000..4e14aa0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar.h @@ -0,0 +1,44 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include +#include "hal/types.h" +#include "rplidar_protocol.h" +#include "rplidar_cmd.h" + +#include "rplidar_driver.h" + +#define RPLIDAR_SDK_VERSION "1.10.0" diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_cmd.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_cmd.h new file mode 100644 index 0000000..cfe0760 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_cmd.h @@ -0,0 +1,297 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "rplidar_protocol.h" + +// Commands +//----------------------------------------- + +// Commands without payload and response +#define RPLIDAR_CMD_STOP 0x25 +#define RPLIDAR_CMD_SCAN 0x20 +#define RPLIDAR_CMD_FORCE_SCAN 0x21 +#define RPLIDAR_CMD_RESET 0x40 + + +// Commands without payload but have response +#define RPLIDAR_CMD_GET_DEVICE_INFO 0x50 +#define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52 + +#define RPLIDAR_CMD_GET_SAMPLERATE 0x59 //added in fw 1.17 + +#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8 + +// Commands with payload and have response +#define RPLIDAR_CMD_EXPRESS_SCAN 0x82 //added in fw 1.17 +#define RPLIDAR_CMD_HQ_SCAN 0x83 //added in fw 1.24 +#define RPLIDAR_CMD_GET_LIDAR_CONF 0x84 //added in fw 1.24 +#define RPLIDAR_CMD_SET_LIDAR_CONF 0x85 //added in fw 1.24 +//add for A2 to set RPLIDAR motor pwm when using accessory board +#define RPLIDAR_CMD_SET_MOTOR_PWM 0xF0 +#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF + +#if defined(_WIN32) +#pragma pack(1) +#endif + + +// Payloads +// ------------------------------------------ +#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0 +#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0 // won't been supported but keep to prevent build fail +//for express working flag(extending express scan protocol) +#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001 +#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002 + +//for ultra express working flag +#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001 +#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002 + +#define RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0) +#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1) +#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2) + +typedef struct _rplidar_payload_express_scan_t { + _u8 working_mode; + _u16 working_flags; + _u16 param; +} __attribute__((packed)) rplidar_payload_express_scan_t; + +typedef struct _rplidar_payload_hq_scan_t { + _u8 flag; + _u8 reserved[32]; +} __attribute__((packed)) rplidar_payload_hq_scan_t; + +typedef struct _rplidar_payload_get_scan_conf_t { + _u32 type; + _u8 reserved[32]; +} __attribute__((packed)) rplidar_payload_get_scan_conf_t; +#define MAX_MOTOR_PWM 1023 +#define DEFAULT_MOTOR_PWM 660 +typedef struct _rplidar_payload_motor_pwm_t { + _u16 pwm_value; +} __attribute__((packed)) rplidar_payload_motor_pwm_t; + +typedef struct _rplidar_payload_acc_board_flag_t { + _u32 reserved; +} __attribute__((packed)) rplidar_payload_acc_board_flag_t; + +// Response +// ------------------------------------------ +#define RPLIDAR_ANS_TYPE_DEVINFO 0x4 +#define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6 + +#define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81 +// Added in FW ver 1.17 +#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82 +#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83 + + +// Added in FW ver 1.17 +#define RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15 +//added in FW ver 1.23alpha +#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84 +//added in FW ver 1.24 +#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20 +#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21 +#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85 +#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF + +#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1) +typedef struct _rplidar_response_acc_board_flag_t { + _u32 support_flag; +} __attribute__((packed)) rplidar_response_acc_board_flag_t; + + +#define RPLIDAR_STATUS_OK 0x0 +#define RPLIDAR_STATUS_WARNING 0x1 +#define RPLIDAR_STATUS_ERROR 0x2 + +#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) +#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 + +#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0) + +#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) +#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 + +typedef struct _rplidar_response_sample_rate_t { + _u16 std_sample_duration_us; + _u16 express_sample_duration_us; +} __attribute__((packed)) rplidar_response_sample_rate_t; + +typedef struct _rplidar_response_measurement_node_t { + _u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6; + _u16 angle_q6_checkbit; // check_bit:1;angle_q6:15; + _u16 distance_q2; +} __attribute__((packed)) rplidar_response_measurement_node_t; + +//[distance_sync flags] +#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3) +#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC) + +typedef struct _rplidar_response_cabin_nodes_t { + _u16 distance_angle_1; // see [distance_sync flags] + _u16 distance_angle_2; // see [distance_sync flags] + _u8 offset_angles_q3; +} __attribute__((packed)) rplidar_response_cabin_nodes_t; + + +#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA +#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5 + +#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5 + +#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15) + +typedef struct _rplidar_response_capsule_measurement_nodes_t { + _u8 s_checksum_1; // see [s_checksum_1] + _u8 s_checksum_2; // see [s_checksum_1] + _u16 start_angle_sync_q6; + rplidar_response_cabin_nodes_t cabins[16]; +} __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t; + +typedef struct _rplidar_response_dense_cabin_nodes_t { + _u16 distance; +} __attribute__((packed)) rplidar_response_dense_cabin_nodes_t; + +typedef struct _rplidar_response_dense_capsule_measurement_nodes_t { + _u8 s_checksum_1; // see [s_checksum_1] + _u8 s_checksum_2; // see [s_checksum_1] + _u16 start_angle_sync_q6; + rplidar_response_dense_cabin_nodes_t cabins[40]; +} __attribute__((packed)) rplidar_response_dense_capsule_measurement_nodes_t; + +// ext1 : x2 boost mode + +#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12 +#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10 + +typedef struct _rplidar_response_ultra_cabin_nodes_t { + // 31 0 + // | predict2 10bit | predict1 10bit | major 12bit | + _u32 combined_x3; +} __attribute__((packed)) rplidar_response_ultra_cabin_nodes_t; + +typedef struct _rplidar_response_ultra_capsule_measurement_nodes_t { + _u8 s_checksum_1; // see [s_checksum_1] + _u8 s_checksum_2; // see [s_checksum_1] + _u16 start_angle_sync_q6; + rplidar_response_ultra_cabin_nodes_t ultra_cabins[32]; +} __attribute__((packed)) rplidar_response_ultra_capsule_measurement_nodes_t; + +typedef struct rplidar_response_measurement_node_hq_t { + _u16 angle_z_q14; + _u32 dist_mm_q2; + _u8 quality; + _u8 flag; +} __attribute__((packed)) rplidar_response_measurement_node_hq_t; + +typedef struct _rplidar_response_hq_capsule_measurement_nodes_t{ + _u8 sync_byte; + _u64 time_stamp; + rplidar_response_measurement_node_hq_t node_hq[16]; + _u32 crc32; +}__attribute__((packed)) rplidar_response_hq_capsule_measurement_nodes_t; + + +# define RPLIDAR_CONF_SCAN_COMMAND_STD 0 +# define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS 1 +# define RPLIDAR_CONF_SCAN_COMMAND_HQ 2 +# define RPLIDAR_CONF_SCAN_COMMAND_BOOST 3 +# define RPLIDAR_CONF_SCAN_COMMAND_STABILITY 4 +# define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5 + +#define RPLIDAR_CONF_ANGLE_RANGE 0x00000000 +#define RPLIDAR_CONF_DESIRED_ROT_FREQ 0x00000001 +#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002 +#define RPLIDAR_CONF_MIN_ROT_FREQ 0x00000004 +#define RPLIDAR_CONF_MAX_ROT_FREQ 0x00000005 +#define RPLIDAR_CONF_MAX_DISTANCE 0x00000060 + +#define RPLIDAR_CONF_SCAN_MODE_COUNT 0x00000070 +#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071 +#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074 +#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075 +#define RPLIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C +#define RPLIDAR_CONF_SCAN_MODE_NAME 0x0000007F +#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4 +#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5 + +typedef struct _rplidar_response_get_lidar_conf{ + _u32 type; + _u8 payload[0]; +}__attribute__((packed)) rplidar_response_get_lidar_conf_t; + +typedef struct _rplidar_response_set_lidar_conf{ + _u32 result; +}__attribute__((packed)) rplidar_response_set_lidar_conf_t; + + +typedef struct _rplidar_response_device_info_t { + _u8 model; + _u16 firmware_version; + _u8 hardware_version; + _u8 serialnum[16]; +} __attribute__((packed)) rplidar_response_device_info_t; + +typedef struct _rplidar_response_device_health_t { + _u8 status; + _u16 error_code; +} __attribute__((packed)) rplidar_response_device_health_t; + +// Definition of the variable bit scale encoding mechanism +#define RPLIDAR_VARBITSCALE_X2_SRC_BIT 9 +#define RPLIDAR_VARBITSCALE_X4_SRC_BIT 11 +#define RPLIDAR_VARBITSCALE_X8_SRC_BIT 12 +#define RPLIDAR_VARBITSCALE_X16_SRC_BIT 14 + +#define RPLIDAR_VARBITSCALE_X2_DEST_VAL 512 +#define RPLIDAR_VARBITSCALE_X4_DEST_VAL 1280 +#define RPLIDAR_VARBITSCALE_X8_DEST_VAL 1792 +#define RPLIDAR_VARBITSCALE_X16_DEST_VAL 3328 + +#define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \ + ( (((0x1<<(_BITS_)) - RPLIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \ + ((RPLIDAR_VARBITSCALE_X16_DEST_VAL - RPLIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \ + ((RPLIDAR_VARBITSCALE_X8_DEST_VAL - RPLIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \ + ((RPLIDAR_VARBITSCALE_X4_DEST_VAL - RPLIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \ + RPLIDAR_VARBITSCALE_X2_DEST_VAL - 1) + + +#if defined(_WIN32) +#pragma pack() +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_driver.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_driver.h new file mode 100644 index 0000000..b73b845 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_driver.h @@ -0,0 +1,325 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + + +#ifndef __cplusplus +#error "The RPlidar SDK requires a C++ compiler to be built" +#endif + +#ifndef DEPRECATED + #ifdef __GNUC__ + #define DEPRECATED(func) func __attribute__ ((deprecated)) + #elif defined(_MSC_VER) + #define DEPRECATED(func) __declspec(deprecated) func + #else + #pragma message("WARNING: You need to implement DEPRECATED for this compiler") + #define DEPRECATED(func) func + #endif +#endif + +namespace rp { namespace standalone{ namespace rplidar { + +struct RplidarScanMode { + _u16 id; + float us_per_sample; // microseconds per sample + float max_distance; // max distance + _u8 ans_type; // the answer type of the scam mode, its value should be RPLIDAR_ANS_TYPE_MEASUREMENT* + char scan_mode[64]; // name of scan mode, max 63 characters +}; + +enum { + DRIVER_TYPE_SERIALPORT = 0x0, + DRIVER_TYPE_TCP = 0x1, +}; + +class ChannelDevice +{ +public: + virtual bool bind(const char*, uint32_t ) = 0; + virtual bool open() {return true;} + virtual void close() = 0; + virtual void flush() {return;} + virtual bool waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL) = 0; + virtual int senddata(const _u8 * data, size_t size) = 0; + virtual int recvdata(unsigned char * data, size_t size) = 0; + virtual void setDTR() {return;} + virtual void clearDTR() {return;} + virtual void ReleaseRxTx() {return;} +}; + +class RPlidarDriver { +public: + enum { + DEFAULT_TIMEOUT = 2000, //2000 ms + }; + + enum { + MAX_SCAN_NODES = 8192, + }; + + enum { + LEGACY_SAMPLE_DURATION = 476, + }; + +public: + /// Create an RPLIDAR Driver Instance + /// This interface should be invoked first before any other operations + /// + /// \param drivertype the connection type used by the driver. + static RPlidarDriver * CreateDriver(_u32 drivertype = DRIVER_TYPE_SERIALPORT); + + /// Dispose the RPLIDAR Driver Instance specified by the drv parameter + /// Applications should invoke this interface when the driver instance is no longer used in order to free memory + static void DisposeDriver(RPlidarDriver * drv); + + + /// Open the specified serial port and connect to a target RPLIDAR device + /// + /// \param port_path the device path of the serial port + /// e.g. on Windows, it may be com3 or \\.\com10 + /// on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc + /// + /// \param baudrate the baudrate used + /// For most RPLIDAR models, the baudrate should be set to 115200 + /// + /// \param flag other flags + /// Reserved for future use, always set to Zero + virtual u_result connect(const char *, _u32, _u32 flag = 0) = 0; + + + /// Disconnect with the RPLIDAR and close the serial port + virtual void disconnect() = 0; + + /// Returns TRUE when the connection has been established + virtual bool isConnected() = 0; + + /// Ask the RPLIDAR core system to reset it self + /// The host system can use the Reset operation to help RPLIDAR escape the self-protection mode. + /// + /// \param timeout The operation timeout value (in millisecond) for the serial port communication + virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT) = 0; + + virtual u_result clearNetSerialRxCache() = 0; + // FW1.24 + /// Get all scan modes that supported by lidar + virtual u_result getAllSupportedScanModes(std::vector& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0; + + /// Get typical scan mode of lidar + virtual u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0; + + /// Start scan + /// + /// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not. + /// \param useTypicalScan Use lidar's typical scan mode or use the compatibility mode (2k sps) + /// \param options Scan options (please use 0) + /// \param outUsedScanMode The scan mode selected by lidar + virtual u_result startScan(bool force, bool useTypicalScan, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL) = 0; + + /// Start scan in specific mode + /// + /// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not. + /// \param scanMode The scan mode id (use getAllSupportedScanModes to get supported modes) + /// \param options Scan options (please use 0) + /// \param outUsedScanMode The scan mode selected by lidar + virtual u_result startScanExpress(bool force, _u16 scanMode, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL, _u32 timeout = DEFAULT_TIMEOUT) = 0; + + /// Retrieve the health status of the RPLIDAR + /// The host system can use this operation to check whether RPLIDAR is in the self-protection mode. + /// + /// \param health The health status info returned from the RPLIDAR + /// + /// \param timeout The operation timeout value (in millisecond) for the serial port communication + virtual u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT) = 0; + + /// Get the device information of the RPLIDAR include the serial number, firmware version, device model etc. + /// + /// \param info The device information returned from the RPLIDAR + /// \param timeout The operation timeout value (in millisecond) for the serial port communication + virtual u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT) = 0; + + /// Get the sample duration information of the RPLIDAR. + /// DEPRECATED, please use RplidarScanMode::us_per_sample + /// + /// \param rateInfo The sample duration information returned from the RPLIDAR + /// \param timeout The operation timeout value (in millisecond) for the serial port communication + DEPRECATED(virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout = DEFAULT_TIMEOUT)) = 0; + + /// Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only. + /// + /// \param pwm The motor pwm value would like to set + virtual u_result setMotorPWM(_u16 pwm) = 0; + + /// Start RPLIDAR's motor when using accessory board + virtual u_result startMotor() = 0; + + /// Stop RPLIDAR's motor when using accessory board + virtual u_result stopMotor() = 0; + + /// Check whether the device support motor control. + /// Note: this API will disable grab. + /// + /// \param support Return the result. + /// \param timeout The operation timeout value (in millisecond) for the serial port communication. + virtual u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0; + + /// Calculate RPLIDAR's current scanning frequency from the given scan data + /// DEPRECATED, please use getFrequency(RplidarScanMode, size_t) + /// + /// Please refer to the application note doc for details + /// Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data + /// + /// \param inExpressMode Indicate whether the RPLIDAR is in express mode + /// \param count The number of sample nodes inside the given buffer + /// \param frequency The scanning frequency (in HZ) calcuated by the interface. + /// \param is4kmode Return whether the RPLIDAR is working on 4k sample rate mode. + DEPRECATED(virtual u_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode)) = 0; + + /// Calculate RPLIDAR's current scanning frequency from the given scan data + /// Please refer to the application note doc for details + /// Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data + /// + /// \param scanMode Lidar's current scan mode + /// \param count The number of sample nodes inside the given buffer + virtual u_result getFrequency(const RplidarScanMode& scanMode, size_t count, float & frequency) = 0; + + /// Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k mode) + /// A background thread will be created by the RPLIDAR driver to fetch the scan data continuously. + /// User Application can use the grabScanData() interface to retrieved the scan data cached previous by this background thread. + /// + /// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not. + /// \param timeout The operation timeout value (in millisecond) for the serial port communication. + virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT) = 0; + + /// Check whether the device support express mode. + /// DEPRECATED, please use getAllSupportedScanModes + /// + /// \param support Return the result. + /// \param timeout The operation timeout value (in millisecond) for the serial port communication. + DEPRECATED(virtual u_result checkExpressScanSupported(bool & support, _u32 timeout = DEFAULT_TIMEOUT)) = 0; + + /// Ask the RPLIDAR core system to stop the current scan operation and enter idle state. The background thread will be terminated + /// + /// \param timeout The operation timeout value (in millisecond) for the serial port communication + virtual u_result stop(_u32 timeout = DEFAULT_TIMEOUT) = 0; + + + /// Wait and grab a complete 0-360 degree scan data previously received. + /// NOTE: This method only support distance less than 16.38 meters, for longer distance, please use grabScanDataHq + /// The grabbed scan data returned by this interface always has the following charactistics: + /// + /// 1) The first node of the grabbed data array (nodebuffer[0]) must be the first sample of a scan, i.e. the start_bit == 1 + /// 2) All data nodes are belong to exactly ONE complete 360-degrees's scan + /// 3) Note, the angle data in one scan may not be ascending. You can use API ascendScanData to reorder the nodebuffer. + /// + /// \param nodebuffer Buffer provided by the caller application to store the scan data + /// + /// \param count The caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t). + /// Once the interface returns, this parameter will store the actual received data count. + /// + /// \param timeout Max duration allowed to wait for a complete scan data, nothing will be stored to the nodebuffer if a complete 360-degrees' scan data cannot to be ready timely. + /// + /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration. + /// + /// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation. + DEPRECATED(virtual u_result grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT)) = 0; + + /// Wait and grab a complete 0-360 degree scan data previously received. + /// The grabbed scan data returned by this interface always has the following charactistics: + /// + /// 1) The first node of the grabbed data array (nodebuffer[0]) must be the first sample of a scan, i.e. the start_bit == 1 + /// 2) All data nodes are belong to exactly ONE complete 360-degrees's scan + /// 3) Note, the angle data in one scan may not be ascending. You can use API ascendScanData to reorder the nodebuffer. + /// + /// \param nodebuffer Buffer provided by the caller application to store the scan data + /// + /// \param count The caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t). + /// Once the interface returns, this parameter will store the actual received data count. + /// + /// \param timeout Max duration allowed to wait for a complete scan data, nothing will be stored to the nodebuffer if a complete 360-degrees' scan data cannot to be ready timely. + /// + /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration. + /// + /// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation. + virtual u_result grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT) = 0; + + /// Ascending the scan data according to the angle value in the scan. + /// + /// \param nodebuffer Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData + /// + /// \param count The caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t). + /// Once the interface returns, this parameter will store the actual received data count. + /// The interface will return RESULT_OPERATION_FAIL when all the scan data is invalid. + DEPRECATED(virtual u_result ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count)) = 0; + + /// Ascending the scan data according to the angle value in the scan. + /// + /// \param nodebuffer Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData + /// + /// \param count The caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t). + /// Once the interface returns, this parameter will store the actual received data count. + /// The interface will return RESULT_OPERATION_FAIL when all the scan data is invalid. + virtual u_result ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count) = 0; + + /// Return received scan points even if it's not complete scan + /// + /// \param nodebuffer Buffer provided by the caller application to store the scan data + /// + /// \param count Once the interface returns, this parameter will store the actual received data count. + /// + /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call. + DEPRECATED(virtual u_result getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count)) = 0; + + /// Return received scan points even if it's not complete scan + /// + /// \param nodebuffer Buffer provided by the caller application to store the scan data + /// + /// \param count Once the interface returns, this parameter will store the actual received data count. + /// + /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call. + virtual u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count) = 0; + + virtual ~RPlidarDriver() {} +protected: + RPlidarDriver(){} + +public: + ChannelDevice* _chanDev; +}; + + + + +}}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_protocol.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_protocol.h new file mode 100644 index 0000000..2f8231b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_protocol.h @@ -0,0 +1,72 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +// RP-Lidar Input Packets + +#define RPLIDAR_CMD_SYNC_BYTE 0xA5 +#define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80 + + +#define RPLIDAR_ANS_SYNC_BYTE1 0xA5 +#define RPLIDAR_ANS_SYNC_BYTE2 0x5A + +#define RPLIDAR_ANS_PKTFLAG_LOOP 0x1 + +#define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF +#define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30) + +#if defined(_WIN32) +#pragma pack(1) +#endif + +typedef struct _rplidar_cmd_packet_t { + _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE + _u8 cmd_flag; + _u8 size; + _u8 data[0]; +} __attribute__((packed)) rplidar_cmd_packet_t; + + +typedef struct _rplidar_ans_header_t { + _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1 + _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2 + _u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2; + _u8 type; +} __attribute__((packed)) rplidar_ans_header_t; + +#if defined(_WIN32) +#pragma pack() +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rptypes.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rptypes.h new file mode 100644 index 0000000..34d8ecb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rptypes.h @@ -0,0 +1,116 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + + +#ifdef _WIN32 + +//fake stdint.h for VC only + +typedef signed char int8_t; +typedef unsigned char uint8_t; + +typedef __int16 int16_t; +typedef unsigned __int16 uint16_t; + +typedef __int32 int32_t; +typedef unsigned __int32 uint32_t; + +typedef __int64 int64_t; +typedef unsigned __int64 uint64_t; + +#else + +#include + +#endif + + +//based on stdint.h +typedef int8_t _s8; +typedef uint8_t _u8; + +typedef int16_t _s16; +typedef uint16_t _u16; + +typedef int32_t _s32; +typedef uint32_t _u32; + +typedef int64_t _s64; +typedef uint64_t _u64; + +#define __small_endian + +#ifndef __GNUC__ +#define __attribute__(x) +#endif + + +// The _word_size_t uses actual data bus width of the current CPU +#ifdef _AVR_ +typedef _u8 _word_size_t; +#define THREAD_PROC +#elif defined (WIN64) +typedef _u64 _word_size_t; +#define THREAD_PROC __stdcall +#elif defined (WIN32) +typedef _u32 _word_size_t; +#define THREAD_PROC __stdcall +#elif defined (__GNUC__) +typedef unsigned long _word_size_t; +#define THREAD_PROC +#elif defined (__ICCARM__) +typedef _u32 _word_size_t; +#define THREAD_PROC +#endif + + +typedef uint32_t u_result; + +#define RESULT_OK 0 +#define RESULT_FAIL_BIT 0x80000000 +#define RESULT_ALREADY_DONE 0x20 +#define RESULT_INVALID_DATA (0x8000 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_FAIL (0x8001 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_TIMEOUT (0x8002 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_STOP (0x8003 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_NOT_SUPPORT (0x8004 | RESULT_FAIL_BIT) +#define RESULT_FORMAT_NOT_SUPPORT (0x8005 | RESULT_FAIL_BIT) +#define RESULT_INSUFFICIENT_MEMORY (0x8006 | RESULT_FAIL_BIT) + +#define IS_OK(x) ( ((x) & RESULT_FAIL_BIT) == 0 ) +#define IS_FAIL(x) ( ((x) & RESULT_FAIL_BIT) ) + +typedef _word_size_t (THREAD_PROC * thread_proc_t ) ( void * ); diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/arch_linux.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/arch_linux.h new file mode 100644 index 0000000..ce31343 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/arch_linux.h @@ -0,0 +1,64 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +// libc dep +#include +#include +#include +#include +#include +#include +#include +#include + +// libc++ dep +#include +#include + +// linux specific +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "timer.h" + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.cpp new file mode 100644 index 0000000..eb1ca71 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.cpp @@ -0,0 +1,476 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "arch/linux/arch_linux.h" +#include +#include +#include +#include +#include +// linux specific + +#include +#include + +#include +#include "hal/types.h" +#include "arch/linux/net_serial.h" +#include + +#include +//__GNUC__ +#if defined(__GNUC__) +// for Linux extension +#include +#include +#include +extern "C" int tcflush(int fildes, int queue_selector); +#else +// for other standard UNIX +#include +#include + +#endif + + +namespace rp{ namespace arch{ namespace net{ + +raw_serial::raw_serial() + : rp::hal::serial_rxtx() + , _baudrate(0) + , _flags(0) + , serial_fd(-1) +{ + _init(); +} + +raw_serial::~raw_serial() +{ + close(); + +} + +bool raw_serial::open() +{ + return open(_portName, _baudrate, _flags); +} + +bool raw_serial::bind(const char * portname, uint32_t baudrate, uint32_t flags) +{ + strncpy(_portName, portname, sizeof(_portName)); + _baudrate = baudrate; + _flags = flags; + return true; +} + +bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags) +{ + if (isOpened()) close(); + + serial_fd = ::open(portname, O_RDWR | O_NOCTTY | O_NDELAY); + + if (serial_fd == -1) return false; + + + +#if !defined(__GNUC__) + // for standard UNIX + struct termios options, oldopt; + tcgetattr(serial_fd, &oldopt); + bzero(&options,sizeof(struct termios)); + + // enable rx and tx + options.c_cflag |= (CLOCAL | CREAD); + + _u32 termbaud = getTermBaudBitmap(baudrate); + + if (termbaud == (_u32)-1) { + close(); + return false; + } + cfsetispeed(&options, termbaud); + cfsetospeed(&options, termbaud); + + options.c_cflag &= ~PARENB; //no checkbit + options.c_cflag &= ~CSTOPB; //1bit stop bit + options.c_cflag &= ~CRTSCTS; //no flow control + + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; /* Select 8 data bits */ + +#ifdef CNEW_RTSCTS + options.c_cflag &= ~CNEW_RTSCTS; // no hw flow control +#endif + + options.c_iflag &= ~(IXON | IXOFF | IXANY); // no sw flow control + + // raw input mode + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + // raw output mode + options.c_oflag &= ~OPOST; + + + + if (tcsetattr(serial_fd, TCSANOW, &options)) + { + close(); + return false; + } + +#else + + // using Linux extension ... + struct termios2 tio; + + ioctl(serial_fd, TCGETS2, &tio); + bzero(&tio, sizeof(struct termios2)); + + tio.c_cflag = BOTHER; + tio.c_cflag |= (CLOCAL | CREAD | CS8); //8 bit no hardware handshake + + tio.c_cflag &= ~CSTOPB; //1 stop bit + tio.c_cflag &= ~CRTSCTS; //No CTS + tio.c_cflag &= ~PARENB; //No Parity + +#ifdef CNEW_RTSCTS + tio.c_cflag &= ~CNEW_RTSCTS; // no hw flow control +#endif + + tio.c_iflag &= ~(IXON | IXOFF | IXANY); // no sw flow control + + + tio.c_cc[VMIN] = 0; //min chars to read + tio.c_cc[VTIME] = 0; //time in 1/10th sec wait + + tio.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + // raw output mode + tio.c_oflag &= ~OPOST; + + tio.c_ispeed = baudrate; + tio.c_ospeed = baudrate; + + + ioctl(serial_fd, TCSETS2, &tio); + +#endif + + + tcflush(serial_fd, TCIFLUSH); + + if (fcntl(serial_fd, F_SETFL, FNDELAY)) + { + close(); + return false; + } + + + _is_serial_opened = true; + _operation_aborted = false; + + //Clear the DTR bit to let the motor spin + clearDTR(); + do { + // create self pipeline for wait cancellation + if (pipe(_selfpipe) == -1) break; + + int flags = fcntl(_selfpipe[0], F_GETFL); + if (flags == -1) + break; + + flags |= O_NONBLOCK; /* Make read end nonblocking */ + if (fcntl(_selfpipe[0], F_SETFL, flags) == -1) + break; + + flags = fcntl(_selfpipe[1], F_GETFL); + if (flags == -1) + break; + + flags |= O_NONBLOCK; /* Make write end nonblocking */ + if (fcntl(_selfpipe[1], F_SETFL, flags) == -1) + break; + + } while (0); + + return true; +} + +void raw_serial::close() +{ + if (serial_fd != -1) + ::close(serial_fd); + serial_fd = -1; + + if (_selfpipe[0] != -1) + ::close(_selfpipe[0]); + + if (_selfpipe[1] != -1) + ::close(_selfpipe[1]); + + _selfpipe[0] = _selfpipe[1] = -1; + + _operation_aborted = false; + _is_serial_opened = false; +} + +int raw_serial::senddata(const unsigned char * data, size_t size) +{ +// FIXME: non-block io should be used + if (!isOpened()) return 0; + + if (data == NULL || size ==0) return 0; + + size_t tx_len = 0; + required_tx_cnt = 0; + do { + int ans = ::write(serial_fd, data + tx_len, size-tx_len); + + if (ans == -1) return tx_len; + + tx_len += ans; + required_tx_cnt = tx_len; + }while (tx_len(serial_fd, _selfpipe[0]) + 1; + + /* Initialize the timeout structure */ + timeout_val.tv_sec = timeout / 1000; + timeout_val.tv_usec = (timeout % 1000) * 1000; + + if ( isOpened() ) + { + if ( ioctl(serial_fd, FIONREAD, returned_size) == -1) return ANS_DEV_ERR; + if (*returned_size >= data_count) + { + return 0; + } + } + + while ( isOpened() ) + { + /* Do the select */ + int n = ::select(max_fd, &input_set, NULL, NULL, &timeout_val); + + if (n < 0) + { + // select error + *returned_size = 0; + return ANS_DEV_ERR; + } + else if (n == 0) + { + // time out + *returned_size =0; + return ANS_TIMEOUT; + } + else + { + if (FD_ISSET(_selfpipe[0], &input_set)) { + // require aborting the current operation + int ch; + for (;;) { + if (::read(_selfpipe[0], &ch, 1) == -1) { + break; + } + + } + + // treat as timeout + *returned_size = 0; + return ANS_TIMEOUT; + } + + // data avaliable + assert (FD_ISSET(serial_fd, &input_set)); + + + if ( ioctl(serial_fd, FIONREAD, returned_size) == -1) return ANS_DEV_ERR; + if (*returned_size >= data_count) + { + return 0; + } + else + { + int remain_timeout = timeout_val.tv_sec*1000000 + timeout_val.tv_usec; + int expect_remain_time = (data_count - *returned_size)*1000000*8/_baudrate; + if (remain_timeout > expect_remain_time) + usleep(expect_remain_time); + } + } + + } + + return ANS_DEV_ERR; +} + +size_t raw_serial::rxqueue_count() +{ + if ( !isOpened() ) return 0; + size_t remaining; + + if (::ioctl(serial_fd, FIONREAD, &remaining) == -1) return 0; + return remaining; +} + +void raw_serial::setDTR() +{ + if ( !isOpened() ) return; + + uint32_t dtr_bit = TIOCM_DTR; + ioctl(serial_fd, TIOCMBIS, &dtr_bit); +} + +void raw_serial::clearDTR() +{ + if ( !isOpened() ) return; + + uint32_t dtr_bit = TIOCM_DTR; + ioctl(serial_fd, TIOCMBIC, &dtr_bit); +} + +void raw_serial::_init() +{ + serial_fd = -1; + _portName[0] = 0; + required_tx_cnt = required_rx_cnt = 0; + _operation_aborted = false; + _selfpipe[0] = _selfpipe[1] = -1; +} + +void raw_serial::cancelOperation() +{ + _operation_aborted = true; + if (_selfpipe[1] == -1) return; + + ::write(_selfpipe[1], "x", 1); +} + +_u32 raw_serial::getTermBaudBitmap(_u32 baud) +{ +#define BAUD_CONV( _baud_) case _baud_: return B##_baud_ +switch (baud) { + BAUD_CONV(1200); + BAUD_CONV(1800); + BAUD_CONV(2400); + BAUD_CONV(4800); + BAUD_CONV(9600); + BAUD_CONV(19200); + BAUD_CONV(38400); + BAUD_CONV(57600); + BAUD_CONV(115200); + BAUD_CONV(230400); + BAUD_CONV(460800); + BAUD_CONV(500000); + BAUD_CONV(576000); + BAUD_CONV(921600); + BAUD_CONV(1000000); + BAUD_CONV(1152000); + BAUD_CONV(1500000); + BAUD_CONV(2000000); + BAUD_CONV(2500000); + BAUD_CONV(3000000); + BAUD_CONV(3500000); + BAUD_CONV(4000000); + } + return -1; +} + +}}} //end rp::arch::net + +//begin rp::hal +namespace rp{ namespace hal{ + +serial_rxtx * serial_rxtx::CreateRxTx() +{ + return new rp::arch::net::raw_serial(); +} + +void serial_rxtx::ReleaseRxTx(serial_rxtx *rxtx) +{ + delete rxtx; +} + +}} //end rp::hal diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.h new file mode 100644 index 0000000..627369a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.h @@ -0,0 +1,90 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "hal/abs_rxtx.h" + +namespace rp{ namespace arch{ namespace net{ + +class raw_serial : public rp::hal::serial_rxtx +{ +public: + enum{ + SERIAL_RX_BUFFER_SIZE = 512, + SERIAL_TX_BUFFER_SIZE = 128, + }; + + raw_serial(); + virtual ~raw_serial(); + virtual bool bind(const char * portname, uint32_t baudrate, uint32_t flags = 0); + virtual bool open(); + virtual void close(); + virtual void flush( _u32 flags); + + virtual int waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL); + + virtual int senddata(const unsigned char * data, size_t size); + virtual int recvdata(unsigned char * data, size_t size); + + virtual int waitforsent(_u32 timeout = -1, size_t * returned_size = NULL); + virtual int waitforrecv(_u32 timeout = -1, size_t * returned_size = NULL); + + virtual size_t rxqueue_count(); + + virtual void setDTR(); + virtual void clearDTR(); + + _u32 getTermBaudBitmap(_u32 baud); + + virtual void cancelOperation(); + +protected: + bool open(const char * portname, uint32_t baudrate, uint32_t flags = 0); + void _init(); + + char _portName[200]; + uint32_t _baudrate; + uint32_t _flags; + + int serial_fd; + + size_t required_tx_cnt; + size_t required_rx_cnt; + + int _selfpipe[2]; + bool _operation_aborted; +}; + +}}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_socket.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_socket.cpp new file mode 100644 index 0000000..0124a13 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_socket.cpp @@ -0,0 +1,856 @@ +/* + * RoboPeak Project + * HAL Layer - Socket Interface + * Copyright 2009 - 2013 RoboPeak Project + * + * POXIS Implementation + */ + + +#include "sdkcommon.h" +#include "../../hal/socket.h" + +#include +#include +#include +#include +#include + +namespace rp{ namespace net { + + +static inline int _halAddrTypeToOSType(SocketAddress::address_type_t type) +{ + switch (type) { + case SocketAddress::ADDRESS_TYPE_INET: + return AF_INET; + case SocketAddress::ADDRESS_TYPE_INET6: + return AF_INET6; + case SocketAddress::ADDRESS_TYPE_UNSPEC: + return AF_UNSPEC; + + default: + assert(!"should not reach here"); + return AF_UNSPEC; + } +} + + +SocketAddress::SocketAddress() +{ + _platform_data = reinterpret_cast(new sockaddr_storage); + memset(_platform_data, 0, sizeof(sockaddr_storage)); + + reinterpret_cast(_platform_data)->ss_family = AF_INET; +} + +SocketAddress::SocketAddress(const SocketAddress & src) +{ + _platform_data = reinterpret_cast(new sockaddr_storage); + memcpy(_platform_data, src._platform_data, sizeof(sockaddr_storage)); +} + + + +SocketAddress::SocketAddress(const char * addrString, int port, SocketAddress::address_type_t type) +{ + _platform_data = reinterpret_cast(new sockaddr_storage); + memset(_platform_data, 0, sizeof(sockaddr_storage)); + + // default to ipv4 in case the following operation fails + reinterpret_cast(_platform_data)->ss_family = AF_INET; + + setAddressFromString(addrString, type); + setPort(port); +} + +SocketAddress::SocketAddress(void * platform_data) + : _platform_data(platform_data) +{} + +SocketAddress & SocketAddress::operator = (const SocketAddress &src) +{ + memcpy(_platform_data, src._platform_data, sizeof(sockaddr_storage)); + return *this; +} + + +SocketAddress::~SocketAddress() +{ + delete reinterpret_cast(_platform_data); +} + +SocketAddress::address_type_t SocketAddress::getAddressType() const +{ + switch(reinterpret_cast(_platform_data)->ss_family) { + case AF_INET: + return ADDRESS_TYPE_INET; + case AF_INET6: + return ADDRESS_TYPE_INET6; + default: + assert(!"should not reach here"); + return ADDRESS_TYPE_INET; + } +} + +int SocketAddress::getPort() const +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + return (int)ntohs(reinterpret_cast(_platform_data)->sin_port); + case ADDRESS_TYPE_INET6: + return (int)ntohs(reinterpret_cast(_platform_data)->sin6_port); + default: + return 0; + } +} + +u_result SocketAddress::setPort(int port) +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + reinterpret_cast(_platform_data)->sin_port = htons((short)port); + break; + case ADDRESS_TYPE_INET6: + reinterpret_cast(_platform_data)->sin6_port = htons((short)port); + break; + default: + return RESULT_OPERATION_FAIL; + } + return RESULT_OK; +} + +u_result SocketAddress::setAddressFromString(const char * address_string, SocketAddress::address_type_t type) +{ + int ans = 0; + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + reinterpret_cast(_platform_data)->ss_family = AF_INET; + ans = inet_pton(AF_INET, + address_string, + &reinterpret_cast(_platform_data)->sin_addr); + break; + + + case ADDRESS_TYPE_INET6: + + reinterpret_cast(_platform_data)->ss_family = AF_INET6; + ans = inet_pton(AF_INET6, + address_string, + &reinterpret_cast(_platform_data)->sin6_addr); + break; + + default: + return RESULT_INVALID_DATA; + + } + setPort(prevPort); + + return ans<=0?RESULT_INVALID_DATA:RESULT_OK; +} + + +u_result SocketAddress::getAddressAsString(char * buffer, size_t buffersize) const +{ + int net_family = reinterpret_cast(_platform_data)->ss_family; + const char *ans = NULL; + switch (net_family) { + case AF_INET: + ans = inet_ntop(net_family, &reinterpret_cast(_platform_data)->sin_addr, + buffer, buffersize); + break; + + case AF_INET6: + ans = inet_ntop(net_family, &reinterpret_cast(_platform_data)->sin6_addr, + buffer, buffersize); + + break; + } + return ans<=0?RESULT_OPERATION_FAIL:RESULT_OK; +} + + + +size_t SocketAddress::LoopUpHostName(const char * hostname, const char * sevicename, std::vector &addresspool , bool performDNS, SocketAddress::address_type_t type) +{ + struct addrinfo hints; + struct addrinfo *result; + int ans; + + memset(&hints, 0, sizeof(struct addrinfo)); + hints.ai_family = _halAddrTypeToOSType(type); + hints.ai_flags = AI_PASSIVE; + + if (!performDNS) { + hints.ai_family |= AI_NUMERICSERV | AI_NUMERICHOST; + + } + + ans = getaddrinfo(hostname, sevicename, &hints, &result); + + addresspool.clear(); + + if (ans != 0) { + // hostname loopup failed + return 0; + } + + + for (struct addrinfo * cursor = result; cursor != NULL; cursor = cursor->ai_next) { + if (cursor->ai_family == ADDRESS_TYPE_INET || cursor->ai_family == ADDRESS_TYPE_INET6) { + sockaddr_storage * storagebuffer = new sockaddr_storage; + assert(sizeof(sockaddr_storage) >= cursor->ai_addrlen); + memcpy(storagebuffer, cursor->ai_addr, cursor->ai_addrlen); + addresspool.push_back(SocketAddress(storagebuffer)); + } + } + + + freeaddrinfo(result); + + return addresspool.size(); +} + + +u_result SocketAddress::getRawAddress(_u8 * buffer, size_t bufferSize) const +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + if (bufferSize < sizeof(in_addr::s_addr)) return RESULT_INSUFFICIENT_MEMORY; + + memcpy(buffer, &reinterpret_cast(_platform_data)->sin_addr.s_addr, sizeof(reinterpret_cast(_platform_data)->sin_addr.s_addr)); + + + break; + case ADDRESS_TYPE_INET6: + if (bufferSize < sizeof(in6_addr::s6_addr)) return RESULT_INSUFFICIENT_MEMORY; + memcpy(buffer, reinterpret_cast(_platform_data)->sin6_addr.s6_addr, sizeof(reinterpret_cast(_platform_data)->sin6_addr.s6_addr)); + + break; + default: + return RESULT_OPERATION_FAIL; + } + return RESULT_OK; +} + + +void SocketAddress::setLoopbackAddress(SocketAddress::address_type_t type) +{ + + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + { + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_LOOPBACK); + } + break; + case ADDRESS_TYPE_INET6: + { + sockaddr_in6 * addrv6 = reinterpret_cast(_platform_data); + addrv6->sin6_family = AF_INET6; + addrv6->sin6_addr = in6addr_loopback; + + } + break; + default: + return; + } + + setPort(prevPort); +} + +void SocketAddress::setBroadcastAddressIPv4() +{ + + int prevPort = getPort(); + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_BROADCAST); + setPort(prevPort); + +} + +void SocketAddress::setAnyAddress(SocketAddress::address_type_t type) +{ + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + { + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_ANY); + } + break; + case ADDRESS_TYPE_INET6: + { + sockaddr_in6 * addrv6 = reinterpret_cast(_platform_data); + addrv6->sin6_family = AF_INET6; + addrv6->sin6_addr = in6addr_any; + + } + break; + default: + return; + } + + setPort(prevPort); + + +} + + +}} + + + +///-------------------------------- + + +namespace rp { namespace arch { namespace net{ + +using namespace rp::net; + +class _single_thread StreamSocketImpl : public StreamSocket +{ +public: + + StreamSocketImpl(int fd) + : _socket_fd(fd) + { + assert(fd>=0); + int bool_true = 1; + ::setsockopt( _socket_fd, SOL_SOCKET, SO_REUSEADDR , (char *)&bool_true, sizeof(bool_true) ); + + enableNoDelay(true); + this->setTimeout(DEFAULT_SOCKET_TIMEOUT, SOCKET_DIR_BOTH); + } + + virtual ~StreamSocketImpl() + { + close(_socket_fd); + } + + virtual void dispose() + { + delete this; + } + + + virtual u_result bind(const SocketAddress & localaddr) + { + const struct sockaddr * addr = reinterpret_cast(localaddr.getPlatformData()); + assert(addr); + int ans = ::bind(_socket_fd, addr, sizeof(sockaddr_storage)); + if (ans) { + return RESULT_OPERATION_FAIL; + } else { + return RESULT_OK; + } + } + + virtual u_result getLocalAddress(SocketAddress & localaddr) + { + struct sockaddr * addr = reinterpret_cast( const_cast(localaddr.getPlatformData())); //donnot do this at home... + assert(addr); + + size_t actualsize = sizeof(sockaddr_storage); + int ans = ::getsockname(_socket_fd, addr, (socklen_t*)&actualsize); + + assert(actualsize <= sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk) + { + int ans; + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + + if (msk & SOCKET_DIR_RD) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + if (msk & SOCKET_DIR_WR) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + return RESULT_OK; + } + + virtual u_result connect(const SocketAddress & pairAddress) + { + const struct sockaddr * addr = reinterpret_cast(pairAddress.getPlatformData()); + int ans = ::connect(_socket_fd, addr, sizeof(sockaddr_storage)); + if (!ans) return RESULT_OK; + + + switch (errno) { + case EAFNOSUPPORT: + return RESULT_OPERATION_NOT_SUPPORT; +#if 0 + case EINPROGRESS: + return RESULT_OK; //treat async connection as good status +#endif + case ETIMEDOUT: + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result listen(int backlog) + { + int ans = ::listen( _socket_fd, backlog); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual StreamSocket * accept(SocketAddress * pairAddress) + { + size_t addrsize; + addrsize = sizeof(sockaddr_storage); + int pair_socket = ::accept( _socket_fd, pairAddress?reinterpret_cast(const_cast(pairAddress->getPlatformData())):NULL + , (socklen_t*)&addrsize); + + if (pair_socket>=0) { + return new StreamSocketImpl(pair_socket); + } else { + return NULL; + } + } + + virtual u_result waitforIncomingConnection(_u32 timeout) + { + return waitforData(timeout); + } + + virtual u_result send(const void * buffer, size_t len) + { + size_t ans = ::send( _socket_fd, buffer, len, MSG_NOSIGNAL); + if (ans == (int)len) { + return RESULT_OK; + } else { + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + } + + } + + + virtual u_result recv(void *buf, size_t len, size_t & recv_len) + { + size_t ans = ::recv( _socket_fd, buf, len, 0); + if (ans == (size_t)-1) { + recv_len = 0; + + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + + + + } else { + recv_len = ans; + return RESULT_OK; + } + } + +#if 0 + virtual u_result recvNoWait(void *buf, size_t len, size_t & recv_len) + { + size_t ans = ::recv( _socket_fd, buf, len, MSG_DONTWAIT); + if (ans == (size_t)-1) { + recv_len = 0; + if (errno == EAGAIN || errno == EWOULDBLOCK) { + return RESULT_OK; + } else { + return RESULT_OPERATION_FAIL; + } + + + } else { + recv_len = ans; + return RESULT_OK; + } + + } +#endif + + virtual u_result getPeerAddress(SocketAddress & peerAddr) + { + struct sockaddr * addr = reinterpret_cast(const_cast(peerAddr.getPlatformData())); //donnot do this at home... + assert(addr); + size_t actualsize = sizeof(sockaddr_storage); + int ans = ::getpeername(_socket_fd, addr, (socklen_t*)&actualsize); + + assert(actualsize <= sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + + } + + virtual u_result shutdown(socket_direction_mask mask) + { + int shutdw_opt ; + + switch (mask) { + case SOCKET_DIR_RD: + shutdw_opt = SHUT_RD; + break; + case SOCKET_DIR_WR: + shutdw_opt = SHUT_WR; + break; + case SOCKET_DIR_BOTH: + default: + shutdw_opt = SHUT_RDWR; + } + + int ans = ::shutdown(_socket_fd, shutdw_opt); + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result enableKeepAlive(bool enable) + { + int bool_true = enable?1:0; + return ::setsockopt( _socket_fd, SOL_SOCKET, SO_KEEPALIVE , &bool_true, sizeof(bool_true) )?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result enableNoDelay(bool enable ) + { + int bool_true = enable?1:0; + return ::setsockopt( _socket_fd, IPPROTO_TCP, TCP_NODELAY,&bool_true, sizeof(bool_true) )?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result waitforSent(_u32 timeout ) + { + fd_set wrset; + FD_ZERO(&wrset); + FD_SET(_socket_fd, &wrset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, NULL, &wrset, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result waitforData(_u32 timeout ) + { + fd_set rdset; + FD_ZERO(&rdset); + FD_SET(_socket_fd, &rdset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, &rdset, NULL, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + +protected: + int _socket_fd; + + +}; + + +class _single_thread DGramSocketImpl : public DGramSocket +{ +public: + + DGramSocketImpl(int fd) + : _socket_fd(fd) + { + assert(fd>=0); + int bool_true = 1; + ::setsockopt( _socket_fd, SOL_SOCKET, SO_REUSEADDR | SO_BROADCAST , (char *)&bool_true, sizeof(bool_true) ); + setTimeout(DEFAULT_SOCKET_TIMEOUT, SOCKET_DIR_BOTH); + } + + virtual ~DGramSocketImpl() + { + close(_socket_fd); + } + + virtual void dispose() + { + delete this; + } + + + virtual u_result bind(const SocketAddress & localaddr) + { + const struct sockaddr * addr = reinterpret_cast(localaddr.getPlatformData()); + assert(addr); + int ans = ::bind(_socket_fd, addr, sizeof(sockaddr_storage)); + if (ans) { + return RESULT_OPERATION_FAIL; + } else { + return RESULT_OK; + } + } + + virtual u_result getLocalAddress(SocketAddress & localaddr) + { + struct sockaddr * addr = reinterpret_cast(const_cast((localaddr.getPlatformData()))); //donnot do this at home... + assert(addr); + + size_t actualsize = sizeof(sockaddr_storage); + int ans = ::getsockname(_socket_fd, addr, (socklen_t*)&actualsize); + + assert(actualsize <= sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk) + { + int ans; + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + + if (msk & SOCKET_DIR_RD) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + if (msk & SOCKET_DIR_WR) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + return RESULT_OK; + } + + + virtual u_result waitforSent(_u32 timeout ) + { + fd_set wrset; + FD_ZERO(&wrset); + FD_SET(_socket_fd, &wrset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, NULL, &wrset, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result waitforData(_u32 timeout ) + { + fd_set rdset; + FD_ZERO(&rdset); + FD_SET(_socket_fd, &rdset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, &rdset, NULL, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result sendTo(const SocketAddress & target, const void * buffer, size_t len) + { + const struct sockaddr * addr = reinterpret_cast(target.getPlatformData()); + assert(addr); + size_t ans = ::sendto( _socket_fd, buffer, len, 0, addr, sizeof(sockaddr_storage)); + if (ans != (size_t)-1) { + assert(ans == (int)len); + return RESULT_OK; + } else { + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + + case EMSGSIZE: + return RESULT_INVALID_DATA; + default: + return RESULT_OPERATION_FAIL; + } + + } + + } + + + virtual u_result recvFrom(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr) + { + struct sockaddr * addr = (sourceAddr?reinterpret_cast(const_cast(sourceAddr->getPlatformData())):NULL); + size_t source_addr_size = (sourceAddr?sizeof(sockaddr_storage):0); + + size_t ans = ::recvfrom( _socket_fd, buf, len, 0, addr, (socklen_t*)&source_addr_size); + if (ans == (size_t)-1) { + recv_len = 0; + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + + } else { + recv_len = ans; + return RESULT_OK; + } + + } + +#if 0 + virtual u_result recvFromNoWait(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr) + { + struct sockaddr * addr = (sourceAddr?reinterpret_cast(const_cast(sourceAddr->getPlatformData())):NULL); + size_t source_addr_size = (sourceAddr?sizeof(sockaddr_storage):0); + + + size_t ans = ::recvfrom( _socket_fd, buf, len, MSG_DONTWAIT, addr, &source_addr_size); + + if (ans == (size_t)-1) { + recv_len = 0; + if (errno == EAGAIN || errno == EWOULDBLOCK) { + return RESULT_OK; + } else { + return RESULT_OPERATION_FAIL; + } + + + } else { + recv_len = ans; + return RESULT_OK; + } + + } +#endif + +protected: + int _socket_fd; + +}; + + +}}} + + +namespace rp { namespace net{ + + +static inline int _socketHalFamilyToOSFamily(SocketBase::socket_family_t family) +{ + switch (family) { + case SocketBase::SOCKET_FAMILY_INET: + return AF_INET; + case SocketBase::SOCKET_FAMILY_INET6: + return AF_INET6; + case SocketBase::SOCKET_FAMILY_RAW: + return AF_PACKET; + default: + assert(!"should not reach here"); + return AF_INET; // force treating as IPv4 in release mode + } + +} + +StreamSocket * StreamSocket::CreateSocket(SocketBase::socket_family_t family) +{ + if (family == SOCKET_FAMILY_RAW) return NULL; + + + int socket_family = _socketHalFamilyToOSFamily(family); + int socket_fd = ::socket(socket_family, SOCK_STREAM, 0); + if (socket_fd == -1) return NULL; + + StreamSocket * newborn = static_cast(new rp::arch::net::StreamSocketImpl(socket_fd)); + return newborn; + +} + + +DGramSocket * DGramSocket::CreateSocket(SocketBase::socket_family_t family) +{ + int socket_family = _socketHalFamilyToOSFamily(family); + + + int socket_fd = ::socket(socket_family, (family==SOCKET_FAMILY_RAW)?SOCK_RAW:SOCK_DGRAM, 0); + if (socket_fd == -1) return NULL; + + DGramSocket * newborn = static_cast(new rp::arch::net::DGramSocketImpl(socket_fd)); + return newborn; + +} + + +}} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/thread.hpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/thread.hpp new file mode 100644 index 0000000..dc77ce7 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/thread.hpp @@ -0,0 +1,137 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "arch/linux/arch_linux.h" + +#include + +namespace rp{ namespace hal{ + +Thread Thread::create(thread_proc_t proc, void * data) +{ + Thread newborn(proc, data); + + // tricky code, we assume pthread_t is not a structure but a word size value + assert( sizeof(newborn._handle) >= sizeof(pthread_t)); + + pthread_create((pthread_t *)&newborn._handle, NULL, (void * (*)(void *))proc, data); + + return newborn; +} + +u_result Thread::terminate() +{ + if (!this->_handle) return RESULT_OK; + + return pthread_cancel((pthread_t)this->_handle)==0?RESULT_OK:RESULT_OPERATION_FAIL; +} + +u_result Thread::setPriority( priority_val_t p) +{ + if (!this->_handle) return RESULT_OPERATION_FAIL; + + // check whether current schedule policy supports priority levels + + int current_policy; + struct sched_param current_param; + int ans; + if (pthread_getschedparam( (pthread_t) this->_handle, ¤t_policy, ¤t_param)) + { + // cannot retreieve values + return RESULT_OPERATION_FAIL; + } + + //int pthread_priority = 0 ; + + switch(p) + { + case PRIORITY_REALTIME: + //pthread_priority = pthread_priority_max; + current_policy = SCHED_RR; + break; + case PRIORITY_HIGH: + //pthread_priority = (pthread_priority_max + pthread_priority_min)/2; + current_policy = SCHED_RR; + break; + case PRIORITY_NORMAL: + case PRIORITY_LOW: + case PRIORITY_IDLE: + //pthread_priority = 0; + current_policy = SCHED_OTHER; + break; + } + + current_param.__sched_priority = current_policy; + if ( (ans = pthread_setschedparam( (pthread_t) this->_handle, current_policy, ¤t_param)) ) + { + return RESULT_OPERATION_FAIL; + } + return RESULT_OK; +} + +Thread::priority_val_t Thread::getPriority() +{ + if (!this->_handle) return PRIORITY_NORMAL; + + int current_policy; + struct sched_param current_param; + if (pthread_getschedparam( (pthread_t) this->_handle, ¤t_policy, ¤t_param)) + { + // cannot retreieve values + return PRIORITY_NORMAL; + } + + int pthread_priority_max = sched_get_priority_max(SCHED_RR); + int pthread_priority_min = sched_get_priority_min(SCHED_RR); + + if (current_param.__sched_priority ==(pthread_priority_max )) + { + return PRIORITY_REALTIME; + } + if (current_param.__sched_priority >=(pthread_priority_max + pthread_priority_min)/2) + { + return PRIORITY_HIGH; + } + return PRIORITY_NORMAL; +} + +u_result Thread::join(unsigned long timeout) +{ + if (!this->_handle) return RESULT_OK; + + pthread_join((pthread_t)(this->_handle), NULL); + return RESULT_OK; +} + +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.cpp new file mode 100644 index 0000000..1507cb6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.cpp @@ -0,0 +1,52 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "arch/linux/arch_linux.h" + +namespace rp{ namespace arch{ +_u64 rp_getus() +{ + struct timespec t; + t.tv_sec = t.tv_nsec = 0; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec*1000000LL + t.tv_nsec/1000; +} +_u32 rp_getms() +{ + struct timespec t; + t.tv_sec = t.tv_nsec = 0; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec*1000L + t.tv_nsec/1000000L; +} +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.h new file mode 100644 index 0000000..32342a9 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.h @@ -0,0 +1,57 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "hal/types.h" + +#include +static inline void delay(_word_size_t ms){ + while (ms>=1000){ + usleep(1000*1000); + ms-=1000; + }; + if (ms!=0) + usleep(ms*1000); +} + +// TODO: the highest timer interface should be clock_gettime +namespace rp{ namespace arch{ + +_u64 rp_getus(); +_u32 rp_getms(); + +}} + +#define getms() rp::arch::rp_getms() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h new file mode 100644 index 0000000..950ab97 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h @@ -0,0 +1,66 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +// libc dep +#include +#include +#include +#include +#include +#include +#include +#include + +// libc++ dep +#include +#include + + +// POSIX specific +extern "C" { +#include +#include +#include +#include +#include +#include +#include +#include +#include +} + +#include "arch/macOS/timer.h" + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp new file mode 100644 index 0000000..f645a1f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp @@ -0,0 +1,348 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "arch/macOS/arch_macOS.h" +#include "arch/macOS/net_serial.h" +#include +#include + +namespace rp{ namespace arch{ namespace net{ + +raw_serial::raw_serial() + : rp::hal::serial_rxtx() + , _baudrate(0) + , _flags(0) + , serial_fd(-1) +{ + _init(); +} + +raw_serial::~raw_serial() +{ + close(); + +} + +bool raw_serial::open() +{ + return open(_portName, _baudrate, _flags); +} + +bool raw_serial::bind(const char * portname, uint32_t baudrate, uint32_t flags) +{ + strncpy(_portName, portname, sizeof(_portName)); + _baudrate = baudrate; + _flags = flags; + return true; +} + +bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags) +{ + if (isOpened()) close(); + + serial_fd = ::open(portname, O_RDWR | O_NOCTTY | O_NDELAY); + + if (serial_fd == -1) return false; + + struct termios options, oldopt; + tcgetattr(serial_fd, &oldopt); + bzero(&options,sizeof(struct termios)); + + _u32 termbaud = getTermBaudBitmap(baudrate); + + if (termbaud == (_u32)-1) { + fprintf(stderr, "Baudrate %d is not supported on macOS\r\n", baudrate); + close(); + return false; + } + cfsetispeed(&options, termbaud); + cfsetospeed(&options, termbaud); + + // enable rx and tx + options.c_cflag |= (CLOCAL | CREAD); + + + options.c_cflag &= ~PARENB; //no checkbit + options.c_cflag &= ~CSTOPB; //1bit stop bit + + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; /* Select 8 data bits */ + +#ifdef CNEW_RTSCTS + options.c_cflag &= ~CNEW_RTSCTS; // no hw flow control +#endif + + options.c_iflag &= ~(IXON | IXOFF | IXANY); // no sw flow control + + // raw input mode + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + // raw output mode + options.c_oflag &= ~OPOST; + + tcflush(serial_fd,TCIFLUSH); +/* + if (fcntl(serial_fd, F_SETFL, FNDELAY)) + { + close(); + return false; + } +*/ + if (tcsetattr(serial_fd, TCSANOW, &options)) + { + close(); + return false; + } + + _is_serial_opened = true; + + //Clear the DTR bit to let the motor spin + clearDTR(); + + return true; +} + +void raw_serial::close() +{ + if (serial_fd != -1) + ::close(serial_fd); + serial_fd = -1; + + _is_serial_opened = false; +} + +int raw_serial::senddata(const unsigned char * data, _word_size_t size) +{ +// FIXME: non-block io should be used + if (!isOpened()) return 0; + + if (data == NULL || size ==0) return 0; + + size_t tx_len = 0; + required_tx_cnt = 0; + do { + int ans = ::write(serial_fd, data + tx_len, size-tx_len); + + if (ans == -1) return tx_len; + + tx_len += ans; + required_tx_cnt = tx_len; + }while (tx_len= data_count) + { + return 0; + } + } + + while ( isOpened() ) + { + /* Do the select */ + int n = ::select(max_fd, &input_set, NULL, NULL, &timeout_val); + + if (n < 0) + { + // select error + return ANS_DEV_ERR; + } + else if (n == 0) + { + // time out + return ANS_TIMEOUT; + } + else + { + // data avaliable + assert (FD_ISSET(serial_fd, &input_set)); + + + if ( ioctl(serial_fd, FIONREAD, returned_size) == -1) return ANS_DEV_ERR; + if (*returned_size >= data_count) + { + return 0; + } + else + { + int remain_timeout = timeout_val.tv_sec*1000000 + timeout_val.tv_usec; + int expect_remain_time = (data_count - *returned_size)*1000000*8/_baudrate; + if (remain_timeout > expect_remain_time) + usleep(expect_remain_time); + } + } + + } + return ANS_DEV_ERR; +} + +size_t raw_serial::rxqueue_count() +{ + if ( !isOpened() ) return 0; + size_t remaining; + + if (::ioctl(serial_fd, FIONREAD, &remaining) == -1) return 0; + return remaining; +} + +void raw_serial::setDTR() +{ + if ( !isOpened() ) return; + + uint32_t dtr_bit = TIOCM_DTR; + ioctl(serial_fd, TIOCMBIS, &dtr_bit); +} + +void raw_serial::clearDTR() +{ + if ( !isOpened() ) return; + + uint32_t dtr_bit = TIOCM_DTR; + ioctl(serial_fd, TIOCMBIC, &dtr_bit); +} + +void raw_serial::_init() +{ + serial_fd = 0; + _portName[0] = 0; + required_tx_cnt = required_rx_cnt = 0; +} + + + +_u32 raw_serial::getTermBaudBitmap(_u32 baud) +{ +#define BAUD_CONV(_baud_) case _baud_: return _baud_ + switch (baud) + { + BAUD_CONV(1200); + BAUD_CONV(1800); + BAUD_CONV(2400); + BAUD_CONV(4800); + BAUD_CONV(9600); + BAUD_CONV(19200); + BAUD_CONV(38400); + BAUD_CONV(57600); + BAUD_CONV(115200); + BAUD_CONV(230400); + BAUD_CONV(460800); + BAUD_CONV(500000); + BAUD_CONV(576000); + BAUD_CONV(921600); + BAUD_CONV(1000000); + BAUD_CONV(1152000); + BAUD_CONV(1500000); + BAUD_CONV(2000000); + BAUD_CONV(2500000); + BAUD_CONV(3000000); + BAUD_CONV(3500000); + BAUD_CONV(4000000); + } + return -1; +} + +}}} //end rp::arch::net + + + +//begin rp::hal +namespace rp{ namespace hal{ + + serial_rxtx * serial_rxtx::CreateRxTx() + { + return new rp::arch::net::raw_serial(); + } + + void serial_rxtx::ReleaseRxTx(serial_rxtx *rxtx) + { + delete rxtx; + } + +}} //end rp::hal diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.h new file mode 100644 index 0000000..df8e1d4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.h @@ -0,0 +1,84 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "hal/abs_rxtx.h" + +namespace rp{ namespace arch{ namespace net{ + +class raw_serial : public rp::hal::serial_rxtx +{ +public: + enum{ + SERIAL_RX_BUFFER_SIZE = 512, + SERIAL_TX_BUFFER_SIZE = 128, + }; + + raw_serial(); + virtual ~raw_serial(); + virtual bool bind(const char * portname, uint32_t baudrate, uint32_t flags = 0); + virtual bool open(); + virtual void close(); + virtual void flush( _u32 flags); + + virtual int waitfordata(_word_size_t data_count,_u32 timeout = -1, _word_size_t * returned_size = NULL); + + virtual int senddata(const unsigned char * data, _word_size_t size); + virtual int recvdata(unsigned char * data, _word_size_t size); + + virtual int waitforsent(_u32 timeout = -1, _word_size_t * returned_size = NULL); + virtual int waitforrecv(_u32 timeout = -1, _word_size_t * returned_size = NULL); + + virtual size_t rxqueue_count(); + + virtual void setDTR(); + virtual void clearDTR(); + + _u32 getTermBaudBitmap(_u32 baud); +protected: + bool open(const char * portname, uint32_t baudrate, uint32_t flags = 0); + void _init(); + + char _portName[200]; + uint32_t _baudrate; + uint32_t _flags; + + int serial_fd; + + size_t required_tx_cnt; + size_t required_rx_cnt; +}; + +}}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_socket.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_socket.cpp new file mode 100644 index 0000000..bc55d86 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_socket.cpp @@ -0,0 +1,858 @@ +/* + * RoboPeak Project + * HAL Layer - Socket Interface + * Copyright 2018 RoboPeak Project + * + * macOS Implementation + */ + + +#include "sdkcommon.h" +#include "../../hal/socket.h" + +#include +#include +#include +#include +#include + +namespace rp{ namespace net { + + +static inline int _halAddrTypeToOSType(SocketAddress::address_type_t type) +{ + switch (type) { + case SocketAddress::ADDRESS_TYPE_INET: + return AF_INET; + case SocketAddress::ADDRESS_TYPE_INET6: + return AF_INET6; + case SocketAddress::ADDRESS_TYPE_UNSPEC: + return AF_UNSPEC; + + default: + assert(!"should not reach here"); + return AF_UNSPEC; + } +} + + +SocketAddress::SocketAddress() +{ + _platform_data = reinterpret_cast(new sockaddr_storage); + memset(_platform_data, 0, sizeof(sockaddr_storage)); + + reinterpret_cast(_platform_data)->ss_family = AF_INET; +} + +SocketAddress::SocketAddress(const SocketAddress & src) +{ + _platform_data = reinterpret_cast(new sockaddr_storage); + memcpy(_platform_data, src._platform_data, sizeof(sockaddr_storage)); +} + + + +SocketAddress::SocketAddress(const char * addrString, int port, SocketAddress::address_type_t type) +{ + _platform_data = reinterpret_cast(new sockaddr_storage); + memset(_platform_data, 0, sizeof(sockaddr_storage)); + + // default to ipv4 in case the following operation fails + reinterpret_cast(_platform_data)->ss_family = AF_INET; + + setAddressFromString(addrString, type); + setPort(port); +} + +SocketAddress::SocketAddress(void * platform_data) + : _platform_data(platform_data) +{} + +SocketAddress & SocketAddress::operator = (const SocketAddress &src) +{ + memcpy(_platform_data, src._platform_data, sizeof(sockaddr_storage)); + return *this; +} + + +SocketAddress::~SocketAddress() +{ + delete reinterpret_cast(_platform_data); +} + +SocketAddress::address_type_t SocketAddress::getAddressType() const +{ + switch(reinterpret_cast(_platform_data)->ss_family) { + case AF_INET: + return ADDRESS_TYPE_INET; + case AF_INET6: + return ADDRESS_TYPE_INET6; + default: + assert(!"should not reach here"); + return ADDRESS_TYPE_INET; + } +} + +int SocketAddress::getPort() const +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + return (int)ntohs(reinterpret_cast(_platform_data)->sin_port); + case ADDRESS_TYPE_INET6: + return (int)ntohs(reinterpret_cast(_platform_data)->sin6_port); + default: + return 0; + } +} + +u_result SocketAddress::setPort(int port) +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + reinterpret_cast(_platform_data)->sin_port = htons((short)port); + break; + case ADDRESS_TYPE_INET6: + reinterpret_cast(_platform_data)->sin6_port = htons((short)port); + break; + default: + return RESULT_OPERATION_FAIL; + } + return RESULT_OK; +} + +u_result SocketAddress::setAddressFromString(const char * address_string, SocketAddress::address_type_t type) +{ + int ans = 0; + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + reinterpret_cast(_platform_data)->ss_family = AF_INET; + ans = inet_pton(AF_INET, + address_string, + &reinterpret_cast(_platform_data)->sin_addr); + break; + + + case ADDRESS_TYPE_INET6: + + reinterpret_cast(_platform_data)->ss_family = AF_INET6; + ans = inet_pton(AF_INET6, + address_string, + &reinterpret_cast(_platform_data)->sin6_addr); + break; + + default: + return RESULT_INVALID_DATA; + + } + setPort(prevPort); + + return ans<=0?RESULT_INVALID_DATA:RESULT_OK; +} + + +u_result SocketAddress::getAddressAsString(char * buffer, size_t buffersize) const +{ + int net_family = reinterpret_cast(_platform_data)->ss_family; + const char *ans = NULL; + switch (net_family) { + case AF_INET: + ans = inet_ntop(net_family, &reinterpret_cast(_platform_data)->sin_addr, + buffer, buffersize); + break; + + case AF_INET6: + ans = inet_ntop(net_family, &reinterpret_cast(_platform_data)->sin6_addr, + buffer, buffersize); + + break; + } + return !ans?RESULT_OPERATION_FAIL:RESULT_OK; +} + + + +size_t SocketAddress::LoopUpHostName(const char * hostname, const char * sevicename, std::vector &addresspool , bool performDNS, SocketAddress::address_type_t type) +{ + struct addrinfo hints; + struct addrinfo *result; + int ans; + + memset(&hints, 0, sizeof(struct addrinfo)); + hints.ai_family = _halAddrTypeToOSType(type); + hints.ai_flags = AI_PASSIVE; + + if (!performDNS) { + hints.ai_family |= AI_NUMERICSERV | AI_NUMERICHOST; + + } + + ans = getaddrinfo(hostname, sevicename, &hints, &result); + + addresspool.clear(); + + if (ans != 0) { + // hostname loopup failed + return 0; + } + + + for (struct addrinfo * cursor = result; cursor != NULL; cursor = cursor->ai_next) { + if (cursor->ai_family == ADDRESS_TYPE_INET || cursor->ai_family == ADDRESS_TYPE_INET6) { + sockaddr_storage * storagebuffer = new sockaddr_storage; + assert(sizeof(sockaddr_storage) >= cursor->ai_addrlen); + memcpy(storagebuffer, cursor->ai_addr, cursor->ai_addrlen); + addresspool.push_back(SocketAddress(storagebuffer)); + } + } + + + freeaddrinfo(result); + + return addresspool.size(); +} + + +u_result SocketAddress::getRawAddress(_u8 * buffer, size_t bufferSize) const +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + if (bufferSize < sizeof(in_addr_t)) return RESULT_INSUFFICIENT_MEMORY; + + memcpy(buffer, &reinterpret_cast(_platform_data)->sin_addr.s_addr, sizeof(reinterpret_cast(_platform_data)->sin_addr.s_addr)); + + + break; + case ADDRESS_TYPE_INET6: + if (bufferSize < sizeof(in6_addr)) return RESULT_INSUFFICIENT_MEMORY; + memcpy(buffer, reinterpret_cast(_platform_data)->sin6_addr.s6_addr, sizeof(reinterpret_cast(_platform_data)->sin6_addr.s6_addr)); + + break; + default: + return RESULT_OPERATION_FAIL; + } + return RESULT_OK; +} + + +void SocketAddress::setLoopbackAddress(SocketAddress::address_type_t type) +{ + + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + { + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_LOOPBACK); + } + break; + case ADDRESS_TYPE_INET6: + { + sockaddr_in6 * addrv6 = reinterpret_cast(_platform_data); + addrv6->sin6_family = AF_INET6; + addrv6->sin6_addr = in6addr_loopback; + + } + break; + default: + return; + } + + setPort(prevPort); +} + +void SocketAddress::setBroadcastAddressIPv4() +{ + + int prevPort = getPort(); + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_BROADCAST); + setPort(prevPort); + +} + +void SocketAddress::setAnyAddress(SocketAddress::address_type_t type) +{ + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + { + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_ANY); + } + break; + case ADDRESS_TYPE_INET6: + { + sockaddr_in6 * addrv6 = reinterpret_cast(_platform_data); + addrv6->sin6_family = AF_INET6; + addrv6->sin6_addr = in6addr_any; + + } + break; + default: + return; + } + + setPort(prevPort); + + +} + + +}} + + + +///-------------------------------- + + +namespace rp { namespace arch { namespace net{ + +using namespace rp::net; + +class _single_thread StreamSocketImpl : public StreamSocket +{ +public: + + StreamSocketImpl(int fd) + : _socket_fd(fd) + { + assert(fd>=0); + int bool_true = 1; + ::setsockopt( _socket_fd, SOL_SOCKET, SO_REUSEADDR , (char *)&bool_true, sizeof(bool_true) ); + ::setsockopt( _socket_fd, SOL_SOCKET, SO_NOSIGPIPE, (char*)&bool_true, sizeof(bool_true)); + + enableNoDelay(true); + this->setTimeout(DEFAULT_SOCKET_TIMEOUT, SOCKET_DIR_BOTH); + } + + virtual ~StreamSocketImpl() + { + close(_socket_fd); + } + + virtual void dispose() + { + delete this; + } + + + virtual u_result bind(const SocketAddress & localaddr) + { + const struct sockaddr * addr = reinterpret_cast(localaddr.getPlatformData()); + assert(addr); + int ans = ::bind(_socket_fd, addr, sizeof(sockaddr_storage)); + if (ans) { + return RESULT_OPERATION_FAIL; + } else { + return RESULT_OK; + } + } + + virtual u_result getLocalAddress(SocketAddress & localaddr) + { + struct sockaddr * addr = reinterpret_cast( const_cast(localaddr.getPlatformData())); //donnot do this at home... + assert(addr); + + size_t actualsize = sizeof(sockaddr_storage); + int ans = ::getsockname(_socket_fd, addr, (socklen_t*)&actualsize); + + assert(actualsize <= sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk) + { + int ans; + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + + if (msk & SOCKET_DIR_RD) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + if (msk & SOCKET_DIR_WR) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + return RESULT_OK; + } + + virtual u_result connect(const SocketAddress & pairAddress) + { + const struct sockaddr * addr = reinterpret_cast(pairAddress.getPlatformData()); + int ans = ::connect(_socket_fd, addr, sizeof(sockaddr_storage)); + if (!ans) return RESULT_OK; + + + switch (errno) { + case EAFNOSUPPORT: + return RESULT_OPERATION_NOT_SUPPORT; +#if 0 + case EINPROGRESS: + return RESULT_OK; //treat async connection as good status +#endif + case ETIMEDOUT: + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result listen(int backlog) + { + int ans = ::listen( _socket_fd, backlog); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual StreamSocket * accept(SocketAddress * pairAddress) + { + size_t addrsize; + addrsize = sizeof(sockaddr_storage); + int pair_socket = ::accept( _socket_fd, pairAddress?reinterpret_cast(const_cast(pairAddress->getPlatformData())):NULL + , (socklen_t*)&addrsize); + + if (pair_socket>=0) { + return new StreamSocketImpl(pair_socket); + } else { + return NULL; + } + } + + virtual u_result waitforIncomingConnection(_u32 timeout) + { + return waitforData(timeout); + } + + virtual u_result send(const void * buffer, size_t len) + { + size_t ans = ::send( _socket_fd, buffer, len, 0); + if (ans == (int)len) { + return RESULT_OK; + } else { + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + } + + } + + + virtual u_result recv(void *buf, size_t len, size_t & recv_len) + { + size_t ans = ::recv( _socket_fd, buf, len, 0); + if (ans == (size_t)-1) { + recv_len = 0; + + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + + + + } else { + recv_len = ans; + return RESULT_OK; + } + } + +#if 0 + virtual u_result recvNoWait(void *buf, size_t len, size_t & recv_len) + { + size_t ans = ::recv( _socket_fd, buf, len, MSG_DONTWAIT); + if (ans == (size_t)-1) { + recv_len = 0; + if (errno == EAGAIN || errno == EWOULDBLOCK) { + return RESULT_OK; + } else { + return RESULT_OPERATION_FAIL; + } + + + } else { + recv_len = ans; + return RESULT_OK; + } + + } +#endif + + virtual u_result getPeerAddress(SocketAddress & peerAddr) + { + struct sockaddr * addr = reinterpret_cast(const_cast(peerAddr.getPlatformData())); //donnot do this at home... + assert(addr); + size_t actualsize = sizeof(sockaddr_storage); + int ans = ::getpeername(_socket_fd, addr, (socklen_t*)&actualsize); + + assert(actualsize <= sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + + } + + virtual u_result shutdown(socket_direction_mask mask) + { + int shutdw_opt ; + + switch (mask) { + case SOCKET_DIR_RD: + shutdw_opt = SHUT_RD; + break; + case SOCKET_DIR_WR: + shutdw_opt = SHUT_WR; + break; + case SOCKET_DIR_BOTH: + default: + shutdw_opt = SHUT_RDWR; + } + + int ans = ::shutdown(_socket_fd, shutdw_opt); + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result enableKeepAlive(bool enable) + { + int bool_true = enable?1:0; + return ::setsockopt( _socket_fd, SOL_SOCKET, SO_KEEPALIVE , &bool_true, sizeof(bool_true) )?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result enableNoDelay(bool enable ) + { + int bool_true = enable?1:0; + return ::setsockopt( _socket_fd, IPPROTO_TCP, TCP_NODELAY,&bool_true, sizeof(bool_true) )?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result waitforSent(_u32 timeout ) + { + fd_set wrset; + FD_ZERO(&wrset); + FD_SET(_socket_fd, &wrset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, NULL, &wrset, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result waitforData(_u32 timeout ) + { + fd_set rdset; + FD_ZERO(&rdset); + FD_SET(_socket_fd, &rdset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, &rdset, NULL, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + +protected: + int _socket_fd; + + +}; + + +class _single_thread DGramSocketImpl : public DGramSocket +{ +public: + + DGramSocketImpl(int fd) + : _socket_fd(fd) + { + assert(fd>=0); + int bool_true = 1; + ::setsockopt( _socket_fd, SOL_SOCKET, SO_REUSEADDR | SO_BROADCAST , (char *)&bool_true, sizeof(bool_true) ); + setTimeout(DEFAULT_SOCKET_TIMEOUT, SOCKET_DIR_BOTH); + } + + virtual ~DGramSocketImpl() + { + close(_socket_fd); + } + + virtual void dispose() + { + delete this; + } + + + virtual u_result bind(const SocketAddress & localaddr) + { + const struct sockaddr * addr = reinterpret_cast(localaddr.getPlatformData()); + assert(addr); + int ans = ::bind(_socket_fd, addr, sizeof(sockaddr_storage)); + if (ans) { + return RESULT_OPERATION_FAIL; + } else { + return RESULT_OK; + } + } + + virtual u_result getLocalAddress(SocketAddress & localaddr) + { + struct sockaddr * addr = reinterpret_cast(const_cast((localaddr.getPlatformData()))); //donnot do this at home... + assert(addr); + + size_t actualsize = sizeof(sockaddr_storage); + int ans = ::getsockname(_socket_fd, addr, (socklen_t*)&actualsize); + + assert(actualsize <= sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk) + { + int ans; + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + + if (msk & SOCKET_DIR_RD) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + if (msk & SOCKET_DIR_WR) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + return RESULT_OK; + } + + + virtual u_result waitforSent(_u32 timeout ) + { + fd_set wrset; + FD_ZERO(&wrset); + FD_SET(_socket_fd, &wrset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, NULL, &wrset, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result waitforData(_u32 timeout ) + { + fd_set rdset; + FD_ZERO(&rdset); + FD_SET(_socket_fd, &rdset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, &rdset, NULL, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result sendTo(const SocketAddress & target, const void * buffer, size_t len) + { + const struct sockaddr * addr = reinterpret_cast(target.getPlatformData()); + assert(addr); + size_t ans = ::sendto( _socket_fd, buffer, len, 0, addr, sizeof(sockaddr_storage)); + if (ans != (size_t)-1) { + assert(ans == (int)len); + return RESULT_OK; + } else { + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + + case EMSGSIZE: + return RESULT_INVALID_DATA; + default: + return RESULT_OPERATION_FAIL; + } + + } + + } + + + virtual u_result recvFrom(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr) + { + struct sockaddr * addr = (sourceAddr?reinterpret_cast(const_cast(sourceAddr->getPlatformData())):NULL); + size_t source_addr_size = (sourceAddr?sizeof(sockaddr_storage):0); + + size_t ans = ::recvfrom( _socket_fd, buf, len, 0, addr, (socklen_t*)&source_addr_size); + if (ans == (size_t)-1) { + recv_len = 0; + switch (errno) { + case EAGAIN: +#if EWOULDBLOCK!=EAGAIN + case EWOULDBLOCK: +#endif + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + + } else { + recv_len = ans; + return RESULT_OK; + } + + } + +#if 0 + virtual u_result recvFromNoWait(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr) + { + struct sockaddr * addr = (sourceAddr?reinterpret_cast(const_cast(sourceAddr->getPlatformData())):NULL); + size_t source_addr_size = (sourceAddr?sizeof(sockaddr_storage):0); + + + size_t ans = ::recvfrom( _socket_fd, buf, len, MSG_DONTWAIT, addr, &source_addr_size); + + if (ans == (size_t)-1) { + recv_len = 0; + if (errno == EAGAIN || errno == EWOULDBLOCK) { + return RESULT_OK; + } else { + return RESULT_OPERATION_FAIL; + } + + + } else { + recv_len = ans; + return RESULT_OK; + } + + } +#endif + +protected: + int _socket_fd; + +}; + + +}}} + + +namespace rp { namespace net{ + + +static inline int _socketHalFamilyToOSFamily(SocketBase::socket_family_t family) +{ + switch (family) { + case SocketBase::SOCKET_FAMILY_INET: + return AF_INET; + case SocketBase::SOCKET_FAMILY_INET6: + return AF_INET6; + case SocketBase::SOCKET_FAMILY_RAW: + assert(!"should not reach here, AF_PACKET is not supported on macOS"); + return AF_INET; + default: + assert(!"should not reach here"); + return AF_INET; // force treating as IPv4 in release mode + } + +} + +StreamSocket * StreamSocket::CreateSocket(SocketBase::socket_family_t family) +{ + if (family == SOCKET_FAMILY_RAW) return NULL; + + + int socket_family = _socketHalFamilyToOSFamily(family); + int socket_fd = ::socket(socket_family, SOCK_STREAM, 0); + if (socket_fd == -1) return NULL; + + StreamSocket * newborn = static_cast(new rp::arch::net::StreamSocketImpl(socket_fd)); + return newborn; + +} + + +DGramSocket * DGramSocket::CreateSocket(SocketBase::socket_family_t family) +{ + int socket_family = _socketHalFamilyToOSFamily(family); + + + int socket_fd = ::socket(socket_family, (family==SOCKET_FAMILY_RAW)?SOCK_RAW:SOCK_DGRAM, 0); + if (socket_fd == -1) return NULL; + + DGramSocket * newborn = static_cast(new rp::arch::net::DGramSocketImpl(socket_fd)); + return newborn; + +} + + +}} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/thread.hpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/thread.hpp new file mode 100644 index 0000000..88b81c8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/thread.hpp @@ -0,0 +1,79 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "arch/macOS/arch_macOS.h" + +namespace rp{ namespace hal{ + +Thread Thread::create(thread_proc_t proc, void * data) +{ + Thread newborn(proc, data); + + // tricky code, we assume pthread_t is not a structure but a word size value + assert( sizeof(newborn._handle) >= sizeof(pthread_t)); + + pthread_create((pthread_t *)&newborn._handle, NULL,(void * (*)(void *))proc, data); + + return newborn; +} + +u_result Thread::terminate() +{ + if (!this->_handle) return RESULT_OK; + + // return pthread_cancel((pthread_t)this->_handle)==0?RESULT_OK:RESULT_OPERATION_FAIL; + return RESULT_OK; +} + +u_result Thread::setPriority( priority_val_t p) +{ + if (!this->_handle) return RESULT_OPERATION_FAIL; + // simply ignore this request + return RESULT_OK; +} + +Thread::priority_val_t Thread::getPriority() +{ + return PRIORITY_NORMAL; +} + +u_result Thread::join(unsigned long timeout) +{ + if (!this->_handle) return RESULT_OK; + + pthread_join((pthread_t)(this->_handle), NULL); + return RESULT_OK; +} + +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.cpp new file mode 100644 index 0000000..810457a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.cpp @@ -0,0 +1,53 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "arch/macOS/arch_macOS.h" + + +namespace rp{ namespace arch{ +_u64 getus() +{ + timeval now; + gettimeofday(&now,NULL); + return now.tv_sec*1000000 + now.tv_usec; +} + +_u32 rp_getms() +{ + timeval now; + gettimeofday(&now,NULL); + return now.tv_sec*1000L + now.tv_usec/1000L; +} + +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.h new file mode 100644 index 0000000..8de8a0c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.h @@ -0,0 +1,57 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "rptypes.h" + +#include +static inline void delay(_word_size_t ms){ + while (ms>=1000){ + usleep(1000*1000); + ms-=1000; + }; + if (ms!=0) + usleep(ms*1000); +} + +// TODO: the highest timer interface should be clock_gettime +namespace rp{ namespace arch{ + +_u64 rp_getus(); +_u32 rp_getms(); + +}} + +#define getms() rp::arch::rp_getms() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/arch_win32.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/arch_win32.h new file mode 100644 index 0000000..10852f3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/arch_win32.h @@ -0,0 +1,66 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#pragma warning (disable: 4996) +#define _CRT_SECURE_NO_WARNINGS + +#ifndef WINVER +#define WINVER 0x0500 +#endif + +#ifndef _WIN32_WINNT +#define _WIN32_WINNT 0x0501 +#endif + + +#ifndef _WIN32_IE +#define _WIN32_IE 0x0501 +#endif + +#ifndef _RICHEDIT_VER +#define _RICHEDIT_VER 0x0200 +#endif + + +#include +#include +#include +#include //for memcpy etc.. +#include +#include + + +#include "timer.h" diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.cpp new file mode 100644 index 0000000..7a35a17 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.cpp @@ -0,0 +1,358 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "sdkcommon.h" +#include "net_serial.h" + +namespace rp{ namespace arch{ namespace net{ + +raw_serial::raw_serial() + : rp::hal::serial_rxtx() + , _serial_handle(NULL) + , _baudrate(0) + , _flags(0) +{ + _init(); +} + +raw_serial::~raw_serial() +{ + close(); + + CloseHandle(_ro.hEvent); + CloseHandle(_wo.hEvent); + CloseHandle(_wait_o.hEvent); +} + +bool raw_serial::open() +{ + return open(_portName, _baudrate, _flags); +} + +bool raw_serial::bind(const char * portname, _u32 baudrate, _u32 flags) +{ + strncpy(_portName, portname, sizeof(_portName)); + _baudrate = baudrate; + _flags = flags; + return true; +} + +bool raw_serial::open(const char * portname, _u32 baudrate, _u32 flags) +{ + if (isOpened()) close(); + + _serial_handle = CreateFile( + portname, + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, + NULL + ); + + if (_serial_handle == INVALID_HANDLE_VALUE) return false; + + if (!SetupComm(_serial_handle, SERIAL_RX_BUFFER_SIZE, SERIAL_TX_BUFFER_SIZE)) + { + close(); + return false; + } + + _dcb.BaudRate = baudrate; + _dcb.ByteSize = 8; + _dcb.Parity = NOPARITY; + _dcb.StopBits = ONESTOPBIT; + _dcb.fDtrControl = DTR_CONTROL_ENABLE; + + if (!SetCommState(_serial_handle, &_dcb)) + { + close(); + return false; + } + + if (!SetCommTimeouts(_serial_handle, &_co)) + { + close(); + return false; + } + + if (!SetCommMask(_serial_handle, EV_RXCHAR | EV_ERR )) + { + close(); + return false; + } + + if (!PurgeComm(_serial_handle, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR )) + { + close(); + return false; + } + + Sleep(30); + _is_serial_opened = true; + + //Clear the DTR bit set DTR=high + clearDTR(); + + return true; +} + +void raw_serial::close() +{ + SetCommMask(_serial_handle, 0); + ResetEvent(_wait_o.hEvent); + + CloseHandle(_serial_handle); + _serial_handle = INVALID_HANDLE_VALUE; + + _is_serial_opened = false; +} + +int raw_serial::senddata(const unsigned char * data, size_t size) +{ + DWORD error; + DWORD w_len = 0, o_len = -1; + if (!isOpened()) return ANS_DEV_ERR; + + if (data == NULL || size ==0) return 0; + + if(ClearCommError(_serial_handle, &error, NULL) && error > 0) + PurgeComm(_serial_handle, PURGE_TXABORT | PURGE_TXCLEAR); + + if(!WriteFile(_serial_handle, data, size, &w_len, &_wo)) + if(GetLastError() != ERROR_IO_PENDING) + w_len = ANS_DEV_ERR; + + return w_len; +} + +int raw_serial::recvdata(unsigned char * data, size_t size) +{ + if (!isOpened()) return 0; + DWORD r_len = 0; + + + if(!ReadFile(_serial_handle, data, size, &r_len, &_ro)) + { + if(GetLastError() == ERROR_IO_PENDING) + { + if(!GetOverlappedResult(_serial_handle, &_ro, &r_len, FALSE)) + { + if(GetLastError() != ERROR_IO_INCOMPLETE) + r_len = 0; + } + } + else + r_len = 0; + } + + return r_len; +} + +void raw_serial::flush( _u32 flags) +{ + PurgeComm(_serial_handle, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR ); +} + +int raw_serial::waitforsent(_u32 timeout, size_t * returned_size) +{ + if (!isOpened() ) return ANS_DEV_ERR; + DWORD w_len = 0; + _word_size_t ans =0; + + if (WaitForSingleObject(_wo.hEvent, timeout) == WAIT_TIMEOUT) + { + ans = ANS_TIMEOUT; + goto _final; + } + if(!GetOverlappedResult(_serial_handle, &_wo, &w_len, FALSE)) + { + ans = ANS_DEV_ERR; + } +_final: + if (returned_size) *returned_size = w_len; + return ans; +} + +int raw_serial::waitforrecv(_u32 timeout, size_t * returned_size) +{ + if (!isOpened() ) return -1; + DWORD r_len = 0; + _word_size_t ans =0; + + if (WaitForSingleObject(_ro.hEvent, timeout) == WAIT_TIMEOUT) + { + ans = ANS_TIMEOUT; + } + if(!GetOverlappedResult(_serial_handle, &_ro, &r_len, FALSE)) + { + ans = ANS_DEV_ERR; + } + if (returned_size) *returned_size = r_len; + return ans; +} + +int raw_serial::waitfordata(size_t data_count, _u32 timeout, size_t * returned_size) +{ + COMSTAT stat; + DWORD error; + DWORD msk,length; + size_t dummy_length; + + if (returned_size==NULL) returned_size=(size_t *)&dummy_length; + + + if ( isOpened()) { + size_t rxqueue_remaining = rxqueue_count(); + if (rxqueue_remaining >= data_count) { + *returned_size = rxqueue_remaining; + return 0; + } + } + + while ( isOpened() ) + { + msk = 0; + SetCommMask(_serial_handle, EV_RXCHAR | EV_ERR ); + if(!WaitCommEvent(_serial_handle, &msk, &_wait_o)) + { + if(GetLastError() == ERROR_IO_PENDING) + { + if (WaitForSingleObject(_wait_o.hEvent, timeout) == WAIT_TIMEOUT) + { + *returned_size =0; + return ANS_TIMEOUT; + } + + GetOverlappedResult(_serial_handle, &_wait_o, &length, TRUE); + + ::ResetEvent(_wait_o.hEvent); + }else + { + ClearCommError(_serial_handle, &error, &stat); + *returned_size = stat.cbInQue; + return ANS_DEV_ERR; + } + } + + if(msk & EV_ERR){ + // FIXME: may cause problem here + ClearCommError(_serial_handle, &error, &stat); + } + + if(msk & EV_RXCHAR){ + ClearCommError(_serial_handle, &error, &stat); + if(stat.cbInQue >= data_count) + { + *returned_size = stat.cbInQue; + return 0; + } + } + } + *returned_size=0; + return ANS_DEV_ERR; +} + +size_t raw_serial::rxqueue_count() +{ + if ( !isOpened() ) return 0; + COMSTAT com_stat; + DWORD error; + DWORD r_len = 0; + + if(ClearCommError(_serial_handle, &error, &com_stat) && error > 0) + { + PurgeComm(_serial_handle, PURGE_RXABORT | PURGE_RXCLEAR); + return 0; + } + return com_stat.cbInQue; +} + +void raw_serial::setDTR() +{ + if ( !isOpened() ) return; + + EscapeCommFunction(_serial_handle, SETDTR); +} + +void raw_serial::clearDTR() +{ + if ( !isOpened() ) return; + + EscapeCommFunction(_serial_handle, CLRDTR); +} + + +void raw_serial::_init() +{ + memset(&_dcb, 0, sizeof(_dcb)); + _dcb.DCBlength = sizeof(_dcb); + _serial_handle = INVALID_HANDLE_VALUE; + memset(&_co, 0, sizeof(_co)); + _co.ReadIntervalTimeout = 0; + _co.ReadTotalTimeoutMultiplier = 0; + _co.ReadTotalTimeoutConstant = 0; + _co.WriteTotalTimeoutMultiplier = 0; + _co.WriteTotalTimeoutConstant = 0; + + memset(&_ro, 0, sizeof(_ro)); + memset(&_wo, 0, sizeof(_wo)); + memset(&_wait_o, 0, sizeof(_wait_o)); + + _ro.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + _wo.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + _wait_o.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + + _portName[0] = 0; +} + +}}} //end rp::arch::net + + +//begin rp::hal +namespace rp{ namespace hal{ + +serial_rxtx * serial_rxtx::CreateRxTx() +{ + return new rp::arch::net::raw_serial(); +} + +void serial_rxtx::ReleaseRxTx( serial_rxtx * rxtx) +{ + delete rxtx; +} + + +}} //end rp::hal diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.h new file mode 100644 index 0000000..a390f94 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.h @@ -0,0 +1,86 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "hal/abs_rxtx.h" + +namespace rp{ namespace arch{ namespace net{ + +class raw_serial : public rp::hal::serial_rxtx +{ +public: + enum{ + SERIAL_RX_BUFFER_SIZE = 512, + SERIAL_TX_BUFFER_SIZE = 128, + SERIAL_RX_TIMEOUT = 2000, + SERIAL_TX_TIMEOUT = 2000, + }; + + raw_serial(); + virtual ~raw_serial(); + virtual bool bind(const char * portname, _u32 baudrate, _u32 flags = 0); + virtual bool open(); + virtual void close(); + virtual void flush( _u32 flags); + + virtual int waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL); + + virtual int senddata(const unsigned char * data, size_t size); + virtual int recvdata(unsigned char * data, size_t size); + + virtual int waitforsent(_u32 timeout = -1, size_t * returned_size = NULL); + virtual int waitforrecv(_u32 timeout = -1, size_t * returned_size = NULL); + + virtual size_t rxqueue_count(); + + virtual void setDTR(); + virtual void clearDTR(); + +protected: + bool open(const char * portname, _u32 baudrate, _u32 flags); + void _init(); + + char _portName[20]; + uint32_t _baudrate; + uint32_t _flags; + + OVERLAPPED _ro, _wo; + OVERLAPPED _wait_o; + volatile HANDLE _serial_handle; + DCB _dcb; + COMMTIMEOUTS _co; +}; + +}}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_socket.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_socket.cpp new file mode 100644 index 0000000..c2968b6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_socket.cpp @@ -0,0 +1,876 @@ +/* + * RoboPeak Project + * HAL Layer - Socket Interface + * Copyright 2009 - 2013 RoboPeak Project + * + * Win32 Implementation + */ + +#define _WINSOCKAPI_ + +#include "sdkcommon.h" +#include "..\..\hal\socket.h" +#include +#include +#include + +#include +#include +#pragma comment (lib, "Ws2_32.lib") + +namespace rp{ namespace net { + +static volatile bool _isWSAStartupCalled = false; + +static inline bool _checkWSAStartup() { + int iResult; + WSADATA wsaData; + if (!_isWSAStartupCalled) { + iResult = WSAStartup(MAKEWORD(2,2), &wsaData); + if (iResult != 0) { + return false; + } + _isWSAStartupCalled = true; + } + return true; +} + +static const char* _inet_ntop(int af, const void* src, char* dst, int cnt){ + + struct sockaddr_storage srcaddr; + + + memset(dst, 0, cnt); + + memset(&srcaddr, 0, sizeof(struct sockaddr_storage)); + + + srcaddr.ss_family = af; + + switch (af) { + case AF_INET: + { + struct sockaddr_in * ipv4 = reinterpret_cast< struct sockaddr_in *>(&srcaddr); + memcpy(&(ipv4->sin_addr), src, sizeof(ipv4->sin_addr)); + } + break; + case AF_INET6: + { + struct sockaddr_in6 * ipv6 = reinterpret_cast< struct sockaddr_in6 *>(&srcaddr); + memcpy(&(ipv6->sin6_addr), src, sizeof(ipv6->sin6_addr)); + } + break; + } + + if (WSAAddressToStringA((struct sockaddr*) &srcaddr, sizeof(struct sockaddr_storage), 0, dst, (LPDWORD) &cnt) != 0) { + DWORD rv = WSAGetLastError(); + return NULL; + } + return dst; +} + +static int _inet_pton(int Family, const char * pszAddrString, void* pAddrBuf) +{ + struct sockaddr_storage tmpholder; + int actualSize = sizeof(sockaddr_storage); + + int result = WSAStringToAddressA((char *)pszAddrString, Family, NULL, (sockaddr*)&tmpholder, &actualSize); + if (result) return -1; + + switch (Family) { + case AF_INET: + { + struct sockaddr_in * ipv4 = reinterpret_cast< struct sockaddr_in *>(&tmpholder); + memcpy(pAddrBuf, &(ipv4->sin_addr), sizeof(ipv4->sin_addr)); + } + break; + case AF_INET6: + { + struct sockaddr_in6 * ipv6 = reinterpret_cast< struct sockaddr_in6 *>(&tmpholder); + memcpy(pAddrBuf, &(ipv6->sin6_addr), sizeof(ipv6->sin6_addr)); + } + break; + } + return 1; +} + +static inline int _halAddrTypeToOSType(SocketAddress::address_type_t type) +{ + switch (type) { + case SocketAddress::ADDRESS_TYPE_INET: + return AF_INET; + case SocketAddress::ADDRESS_TYPE_INET6: + return AF_INET6; + case SocketAddress::ADDRESS_TYPE_UNSPEC: + return AF_UNSPEC; + + default: + assert(!"should not reach here"); + return AF_UNSPEC; + } +} + + +SocketAddress::SocketAddress() +{ + _checkWSAStartup(); + _platform_data = reinterpret_cast(new sockaddr_storage); + memset(_platform_data, 0, sizeof(sockaddr_storage)); + + reinterpret_cast(_platform_data)->ss_family = AF_INET; +} + +SocketAddress::SocketAddress(const SocketAddress & src) +{ + _platform_data = reinterpret_cast(new sockaddr_storage); + memcpy(_platform_data, src._platform_data, sizeof(sockaddr_storage)); +} + + + +SocketAddress::SocketAddress(const char * addrString, int port, SocketAddress::address_type_t type) +{ + _checkWSAStartup(); + _platform_data = reinterpret_cast(new sockaddr_storage); + memset(_platform_data, 0, sizeof(sockaddr_storage)); + + // default to ipv4 in case the following operation fails + reinterpret_cast(_platform_data)->ss_family = AF_INET; + + setAddressFromString(addrString, type); + setPort(port); +} + +SocketAddress::SocketAddress(void * platform_data) + : _platform_data(platform_data) +{ _checkWSAStartup(); } + +SocketAddress & SocketAddress::operator = (const SocketAddress &src) +{ + memcpy(_platform_data, src._platform_data, sizeof(sockaddr_storage)); + return *this; +} + + +SocketAddress::~SocketAddress() +{ + delete reinterpret_cast(_platform_data); +} + +SocketAddress::address_type_t SocketAddress::getAddressType() const +{ + switch(reinterpret_cast(_platform_data)->ss_family) { + case AF_INET: + return ADDRESS_TYPE_INET; + case AF_INET6: + return ADDRESS_TYPE_INET6; + default: + assert(!"should not reach here"); + return ADDRESS_TYPE_INET; + } +} + +int SocketAddress::getPort() const +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + return (int)ntohs(reinterpret_cast(_platform_data)->sin_port); + case ADDRESS_TYPE_INET6: + return (int)ntohs(reinterpret_cast(_platform_data)->sin6_port); + default: + return 0; + } +} + +u_result SocketAddress::setPort(int port) +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + reinterpret_cast(_platform_data)->sin_port = htons((short)port); + break; + case ADDRESS_TYPE_INET6: + reinterpret_cast(_platform_data)->sin6_port = htons((short)port); + break; + default: + return RESULT_OPERATION_FAIL; + } + return RESULT_OK; +} + +u_result SocketAddress::setAddressFromString(const char * address_string, SocketAddress::address_type_t type) +{ + int ans = 0; + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + reinterpret_cast(_platform_data)->ss_family = AF_INET; + ans = _inet_pton(AF_INET, + address_string, + &reinterpret_cast(_platform_data)->sin_addr); + break; + + + case ADDRESS_TYPE_INET6: + + reinterpret_cast(_platform_data)->ss_family = AF_INET6; + ans = _inet_pton(AF_INET6, + address_string, + &reinterpret_cast(_platform_data)->sin6_addr); + break; + + default: + return RESULT_INVALID_DATA; + + } + setPort(prevPort); + + return ans<=0?RESULT_INVALID_DATA:RESULT_OK; +} + + +u_result SocketAddress::getAddressAsString(char * buffer, size_t buffersize) const +{ + int net_family = reinterpret_cast(_platform_data)->ss_family; + const char *ans = NULL; + switch (net_family) { + case AF_INET: + ans = _inet_ntop(net_family, &reinterpret_cast(_platform_data)->sin_addr, + buffer, buffersize); + break; + + case AF_INET6: + ans = _inet_ntop(net_family, &reinterpret_cast(_platform_data)->sin6_addr, + buffer, buffersize); + + break; + } + return ans<=0?RESULT_OPERATION_FAIL:RESULT_OK; +} + + + +size_t SocketAddress::LoopUpHostName(const char * hostname, const char * sevicename, std::vector &addresspool , bool performDNS, SocketAddress::address_type_t type) +{ + struct addrinfo hints; + struct addrinfo *result; + int ans; + _checkWSAStartup(); + memset(&hints, 0, sizeof(struct addrinfo)); + hints.ai_family = _halAddrTypeToOSType(type); + hints.ai_flags = AI_PASSIVE; + + if (!performDNS) { + hints.ai_family |= AI_NUMERICSERV | AI_NUMERICHOST; + + } + + ans = getaddrinfo(hostname, sevicename, &hints, &result); + + addresspool.clear(); + + if (ans != 0) { + // hostname loopup failed + return 0; + } + + + for (struct addrinfo * cursor = result; cursor != NULL; cursor = cursor->ai_next) { + if (cursor->ai_family == ADDRESS_TYPE_INET || cursor->ai_family == ADDRESS_TYPE_INET6) { + sockaddr_storage * storagebuffer = new sockaddr_storage; + assert(sizeof(sockaddr_storage) >= cursor->ai_addrlen); + memcpy(storagebuffer, cursor->ai_addr, cursor->ai_addrlen); + addresspool.push_back(SocketAddress(storagebuffer)); + } + } + + + freeaddrinfo(result); + + return addresspool.size(); +} + + +u_result SocketAddress::getRawAddress(_u8 * buffer, size_t bufferSize) const +{ + switch (getAddressType()) { + case ADDRESS_TYPE_INET: + if (bufferSize < sizeof(reinterpret_cast(_platform_data)->sin_addr.s_addr)) return RESULT_INSUFFICIENT_MEMORY; + + memcpy(buffer, &reinterpret_cast(_platform_data)->sin_addr.s_addr, sizeof(reinterpret_cast(_platform_data)->sin_addr.s_addr)); + + + break; + case ADDRESS_TYPE_INET6: + if (bufferSize < sizeof(reinterpret_cast(_platform_data)->sin6_addr.s6_addr)) return RESULT_INSUFFICIENT_MEMORY; + memcpy(buffer, reinterpret_cast(_platform_data)->sin6_addr.s6_addr, sizeof(reinterpret_cast(_platform_data)->sin6_addr.s6_addr)); + + break; + default: + return RESULT_OPERATION_FAIL; + } + return RESULT_OK; +} + + +void SocketAddress::setLoopbackAddress(SocketAddress::address_type_t type) +{ + + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + { + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_LOOPBACK); + } + break; + case ADDRESS_TYPE_INET6: + { + sockaddr_in6 * addrv6 = reinterpret_cast(_platform_data); + addrv6->sin6_family = AF_INET6; + addrv6->sin6_addr = in6addr_loopback; + + } + break; + default: + return; + } + + setPort(prevPort); +} + +void SocketAddress::setBroadcastAddressIPv4() +{ + + int prevPort = getPort(); + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_BROADCAST); + setPort(prevPort); + +} + +void SocketAddress::setAnyAddress(SocketAddress::address_type_t type) +{ + int prevPort = getPort(); + switch (type) { + case ADDRESS_TYPE_INET: + { + sockaddr_in * addrv4 = reinterpret_cast(_platform_data); + addrv4->sin_family = AF_INET; + addrv4->sin_addr.s_addr = htonl(INADDR_ANY); + } + break; + case ADDRESS_TYPE_INET6: + { + sockaddr_in6 * addrv6 = reinterpret_cast(_platform_data); + addrv6->sin6_family = AF_INET6; + addrv6->sin6_addr = in6addr_any; + + } + break; + default: + return; + } + + setPort(prevPort); + + +} + + +}} + + + +///-------------------------------- + + +namespace rp { namespace arch { namespace net{ + +using namespace rp::net; + +class _single_thread StreamSocketImpl : public StreamSocket +{ +public: + + StreamSocketImpl(SOCKET fd) + : _socket_fd(fd) + { + assert(fd>=0); + int bool_true = 1; + ::setsockopt( _socket_fd, SOL_SOCKET, SO_REUSEADDR , (char *)&bool_true, (int)sizeof(bool_true) ); + + enableNoDelay(true); + this->setTimeout(DEFAULT_SOCKET_TIMEOUT, SOCKET_DIR_BOTH); + } + + virtual ~StreamSocketImpl() + { + closesocket(_socket_fd); + } + + virtual void dispose() + { + delete this; + } + + + virtual u_result bind(const SocketAddress & localaddr) + { + const struct sockaddr * addr = reinterpret_cast(localaddr.getPlatformData()); + assert(addr); + int ans = ::bind(_socket_fd, addr, (int)sizeof(sockaddr_storage)); + if (ans) { + return RESULT_OPERATION_FAIL; + } else { + return RESULT_OK; + } + } + + virtual u_result getLocalAddress(SocketAddress & localaddr) + { + struct sockaddr * addr = reinterpret_cast( const_cast(localaddr.getPlatformData())); //donnot do this at home... + assert(addr); + + int actualsize = sizeof(sockaddr_storage); + int ans = ::getsockname(_socket_fd, addr, &actualsize); + + assert(actualsize <= sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk) + { + int ans; + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + + if (msk & SOCKET_DIR_RD) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, (int)sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + if (msk & SOCKET_DIR_WR) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_SNDTIMEO, (char *)&tv, (int)sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + return RESULT_OK; + } + + virtual u_result connect(const SocketAddress & pairAddress) + { + const struct sockaddr * addr = reinterpret_cast(pairAddress.getPlatformData()); + int ans = ::connect(_socket_fd, addr, (int)sizeof(sockaddr_storage)); + if (!ans) return RESULT_OK; + + + switch (WSAGetLastError()) { + case WSAEAFNOSUPPORT: + return RESULT_OPERATION_NOT_SUPPORT; +#if 0 + case EINPROGRESS: + return RESULT_OK; //treat async connection as good status +#endif + case WSAETIMEDOUT: + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result listen(int backlog) + { + int ans = ::listen( _socket_fd, backlog); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual StreamSocket * accept(SocketAddress * pairAddress) + { + int addrsize; + addrsize = sizeof(sockaddr_storage); + SOCKET pair_socket = ::accept( _socket_fd, pairAddress?reinterpret_cast(const_cast(pairAddress->getPlatformData())):NULL + , &addrsize); + + if (pair_socket>=0) { + return new StreamSocketImpl(pair_socket); + } else { + return NULL; + } + } + + virtual u_result waitforIncomingConnection(_u32 timeout) + { + return waitforData(timeout); + } + + virtual u_result send(const void * buffer, size_t len) + { + int ans = ::send( _socket_fd, (const char *)buffer, len, 0); + if (ans != SOCKET_ERROR ) { + assert(ans == (int)len); + + return RESULT_OK; + } else { + switch(WSAGetLastError()) { + case WSAETIMEDOUT: + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + + } + + } + + virtual u_result recv(void *buf, size_t len, size_t & recv_len) + { + int ans = ::recv( _socket_fd, (char *)buf, len, 0); + //::setsockopt(_socket_fd, IPPROTO_TCP, TCP_QUICKACK, (const char *)1, sizeof(int)); + //::setsockopt(_socket_fd, IPPROTO_TCP, TCP_QUICKACK, (int[]){1}, sizeof(int)) + if (ans == SOCKET_ERROR) { + recv_len = 0; + switch(WSAGetLastError()) { + case WSAETIMEDOUT: + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + } else { + recv_len = ans; + return RESULT_OK; + } + } + + virtual u_result getPeerAddress(SocketAddress & peerAddr) + { + struct sockaddr * addr = reinterpret_cast(const_cast(peerAddr.getPlatformData())); //donnot do this at home... + assert(addr); + int actualsize = (int)sizeof(sockaddr_storage); + int ans = ::getpeername(_socket_fd, addr, &actualsize); + + assert(actualsize <= (int)sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + + } + + virtual u_result shutdown(socket_direction_mask mask) + { + int shutdw_opt ; + + switch (mask) { + case SOCKET_DIR_RD: + shutdw_opt = SD_RECEIVE; + break; + case SOCKET_DIR_WR: + shutdw_opt = SD_SEND; + break; + case SOCKET_DIR_BOTH: + default: + shutdw_opt = SD_BOTH; + } + + int ans = ::shutdown(_socket_fd, shutdw_opt); + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result enableKeepAlive(bool enable) + { + int bool_true = enable?1:0; + return ::setsockopt( _socket_fd, SOL_SOCKET, SO_KEEPALIVE , (const char *)&bool_true, (int)sizeof(bool_true) )?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result enableNoDelay(bool enable ) + { + int bool_true = enable?1:0; + return ::setsockopt( _socket_fd, IPPROTO_TCP, TCP_NODELAY, (const char *)&bool_true, (int)sizeof(bool_true) )?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result waitforSent(_u32 timeout ) + { + fd_set wrset; + FD_ZERO(&wrset); + FD_SET(_socket_fd, &wrset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(NULL, NULL, &wrset, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result waitforData(_u32 timeout ) + { + fd_set rdset; + FD_ZERO(&rdset); + FD_SET(_socket_fd, &rdset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(_socket_fd+1, &rdset, NULL, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + +protected: + + SOCKET _socket_fd; + + +}; + + +class _single_thread DGramSocketImpl : public DGramSocket +{ +public: + + DGramSocketImpl(SOCKET fd) + : _socket_fd(fd) + { + assert(fd>=0); + int bool_true = 1; + ::setsockopt( _socket_fd, SOL_SOCKET, SO_REUSEADDR | SO_BROADCAST , (char *)&bool_true, (int)sizeof(bool_true) ); + setTimeout(DEFAULT_SOCKET_TIMEOUT, SOCKET_DIR_BOTH); + } + + virtual ~DGramSocketImpl() + { + closesocket(_socket_fd); + } + + virtual void dispose() + { + delete this; + } + + + virtual u_result bind(const SocketAddress & localaddr) + { + const struct sockaddr * addr = reinterpret_cast(localaddr.getPlatformData()); + assert(addr); + int ans = ::bind(_socket_fd, addr, (int)sizeof(sockaddr_storage)); + if (ans) { + return RESULT_OPERATION_FAIL; + } else { + return RESULT_OK; + } + } + + virtual u_result getLocalAddress(SocketAddress & localaddr) + { + struct sockaddr * addr = reinterpret_cast(const_cast((localaddr.getPlatformData()))); //donnot do this at home... + assert(addr); + + int actualsize = (int)sizeof(sockaddr_storage); + int ans = ::getsockname(_socket_fd, addr, &actualsize); + + assert(actualsize <= (int)sizeof(sockaddr_storage)); + assert(addr->sa_family == AF_INET || addr->sa_family == AF_INET6); + + return ans?RESULT_OPERATION_FAIL:RESULT_OK; + } + + virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk) + { + int ans; + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + + if (msk & SOCKET_DIR_RD) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_RCVTIMEO, (const char *)&tv, (int)sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + if (msk & SOCKET_DIR_WR) { + ans = ::setsockopt( _socket_fd, SOL_SOCKET, SO_SNDTIMEO, (const char *)&tv, (int)sizeof(tv) ); + if (ans) return RESULT_OPERATION_FAIL; + } + + return RESULT_OK; + } + + + virtual u_result waitforSent(_u32 timeout ) + { + fd_set wrset; + FD_ZERO(&wrset); + FD_SET(_socket_fd, &wrset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(NULL, NULL, &wrset, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result waitforData(_u32 timeout ) + { + fd_set rdset; + FD_ZERO(&rdset); + FD_SET(_socket_fd, &rdset); + + timeval tv; + tv.tv_sec = timeout / 1000; + tv.tv_usec = (timeout % 1000) * 1000; + int ans = ::select(NULL, &rdset, NULL, NULL, &tv); + + switch (ans) { + case 1: + // fired + return RESULT_OK; + case 0: + // timeout + return RESULT_OPERATION_TIMEOUT; + default: + delay(0); //relax cpu + return RESULT_OPERATION_FAIL; + } + } + + virtual u_result sendTo(const SocketAddress & target, const void * buffer, size_t len) + { + const struct sockaddr * addr = reinterpret_cast(target.getPlatformData()); + assert(addr); + int ans = ::sendto( _socket_fd, (const char *)buffer, (int)len, 0, addr, (int)sizeof(sockaddr_storage)); + if (ans != SOCKET_ERROR) { + assert(ans == (int)len); + return RESULT_OK; + } else { + switch(WSAGetLastError()) { + case WSAETIMEDOUT: + return RESULT_OPERATION_TIMEOUT; + case WSAEMSGSIZE: + return RESULT_INVALID_DATA; + default: + return RESULT_OPERATION_FAIL; + } + } + + } + + + virtual u_result recvFrom(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr) + { + struct sockaddr * addr = (sourceAddr?reinterpret_cast(const_cast(sourceAddr->getPlatformData())):NULL); + int source_addr_size = (sourceAddr?sizeof(sockaddr_storage):0); + + int ans = ::recvfrom( _socket_fd, (char *)buf, (int)len, 0, addr, addr?&source_addr_size:NULL); + if (ans == SOCKET_ERROR) { + recv_len = 0; + int errCode = WSAGetLastError(); + switch(errCode) { + case WSAETIMEDOUT: + return RESULT_OPERATION_TIMEOUT; + default: + return RESULT_OPERATION_FAIL; + } + } else { + recv_len = ans; + return RESULT_OK; + } + + } + + + +protected: + SOCKET _socket_fd; + +}; + + +}}} + + +namespace rp { namespace net{ + + + +static inline int _socketHalFamilyToOSFamily(SocketBase::socket_family_t family) +{ + switch (family) { + case SocketBase::SOCKET_FAMILY_INET: + return AF_INET; + case SocketBase::SOCKET_FAMILY_INET6: + return AF_INET6; + case SocketBase::SOCKET_FAMILY_RAW: + return AF_UNSPEC; //win32 doesn't support RAW Packet + default: + assert(!"should not reach here"); + return AF_INET; // force treating as IPv4 in release mode + } + +} + +StreamSocket * StreamSocket::CreateSocket(SocketBase::socket_family_t family) +{ + _checkWSAStartup(); + if (family == SOCKET_FAMILY_RAW) return NULL; + + + int socket_family = _socketHalFamilyToOSFamily(family); + int socket_fd = ::socket(socket_family, SOCK_STREAM, 0); + if (socket_fd == -1) return NULL; + StreamSocket * newborn = static_cast(new rp::arch::net::StreamSocketImpl(socket_fd)); + return newborn; + +} + + +DGramSocket * DGramSocket::CreateSocket(SocketBase::socket_family_t family) +{ + _checkWSAStartup(); + int socket_family = _socketHalFamilyToOSFamily(family); + + + int socket_fd = ::socket(socket_family, (family==SOCKET_FAMILY_RAW)?SOCK_RAW:SOCK_DGRAM, 0); + if (socket_fd == -1) return NULL; + DGramSocket * newborn = static_cast(new rp::arch::net::DGramSocketImpl(socket_fd)); + return newborn; + +} + + +}} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.cpp new file mode 100644 index 0000000..b95c054 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.cpp @@ -0,0 +1,62 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "sdkcommon.h" +#include +#pragma comment(lib, "Winmm.lib") + +namespace rp{ namespace arch{ + +static LARGE_INTEGER _current_freq; + +void HPtimer_reset() +{ + BOOL ans=QueryPerformanceFrequency(&_current_freq); + _current_freq.QuadPart/=1000; +} + +_u32 getHDTimer() +{ + LARGE_INTEGER current; + QueryPerformanceCounter(¤t); + + return (_u32)(current.QuadPart/_current_freq.QuadPart); +} + +BEGIN_STATIC_CODE(timer_cailb) +{ + HPtimer_reset(); +}END_STATIC_CODE(timer_cailb) + +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.h new file mode 100644 index 0000000..59b3982 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.h @@ -0,0 +1,47 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "hal/types.h" + +#define delay(x) ::Sleep(x) + +namespace rp{ namespace arch{ + void HPtimer_reset(); + _u32 getHDTimer(); +}} + +#define getms() rp::arch::getHDTimer() + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/winthread.hpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/winthread.hpp new file mode 100644 index 0000000..604f1d3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/winthread.hpp @@ -0,0 +1,144 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "sdkcommon.h" +#include + +namespace rp{ namespace hal{ + +Thread Thread::create(thread_proc_t proc, void * data) +{ + Thread newborn(proc, data); + + newborn._handle = (_word_size_t)( + _beginthreadex(NULL, 0, (unsigned int (_stdcall * )( void * ))proc, + data, 0, NULL)); + return newborn; +} + +u_result Thread::terminate() +{ + if (!this->_handle) return RESULT_OK; + if (TerminateThread( reinterpret_cast(this->_handle), -1)) + { + CloseHandle(reinterpret_cast(this->_handle)); + this->_handle = NULL; + return RESULT_OK; + }else + { + return RESULT_OPERATION_FAIL; + } +} + +u_result Thread::setPriority( priority_val_t p) +{ + if (!this->_handle) return RESULT_OPERATION_FAIL; + + int win_priority = THREAD_PRIORITY_NORMAL; + switch(p) + { + case PRIORITY_REALTIME: + win_priority = THREAD_PRIORITY_TIME_CRITICAL; + break; + case PRIORITY_HIGH: + win_priority = THREAD_PRIORITY_HIGHEST; + break; + case PRIORITY_NORMAL: + win_priority = THREAD_PRIORITY_NORMAL; + break; + case PRIORITY_LOW: + win_priority = THREAD_PRIORITY_LOWEST; + break; + case PRIORITY_IDLE: + win_priority = THREAD_PRIORITY_IDLE; + break; + } + + if (SetThreadPriority(reinterpret_cast(this->_handle), win_priority)) + { + return RESULT_OK; + } + return RESULT_OPERATION_FAIL; +} + +Thread::priority_val_t Thread::getPriority() +{ + if (!this->_handle) return PRIORITY_NORMAL; + int win_priority = ::GetThreadPriority(reinterpret_cast(this->_handle)); + + if (win_priority == THREAD_PRIORITY_ERROR_RETURN) + { + return PRIORITY_NORMAL; + } + + if (win_priority >= THREAD_PRIORITY_TIME_CRITICAL ) + { + return PRIORITY_REALTIME; + } + else if (win_priority=THREAD_PRIORITY_ABOVE_NORMAL) + { + return PRIORITY_HIGH; + } + else if (win_priorityTHREAD_PRIORITY_BELOW_NORMAL) + { + return PRIORITY_NORMAL; + }else if (win_priority<=THREAD_PRIORITY_BELOW_NORMAL && win_priority>THREAD_PRIORITY_IDLE) + { + return PRIORITY_LOW; + }else if (win_priority<=THREAD_PRIORITY_IDLE) + { + return PRIORITY_IDLE; + } + return PRIORITY_NORMAL; +} + +u_result Thread::join(unsigned long timeout) +{ + if (!this->_handle) return RESULT_OK; + switch ( WaitForSingleObject(reinterpret_cast(this->_handle), timeout)) + { + case WAIT_OBJECT_0: + CloseHandle(reinterpret_cast(this->_handle)); + this->_handle = NULL; + return RESULT_OK; + case WAIT_ABANDONED: + return RESULT_OPERATION_FAIL; + case WAIT_TIMEOUT: + return RESULT_OPERATION_TIMEOUT; + } + + return RESULT_OK; +} + +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/abs_rxtx.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/abs_rxtx.h new file mode 100644 index 0000000..3c0e837 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/abs_rxtx.h @@ -0,0 +1,88 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "hal/types.h" + +namespace rp{ namespace hal{ + +class serial_rxtx +{ +public: + enum{ + ANS_OK = 0, + ANS_TIMEOUT = -1, + ANS_DEV_ERR = -2, + }; + + static serial_rxtx * CreateRxTx(); + static void ReleaseRxTx( serial_rxtx * ); + + serial_rxtx():_is_serial_opened(false){} + virtual ~serial_rxtx(){} + + virtual void flush( _u32 flags) = 0; + + virtual bool bind(const char * portname, _u32 baudrate, _u32 flags = 0) = 0; + virtual bool open() = 0; + virtual void close() = 0; + + virtual int waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL) = 0; + + virtual int senddata(const unsigned char * data, size_t size) = 0; + virtual int recvdata(unsigned char * data, size_t size) = 0; + + virtual int waitforsent(_u32 timeout = -1, size_t * returned_size = NULL) = 0; + virtual int waitforrecv(_u32 timeout = -1, size_t * returned_size = NULL) = 0; + + virtual size_t rxqueue_count() = 0; + + virtual void setDTR() = 0; + virtual void clearDTR() = 0; + virtual void cancelOperation() {} + + virtual bool isOpened() + { + return _is_serial_opened; + } + +protected: + volatile bool _is_serial_opened; +}; + +}} + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/assert.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/assert.h new file mode 100644 index 0000000..37cfdd5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/assert.h @@ -0,0 +1,18 @@ +#ifndef _INFRA_HAL_ASSERT_H +#define _INFRA_HAL_ASSERT_H + +#ifdef WIN32 +#include +#ifndef assert +#define assert(x) _ASSERT(x) +#endif +#elif defined(_AVR_) +#define assert(x) +#elif defined(__GNUC__) +#ifndef assert +#define assert(x) +#endif +#else +#error assert.h cannot identify your platform +#endif +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/byteops.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/byteops.h new file mode 100644 index 0000000..c86bde3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/byteops.h @@ -0,0 +1,94 @@ +/* + * RoboPeak Project + * Copyright 2009 - 2013 + * + * RPOS - Byte Operations + * + */ + +#pragma once + +// byte swapping operations for compiling time + +#define __static_byteswap_16(x) ((_u16)( \ + (((_u16)(x) & (_u16)0x00FFU) << 8) | \ + (((_u16)(x) & (_u16)0xFF00U) >> 8))) + +#define __static_byteswap_32(x) ((_u32)( \ + (((_u32)(x) & (_u32)0x000000FFUL) << 24) | \ + (((_u32)(x) & (_u32)0x0000FF00UL) << 8) | \ + (((_u32)(x) & (_u32)0x00FF0000UL) >> 8) | \ + (((_u32)(x) & (_u32)0xFF000000UL) >> 24))) + +#define __static_byteswap_64(x) ((_u64)( \ + (((_u64)(x) & (_u64)0x00000000000000ffULL) << 56) | \ + (((_u64)(x) & (_u64)0x000000000000ff00ULL) << 40) | \ + (((_u64)(x) & (_u64)0x0000000000ff0000ULL) << 24) | \ + (((_u64)(x) & (_u64)0x00000000ff000000ULL) << 8) | \ + (((_u64)(x) & (_u64)0x000000ff00000000ULL) >> 8) | \ + (((_u64)(x) & (_u64)0x0000ff0000000000ULL) >> 24) | \ + (((_u64)(x) & (_u64)0x00ff000000000000ULL) >> 40) | \ + (((_u64)(x) & (_u64)0xff00000000000000ULL) >> 56))) + + +#define __fast_swap(a, b) do { (a) ^= (b); (b) ^= (a); (a) ^= (b); } while(0) + + +static inline _u16 __byteswap_16(_u16 x) +{ +#ifdef __arch_byteswap_16 + return __arch_byteswap_16(x); +#else + return __static_byteswap_16(x); +#endif +} + +static inline _u32 __byteswap_32(_u32 x) +{ +#ifdef __arch_byteswap_32 + return __arch_byteswap_32(x); +#else + return __static_byteswap_32(x); +#endif +} + +static inline _u64 __byteswap_64(_u64 x) +{ +#ifdef __arch_byteswap_64 + return __arch_byteswap_64(x); +#else + return __static_byteswap_64(x); +#endif +} + + +#ifdef float +static inline float __byteswap_float(float x) +{ +#ifdef __arch_byteswap_float + return __arch_byteswap_float(x); +#else + _u8 * raw = (_u8 *)&x; + __fast_swap(raw[0], raw[3]); + __fast_swap(raw[1], raw[2]); + return x; +#endif +} +#endif + + +#ifdef double +static inline double __byteswap_double(double x) +{ +#ifdef __arch_byteswap_double + return __arch_byteswap_double(x); +#else + _u8 * raw = (_u8 *)&x; + __fast_swap(raw[0], raw[7]); + __fast_swap(raw[1], raw[6]); + __fast_swap(raw[2], raw[5]); + __fast_swap(raw[3], raw[4]); + return x; +#endif +} +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/event.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/event.h new file mode 100644 index 0000000..5e05234 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/event.h @@ -0,0 +1,186 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once +namespace rp{ namespace hal{ + +class Event +{ +public: + + enum + { + EVENT_OK = 1, + EVENT_TIMEOUT = -1, + EVENT_FAILED = 0, + }; + + Event(bool isAutoReset = true, bool isSignal = false) +#ifdef _WIN32 + : _event(NULL) +#else + : _is_signalled(isSignal) + , _isAutoReset(isAutoReset) +#endif + { +#ifdef _WIN32 + _event = CreateEvent(NULL, isAutoReset?FALSE:TRUE, isSignal?TRUE:FALSE, NULL); +#else + pthread_mutex_init(&_cond_locker, NULL); + pthread_cond_init(&_cond_var, NULL); +#endif + } + + ~ Event() + { + release(); + } + + void set( bool isSignal = true ) + { + if (isSignal){ +#ifdef _WIN32 + SetEvent(_event); +#else + pthread_mutex_lock(&_cond_locker); + + if ( _is_signalled == false ) + { + _is_signalled = true; + pthread_cond_signal(&_cond_var); + } + pthread_mutex_unlock(&_cond_locker); +#endif + } + else + { +#ifdef _WIN32 + ResetEvent(_event); +#else + pthread_mutex_lock(&_cond_locker); + _is_signalled = false; + pthread_mutex_unlock(&_cond_locker); +#endif + } + } + + unsigned long wait( unsigned long timeout = 0xFFFFFFFF ) + { +#ifdef _WIN32 + switch (WaitForSingleObject(_event, timeout==0xFFFFFFF?INFINITE:(DWORD)timeout)) + { + case WAIT_FAILED: + return EVENT_FAILED; + case WAIT_OBJECT_0: + return EVENT_OK; + case WAIT_TIMEOUT: + return EVENT_TIMEOUT; + } + return EVENT_OK; +#else + unsigned long ans = EVENT_OK; + pthread_mutex_lock( &_cond_locker ); + + if ( !_is_signalled ) + { + + if (timeout == 0xFFFFFFFF){ + pthread_cond_wait(&_cond_var,&_cond_locker); + }else + { + timespec wait_time; + timeval now; + gettimeofday(&now,NULL); + + wait_time.tv_sec = timeout/1000 + now.tv_sec; + wait_time.tv_nsec = (timeout%1000)*1000000ULL + now.tv_usec*1000; + + if (wait_time.tv_nsec >= 1000000000) + { + ++wait_time.tv_sec; + wait_time.tv_nsec -= 1000000000; + } + switch (pthread_cond_timedwait(&_cond_var,&_cond_locker,&wait_time)) + { + case 0: + // signalled + break; + case ETIMEDOUT: + // time up + ans = EVENT_TIMEOUT; + goto _final; + break; + default: + ans = EVENT_FAILED; + goto _final; + } + + } + } + + assert(_is_signalled); + + if ( _isAutoReset ) + { + _is_signalled = false; + } +_final: + pthread_mutex_unlock( &_cond_locker ); + + return ans; +#endif + + } +protected: + + void release() + { +#ifdef _WIN32 + CloseHandle(_event); +#else + pthread_mutex_destroy(&_cond_locker); + pthread_cond_destroy(&_cond_var); +#endif + } + +#ifdef _WIN32 + HANDLE _event; +#else + pthread_cond_t _cond_var; + pthread_mutex_t _cond_locker; + bool _is_signalled; + bool _isAutoReset; +#endif +}; +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/locker.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/locker.h new file mode 100644 index 0000000..d7a13fb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/locker.h @@ -0,0 +1,186 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once +namespace rp{ namespace hal{ + +class Locker +{ +public: + enum LOCK_STATUS + { + LOCK_OK = 1, + LOCK_TIMEOUT = -1, + LOCK_FAILED = 0 + }; + + Locker(){ +#ifdef _WIN32 + _lock = NULL; +#endif + init(); + } + + ~Locker() + { + release(); + } + + Locker::LOCK_STATUS lock(unsigned long timeout = 0xFFFFFFFF) + { +#ifdef _WIN32 + switch (WaitForSingleObject(_lock, timeout==0xFFFFFFF?INFINITE:(DWORD)timeout)) + { + case WAIT_ABANDONED: + return LOCK_FAILED; + case WAIT_OBJECT_0: + return LOCK_OK; + case WAIT_TIMEOUT: + return LOCK_TIMEOUT; + } + +#else +#ifdef _MACOS + if (timeout !=0 ) { + if (pthread_mutex_lock(&_lock) == 0) return LOCK_OK; + } +#else + if (timeout == 0xFFFFFFFF){ + if (pthread_mutex_lock(&_lock) == 0) return LOCK_OK; + } +#endif + else if (timeout == 0) + { + if (pthread_mutex_trylock(&_lock) == 0) return LOCK_OK; + } +#ifndef _MACOS + else + { + timespec wait_time; + timeval now; + gettimeofday(&now,NULL); + + wait_time.tv_sec = timeout/1000 + now.tv_sec; + wait_time.tv_nsec = (timeout%1000)*1000000 + now.tv_usec*1000; + + if (wait_time.tv_nsec >= 1000000000) + { + ++wait_time.tv_sec; + wait_time.tv_nsec -= 1000000000; + } + switch (pthread_mutex_timedlock(&_lock,&wait_time)) + { + case 0: + return LOCK_OK; + case ETIMEDOUT: + return LOCK_TIMEOUT; + } + } +#endif +#endif + + return LOCK_FAILED; + } + + + void unlock() + { +#ifdef _WIN32 + ReleaseMutex(_lock); +#else + pthread_mutex_unlock(&_lock); +#endif + } + +#ifdef _WIN32 + HANDLE getLockHandle() + { + return _lock; + } +#else + pthread_mutex_t *getLockHandle() + { + return &_lock; + } +#endif + + + +protected: + void init() + { +#ifdef _WIN32 + _lock = CreateMutex(NULL,FALSE,NULL); +#else + pthread_mutex_init(&_lock, NULL); +#endif + } + + void release() + { + unlock(); //force unlock before release +#ifdef _WIN32 + + if (_lock) CloseHandle(_lock); + _lock = NULL; +#else + pthread_mutex_destroy(&_lock); +#endif + } + +#ifdef _WIN32 + HANDLE _lock; +#else + pthread_mutex_t _lock; +#endif +}; + +class AutoLocker +{ +public : + AutoLocker(Locker &l): _binded(l) + { + _binded.lock(); + } + + void forceUnlock() { + _binded.unlock(); + } + ~AutoLocker() {_binded.unlock();} + Locker & _binded; +}; + + +}} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/socket.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/socket.h new file mode 100644 index 0000000..55f94b5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/socket.h @@ -0,0 +1,151 @@ +/* + * RoboPeak Project + * HAL Layer - Socket Interface + * Copyright 2009 - 2013 RoboPeak Project + */ + +#pragma once + +#include + +namespace rp{ namespace net { + +class _single_thread SocketAddress +{ + +public: + enum address_type_t { + ADDRESS_TYPE_UNSPEC = 0, + ADDRESS_TYPE_INET = 1, + ADDRESS_TYPE_INET6 = 2, + }; + +public: + + + + SocketAddress(); + SocketAddress(const char * addrString, int port, address_type_t = ADDRESS_TYPE_INET); + // do not use this function, internal usage + SocketAddress(void * platform_data); + SocketAddress(const SocketAddress &); + + SocketAddress & operator = (const SocketAddress &); + + virtual ~SocketAddress(); + + virtual int getPort() const; + virtual u_result setPort(int port); + + virtual u_result setAddressFromString(const char * address_string, address_type_t = ADDRESS_TYPE_INET); + virtual u_result getAddressAsString(char * buffer, size_t buffersize) const; + + virtual address_type_t getAddressType() const; + + virtual u_result getRawAddress(_u8 * buffer, size_t bufferSize) const; + + const void * getPlatformData() const { + return _platform_data; + } + + virtual void setLoopbackAddress(address_type_t = ADDRESS_TYPE_INET); + virtual void setBroadcastAddressIPv4(); + virtual void setAnyAddress(address_type_t = ADDRESS_TYPE_INET); + +public: + static size_t LoopUpHostName(const char * hostname, const char * sevicename, std::vector &addresspool , bool performDNS = true, address_type_t = ADDRESS_TYPE_INET); + +protected: + void * _platform_data; +}; + + + +class SocketBase +{ +public: + enum socket_family_t { + SOCKET_FAMILY_INET = 0, + SOCKET_FAMILY_INET6 = 1, + SOCKET_FAMILY_RAW = 2, + }; + + + enum socket_direction_mask { + SOCKET_DIR_RD = 0x1, + SOCKET_DIR_WR = 0x2, + SOCKET_DIR_BOTH = (SOCKET_DIR_RD | SOCKET_DIR_WR), + }; + + enum { + DEFAULT_SOCKET_TIMEOUT = 10000, //10sec + }; + + virtual ~SocketBase() {} + virtual void dispose() = 0; + virtual u_result bind(const SocketAddress & ) = 0; + + virtual u_result getLocalAddress(SocketAddress & ) = 0; + virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk = SOCKET_DIR_BOTH) = 0; + + virtual u_result waitforSent(_u32 timeout = DEFAULT_SOCKET_TIMEOUT) = 0; + virtual u_result waitforData(_u32 timeout = DEFAULT_SOCKET_TIMEOUT) = 0; +protected: + SocketBase() {} +}; + + +class _single_thread StreamSocket : public SocketBase +{ +public: + + enum { + MAX_BACKLOG = 128, + }; + + static StreamSocket * CreateSocket(socket_family_t family = SOCKET_FAMILY_INET); + + virtual u_result connect(const SocketAddress & pairAddress) = 0; + + virtual u_result listen(int backlog = MAX_BACKLOG) = 0; + virtual StreamSocket * accept(SocketAddress * pairAddress = NULL) = 0; + virtual u_result waitforIncomingConnection(_u32 timeout = DEFAULT_SOCKET_TIMEOUT) = 0; + + virtual u_result send(const void * buffer, size_t len) = 0; + + virtual u_result recv(void *buf, size_t len, size_t & recv_len) = 0; + + virtual u_result getPeerAddress(SocketAddress & ) = 0; + + virtual u_result shutdown(socket_direction_mask mask) = 0; + + virtual u_result enableKeepAlive(bool enable = true) = 0; + + virtual u_result enableNoDelay(bool enable = true) = 0; + +protected: + virtual ~StreamSocket() {} // use dispose(); + StreamSocket() {} +}; + +class _single_thread DGramSocket: public SocketBase +{ + +public: + + static DGramSocket * CreateSocket(socket_family_t family = SOCKET_FAMILY_INET); + + + + virtual u_result sendTo(const SocketAddress & target, const void * buffer, size_t len) = 0; + + virtual u_result recvFrom(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr = NULL) = 0; + + +protected: + virtual ~DGramSocket() {} // use dispose(); + + DGramSocket() {} +}; + +}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.cpp new file mode 100644 index 0000000..16ccb90 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.cpp @@ -0,0 +1,48 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "sdkcommon.h" +#include "hal/thread.h" + +#if defined(_WIN32) +#include "arch/win32/winthread.hpp" +#elif defined(_MACOS) +#include "arch/macOS/thread.hpp" +#elif defined(__GNUC__) +#include "arch/linux/thread.hpp" +#else +#error no threading implemention found for this platform. +#endif + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.h new file mode 100644 index 0000000..94074b8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.h @@ -0,0 +1,87 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +#include "hal/types.h" +#define CLASS_THREAD(c , x ) \ + rp::hal::Thread::create_member(this ) + +namespace rp{ namespace hal{ + +class Thread +{ +public: + enum priority_val_t + { + PRIORITY_REALTIME = 0, + PRIORITY_HIGH = 1, + PRIORITY_NORMAL = 2, + PRIORITY_LOW = 3, + PRIORITY_IDLE = 4, + }; + + template + static Thread create_member(T * pthis) + { + return create(_thread_thunk, pthis); + } + + template + static _word_size_t THREAD_PROC _thread_thunk(void * data) + { + return (static_cast(data)->*PROC)(); + } + static Thread create(thread_proc_t proc, void * data = NULL ); + +public: + ~Thread() { } + Thread(): _data(NULL),_func(NULL),_handle(0) {} + _word_size_t getHandle(){ return _handle;} + u_result terminate(); + void *getData() { return _data;} + u_result join(unsigned long timeout = -1); + u_result setPriority( priority_val_t p); + priority_val_t getPriority(); + + bool operator== ( const Thread & right) { return this->_handle == right._handle; } +protected: + Thread( thread_proc_t proc, void * data ): _data(data),_func(proc), _handle(0) {} + void * _data; + thread_proc_t _func; + _word_size_t _handle; +}; + +}} + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/types.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/types.h new file mode 100644 index 0000000..c9bb902 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/types.h @@ -0,0 +1,119 @@ +/* + * Common Data Types for RP + */ + +#ifndef _INFRA_HAL_TYPES_H_ +#define _INFRA_HAL_TYPES_H_ + +//Basic types +// +#ifdef WIN32 + +//fake stdint.h for VC only + +typedef signed char int8_t; +typedef unsigned char uint8_t; + +typedef __int16 int16_t; +typedef unsigned __int16 uint16_t; + +typedef __int32 int32_t; +typedef unsigned __int32 uint32_t; + +typedef __int64 int64_t; +typedef unsigned __int64 uint64_t; + + +#define RPMODULE_EXPORT __declspec(dllexport) +#define RPMODULE_IMPORT __declspec(dllimport) + +#else + +#include + +#define RPMODULE_EXPORT +#define RPMODULE_IMPORT + +#endif + + +//based on stdint.h +typedef int8_t _s8; +typedef uint8_t _u8; + +typedef int16_t _s16; +typedef uint16_t _u16; + +typedef int32_t _s32; +typedef uint32_t _u32; + +typedef int64_t _s64; +typedef uint64_t _u64; + +#define __small_endian + +#ifndef __GNUC__ +#define __attribute__(x) +#endif + + +// The _word_size_t uses actual data bus width of the current CPU +#ifdef _AVR_ +typedef _u8 _word_size_t; +#define THREAD_PROC +#elif defined (WIN64) +typedef _u64 _word_size_t; +#define THREAD_PROC __stdcall +#elif defined (WIN32) +typedef _u32 _word_size_t; +#define THREAD_PROC __stdcall +#elif defined (__GNUC__) +typedef unsigned long _word_size_t; +#define THREAD_PROC +#elif defined (__ICCARM__) +typedef _u32 _word_size_t; +#define THREAD_PROC +#endif + + + +#define __le +#define __be + +#define _multi_thread +#define _single_thread + +typedef uint32_t u_result; + +#define RESULT_OK 0 +#define RESULT_FAIL_BIT 0x80000000 +#define RESULT_ALREADY_DONE 0x20 +#define RESULT_INVALID_DATA (0x8000 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_FAIL (0x8001 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_TIMEOUT (0x8002 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_STOP (0x8003 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_NOT_SUPPORT (0x8004 | RESULT_FAIL_BIT) +#define RESULT_FORMAT_NOT_SUPPORT (0x8005 | RESULT_FAIL_BIT) +#define RESULT_INSUFFICIENT_MEMORY (0x8006 | RESULT_FAIL_BIT) +#define RESULT_OPERATION_ABORTED (0x8007 | RESULT_FAIL_BIT) +#define RESULT_NOT_FOUND (0x8008 | RESULT_FAIL_BIT) +#define RESULT_RECONNECTING (0x8009 | RESULT_FAIL_BIT) + +#define IS_OK(x) ( ((x) & RESULT_FAIL_BIT) == 0 ) +#define IS_FAIL(x) ( ((x) & RESULT_FAIL_BIT) ) + + +typedef _word_size_t (THREAD_PROC * thread_proc_t ) ( void * ); + + +#if defined (_BUILD_AS_DLL) +#if defined (_BUILD_DLL_EXPORT) +#define RPMODULE_IMPEXP RPMODULE_EXPORT +#else +#define RPMODULE_IMPEXP RPMODULE_IMPORT +#endif +#else +#define RPMODULE_IMPEXP +#endif + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/util.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/util.h new file mode 100644 index 0000000..2882b1d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/util.h @@ -0,0 +1,67 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + + +//------ +/* _countof helper */ +#if !defined(_countof) +#if !defined(__cplusplus) +#define _countof(_Array) (sizeof(_Array) / sizeof(_Array[0])) +#else +extern "C++" +{ +template +char (*__countof_helper( _CountofType (&_Array)[_SizeOfArray]))[_SizeOfArray]; +#define _countof(_Array) sizeof(*__countof_helper(_Array)) +} +#endif +#endif + +/* _offsetof helper */ +#if !defined(offsetof) +#define offsetof(_structure, _field) ((_word_size_t)&(((_structure *)0x0)->_field)) +#endif + + +#define BEGIN_STATIC_CODE( _blockname_ ) \ + static class _static_code_##_blockname_ { \ + public: \ + _static_code_##_blockname_ () + + +#define END_STATIC_CODE( _blockname_ ) \ + } _instance_##_blockname_; + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver.cpp new file mode 100644 index 0000000..1cc6774 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver.cpp @@ -0,0 +1,2263 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "sdkcommon.h" + +#include "hal/abs_rxtx.h" +#include "hal/thread.h" +#include "hal/types.h" +#include "hal/assert.h" +#include "hal/locker.h" +#include "hal/socket.h" +#include "hal/event.h" +#include "rplidar_driver_impl.h" +#include "rplidar_driver_serial.h" +#include "rplidar_driver_TCP.h" + +#include + +#ifndef min +#define min(a,b) (((a) < (b)) ? (a) : (b)) +#endif + +namespace rp { namespace standalone{ namespace rplidar { + +#define DEPRECATED_WARN(fn, replacement) do { \ + static bool __shown__ = false; \ + if (!__shown__) { \ + printDeprecationWarn(fn, replacement); \ + __shown__ = true; \ + } \ + } while (0) + + static void printDeprecationWarn(const char* fn, const char* replacement) + { + fprintf(stderr, "*WARN* YOU ARE USING DEPRECATED API: %s, PLEASE MOVE TO %s\n", fn, replacement); + } + +static void convert(const rplidar_response_measurement_node_t& from, rplidar_response_measurement_node_hq_t& to) +{ + to.angle_z_q14 = (((from.angle_q6_checkbit) >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) << 8) / 90; //transfer to q14 Z-angle + to.dist_mm_q2 = from.distance_q2; + to.flag = (from.sync_quality & RPLIDAR_RESP_MEASUREMENT_SYNCBIT); // trasfer syncbit to HQ flag field + to.quality = (from.sync_quality >> RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT) << RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT; //remove the last two bits and then make quality from 0-63 to 0-255 +} + +static void convert(const rplidar_response_measurement_node_hq_t& from, rplidar_response_measurement_node_t& to) +{ + to.sync_quality = (from.flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) | ((from.quality >> RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT) << RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT); + to.angle_q6_checkbit = 1 | (((from.angle_z_q14 * 90) >> 8) << RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT); + to.distance_q2 = from.dist_mm_q2 > _u16(-1) ? _u16(0) : _u16(from.dist_mm_q2); +} + +// Factory Impl +RPlidarDriver * RPlidarDriver::CreateDriver(_u32 drivertype) +{ + switch (drivertype) { + case DRIVER_TYPE_SERIALPORT: + return new RPlidarDriverSerial(); + case DRIVER_TYPE_TCP: + return new RPlidarDriverTCP(); + default: + return NULL; + } +} + + +void RPlidarDriver::DisposeDriver(RPlidarDriver * drv) +{ + delete drv; +} + + +RPlidarDriverImplCommon::RPlidarDriverImplCommon() + : _isConnected(false) + , _isScanning(false) + , _isSupportingMotorCtrl(false) +{ + _cached_scan_node_hq_count = 0; + _cached_scan_node_hq_count_for_interval_retrieve = 0; + _cached_sampleduration_std = LEGACY_SAMPLE_DURATION; + _cached_sampleduration_express = LEGACY_SAMPLE_DURATION; +} + +bool RPlidarDriverImplCommon::isConnected() +{ + return _isConnected; +} + + +u_result RPlidarDriverImplCommon::reset(_u32 timeout) +{ + u_result ans; + + { + rp::hal::AutoLocker l(_lock); + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_RESET))) { + return ans; + } + } + return RESULT_OK; +} + + +u_result RPlidarDriverImplCommon::clearNetSerialRxCache() +{ + if (!isConnected()) return RESULT_OPERATION_FAIL; + + _chanDev->flush(); + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::_waitResponseHeader(rplidar_ans_header_t * header, _u32 timeout) +{ + int recvPos = 0; + _u32 startTs = getms(); + _u8 recvBuffer[sizeof(rplidar_ans_header_t)]; + _u8 *headerBuffer = reinterpret_cast<_u8 *>(header); + _u32 waitTime; + + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = sizeof(rplidar_ans_header_t) - recvPos; + size_t recvSize; + + bool ans = _chanDev->waitfordata(remainSize, timeout - waitTime, &recvSize); + if(!ans) return RESULT_OPERATION_TIMEOUT; + + if(recvSize > remainSize) recvSize = remainSize; + + recvSize = _chanDev->recvdata(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + _u8 currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: + if (currentByte != RPLIDAR_ANS_SYNC_BYTE1) { + continue; + } + + break; + case 1: + if (currentByte != RPLIDAR_ANS_SYNC_BYTE2) { + recvPos = 0; + continue; + } + break; + } + headerBuffer[recvPos++] = currentByte; + + if (recvPos == sizeof(rplidar_ans_header_t)) { + return RESULT_OK; + } + } + } + + return RESULT_OPERATION_TIMEOUT; +} + + + +u_result RPlidarDriverImplCommon::getHealth(rplidar_response_device_health_t & healthinfo, _u32 timeout) +{ + u_result ans; + + if (!isConnected()) return RESULT_OPERATION_FAIL; + + _disableDataGrabbing(); + + { + rp::hal::AutoLocker l(_lock); + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_GET_DEVICE_HEALTH))) { + return ans; + } + + rplidar_ans_header_t response_header; + if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) { + return ans; + } + + // verify whether we got a correct header + if (response_header.type != RPLIDAR_ANS_TYPE_DEVHEALTH) { + return RESULT_INVALID_DATA; + } + + _u32 header_size = (response_header.size_q30_subtype & RPLIDAR_ANS_HEADER_SIZE_MASK); + if ( header_size < sizeof(rplidar_response_device_health_t)) { + return RESULT_INVALID_DATA; + } + + if (!_chanDev->waitfordata(header_size, timeout)) { + return RESULT_OPERATION_TIMEOUT; + } + _chanDev->recvdata(reinterpret_cast<_u8 *>(&healthinfo), sizeof(healthinfo)); + } + return RESULT_OK; +} + + + +u_result RPlidarDriverImplCommon::getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout) +{ + u_result ans; + + if (!isConnected()) return RESULT_OPERATION_FAIL; + + _disableDataGrabbing(); + + { + rp::hal::AutoLocker l(_lock); + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_GET_DEVICE_INFO))) { + return ans; + } + + rplidar_ans_header_t response_header; + if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) { + return ans; + } + + // verify whether we got a correct header + if (response_header.type != RPLIDAR_ANS_TYPE_DEVINFO) { + return RESULT_INVALID_DATA; + } + + _u32 header_size = (response_header.size_q30_subtype & RPLIDAR_ANS_HEADER_SIZE_MASK); + if (header_size < sizeof(rplidar_response_device_info_t)) { + return RESULT_INVALID_DATA; + } + + if (!_chanDev->waitfordata(header_size, timeout)) { + return RESULT_OPERATION_TIMEOUT; + } + _chanDev->recvdata(reinterpret_cast<_u8 *>(&info), sizeof(info)); + } + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode) +{ + DEPRECATED_WARN("getFrequency(bool,size_t,float&,bool&)", "getFrequency(const RplidarScanMode&,size_t,float&)"); + + _u16 sample_duration = inExpressMode?_cached_sampleduration_express:_cached_sampleduration_std; + frequency = 1000000.0f/(count * sample_duration); + + if (sample_duration <= 277) { + is4kmode = true; + } else { + is4kmode = false; + } + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::getFrequency(const RplidarScanMode& scanMode, size_t count, float & frequency) +{ + float sample_duration = scanMode.us_per_sample; + frequency = 1000000.0f / (count * sample_duration); + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::_waitNode(rplidar_response_measurement_node_t * node, _u32 timeout) +{ + int recvPos = 0; + _u32 startTs = getms(); + _u8 recvBuffer[sizeof(rplidar_response_measurement_node_t)]; + _u8 *nodeBuffer = (_u8*)node; + _u32 waitTime; + + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = sizeof(rplidar_response_measurement_node_t) - recvPos; + size_t recvSize; + + bool ans = _chanDev->waitfordata(remainSize, timeout-waitTime, &recvSize); + if(!ans) return RESULT_OPERATION_FAIL; + + if (recvSize > remainSize) recvSize = remainSize; + + recvSize = _chanDev->recvdata(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + _u8 currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: // expect the sync bit and its reverse in this byte + { + _u8 tmp = (currentByte>>1); + if ( (tmp ^ currentByte) & 0x1 ) { + // pass + } else { + continue; + } + + } + break; + case 1: // expect the highest bit to be 1 + { + if (currentByte & RPLIDAR_RESP_MEASUREMENT_CHECKBIT) { + // pass + } else { + recvPos = 0; + continue; + } + } + break; + } + nodeBuffer[recvPos++] = currentByte; + + if (recvPos == sizeof(rplidar_response_measurement_node_t)) { + return RESULT_OK; + } + } + } + + return RESULT_OPERATION_TIMEOUT; +} + +u_result RPlidarDriverImplCommon::_waitScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout) +{ + if (!_isConnected) { + count = 0; + return RESULT_OPERATION_FAIL; + } + + size_t recvNodeCount = 0; + _u32 startTs = getms(); + _u32 waitTime; + u_result ans; + + while ((waitTime = getms() - startTs) <= timeout && recvNodeCount < count) { + rplidar_response_measurement_node_t node; + if (IS_FAIL(ans = _waitNode(&node, timeout - waitTime))) { + return ans; + } + + nodebuffer[recvNodeCount++] = node; + + if (recvNodeCount == count) return RESULT_OK; + } + count = recvNodeCount; + return RESULT_OPERATION_TIMEOUT; +} + + +u_result RPlidarDriverImplCommon::_waitCapsuledNode(rplidar_response_capsule_measurement_nodes_t & node, _u32 timeout) +{ + int recvPos = 0; + _u32 startTs = getms(); + _u8 recvBuffer[sizeof(rplidar_response_capsule_measurement_nodes_t)]; + _u8 *nodeBuffer = (_u8*)&node; + _u32 waitTime; + + + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = sizeof(rplidar_response_capsule_measurement_nodes_t) - recvPos; + size_t recvSize; + + bool ans = _chanDev->waitfordata(remainSize, timeout-waitTime, &recvSize); + if(!ans) + { + return RESULT_OPERATION_TIMEOUT; + } + if (recvSize > remainSize) recvSize = remainSize; + + recvSize = _chanDev->recvdata(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + _u8 currentByte = recvBuffer[pos]; + + switch (recvPos) { + case 0: // expect the sync bit 1 + { + _u8 tmp = (currentByte>>4); + if ( tmp == RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 ) { + // pass + } else { + _is_previous_capsuledataRdy = false; + continue; + } + + } + break; + case 1: // expect the sync bit 2 + { + _u8 tmp = (currentByte>>4); + if (tmp == RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2) { + // pass + } else { + recvPos = 0; + _is_previous_capsuledataRdy = false; + continue; + } + } + break; + } + nodeBuffer[recvPos++] = currentByte; + if (recvPos == sizeof(rplidar_response_capsule_measurement_nodes_t)) { + // calc the checksum ... + _u8 checksum = 0; + _u8 recvChecksum = ((node.s_checksum_1 & 0xF) | (node.s_checksum_2<<4)); + for (size_t cpos = offsetof(rplidar_response_capsule_measurement_nodes_t, start_angle_sync_q6); + cpos < sizeof(rplidar_response_capsule_measurement_nodes_t); ++cpos) + { + checksum ^= nodeBuffer[cpos]; + } + if (recvChecksum == checksum) + { + // only consider vaild if the checksum matches... + if (node.start_angle_sync_q6 & RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT) + { + // this is the first capsule frame in logic, discard the previous cached data... + _is_previous_capsuledataRdy = false; + return RESULT_OK; + } + return RESULT_OK; + } + _is_previous_capsuledataRdy = false; + return RESULT_INVALID_DATA; + } + } + } + _is_previous_capsuledataRdy = false; + return RESULT_OPERATION_TIMEOUT; +} + +u_result RPlidarDriverImplCommon::_waitUltraCapsuledNode(rplidar_response_ultra_capsule_measurement_nodes_t & node, _u32 timeout) +{ + if (!_isConnected) { + return RESULT_OPERATION_FAIL; + } + + int recvPos = 0; + _u32 startTs = getms(); + _u8 recvBuffer[sizeof(rplidar_response_ultra_capsule_measurement_nodes_t)]; + _u8 *nodeBuffer = (_u8*)&node; + _u32 waitTime; + + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = sizeof(rplidar_response_ultra_capsule_measurement_nodes_t) - recvPos; + size_t recvSize; + + bool ans = _chanDev->waitfordata(remainSize, timeout-waitTime, &recvSize); + if(!ans) + { + return RESULT_OPERATION_TIMEOUT; + } + if (recvSize > remainSize) recvSize = remainSize; + + recvSize = _chanDev->recvdata(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + _u8 currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: // expect the sync bit 1 + { + _u8 tmp = (currentByte>>4); + if ( tmp == RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 ) { + // pass + } + else { + _is_previous_capsuledataRdy = false; + continue; + } + } + break; + case 1: // expect the sync bit 2 + { + _u8 tmp = (currentByte>>4); + if (tmp == RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2) { + // pass + } + else { + recvPos = 0; + _is_previous_capsuledataRdy = false; + continue; + } + } + break; + } + nodeBuffer[recvPos++] = currentByte; + if (recvPos == sizeof(rplidar_response_ultra_capsule_measurement_nodes_t)) { + // calc the checksum ... + _u8 checksum = 0; + _u8 recvChecksum = ((node.s_checksum_1 & 0xF) | (node.s_checksum_2 << 4)); + + for (size_t cpos = offsetof(rplidar_response_ultra_capsule_measurement_nodes_t, start_angle_sync_q6); + cpos < sizeof(rplidar_response_ultra_capsule_measurement_nodes_t); ++cpos) + { + checksum ^= nodeBuffer[cpos]; + } + + if (recvChecksum == checksum) + { + // only consider vaild if the checksum matches... + if (node.start_angle_sync_q6 & RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT) + { + // this is the first capsule frame in logic, discard the previous cached data... + _is_previous_capsuledataRdy = false; + return RESULT_OK; + } + return RESULT_OK; + } + _is_previous_capsuledataRdy = false; + return RESULT_INVALID_DATA; + } + } + } + _is_previous_capsuledataRdy = false; + return RESULT_OPERATION_TIMEOUT; +} + +u_result RPlidarDriverImplCommon::_cacheScanData() +{ + rplidar_response_measurement_node_t local_buf[128]; + size_t count = 128; + rplidar_response_measurement_node_hq_t local_scan[MAX_SCAN_NODES]; + size_t scan_count = 0; + u_result ans; + memset(local_scan, 0, sizeof(local_scan)); + + _waitScanData(local_buf, count); // // always discard the first data since it may be incomplete + + while(_isScanning) + { + if (IS_FAIL(ans=_waitScanData(local_buf, count))) { + if (ans != RESULT_OPERATION_TIMEOUT) { + _isScanning = false; + return RESULT_OPERATION_FAIL; + } + } + + for (size_t pos = 0; pos < count; ++pos) + { + if (local_buf[pos].sync_quality & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) + { + // only publish the data when it contains a full 360 degree scan + + if ((local_scan[0].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT)) { + _lock.lock(); + memcpy(_cached_scan_node_hq_buf, local_scan, scan_count*sizeof(rplidar_response_measurement_node_hq_t)); + _cached_scan_node_hq_count = scan_count; + _dataEvt.set(); + _lock.unlock(); + } + scan_count = 0; + } + + rplidar_response_measurement_node_hq_t nodeHq; + convert(local_buf[pos], nodeHq); + local_scan[scan_count++] = nodeHq; + if (scan_count == _countof(local_scan)) scan_count-=1; // prevent overflow + + //for interval retrieve + { + rp::hal::AutoLocker l(_lock); + _cached_scan_node_hq_buf_for_interval_retrieve[_cached_scan_node_hq_count_for_interval_retrieve++] = nodeHq; + if(_cached_scan_node_hq_count_for_interval_retrieve == _countof(_cached_scan_node_hq_buf_for_interval_retrieve)) _cached_scan_node_hq_count_for_interval_retrieve-=1; // prevent overflow + } + } + } + _isScanning = false; + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::startScanNormal(bool force, _u32 timeout) +{ + u_result ans; + if (!isConnected()) return RESULT_OPERATION_FAIL; + if (_isScanning) return RESULT_ALREADY_DONE; + + stop(); //force the previous operation to stop + + { + rp::hal::AutoLocker l(_lock); + + if (IS_FAIL(ans = _sendCommand(force?RPLIDAR_CMD_FORCE_SCAN:RPLIDAR_CMD_SCAN))) { + return ans; + } + + // waiting for confirmation + rplidar_ans_header_t response_header; + if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) { + return ans; + } + + // verify whether we got a correct header + if (response_header.type != RPLIDAR_ANS_TYPE_MEASUREMENT) { + return RESULT_INVALID_DATA; + } + + _u32 header_size = (response_header.size_q30_subtype & RPLIDAR_ANS_HEADER_SIZE_MASK); + if (header_size < sizeof(rplidar_response_measurement_node_t)) { + return RESULT_INVALID_DATA; + } + + _isScanning = true; + _cachethread = CLASS_THREAD(RPlidarDriverImplCommon, _cacheScanData); + if (_cachethread.getHandle() == 0) { + return RESULT_OPERATION_FAIL; + } + } + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::checkExpressScanSupported(bool & support, _u32 timeout) +{ + DEPRECATED_WARN("checkExpressScanSupported(bool&,_u32)", "getAllSupportedScanModes()"); + + rplidar_response_device_info_t devinfo; + + support = false; + u_result ans = getDeviceInfo(devinfo, timeout); + + if (IS_FAIL(ans)) return ans; + + if (devinfo.firmware_version >= ((0x1<<8) | 17)) { + support = true; + rplidar_response_sample_rate_t sample_rate; + getSampleDuration_uS(sample_rate); + _cached_sampleduration_express = sample_rate.express_sample_duration_us; + _cached_sampleduration_std = sample_rate.std_sample_duration_us; + } + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::_cacheCapsuledScanData() +{ + rplidar_response_capsule_measurement_nodes_t capsule_node; + rplidar_response_measurement_node_hq_t local_buf[128]; + size_t count = 128; + rplidar_response_measurement_node_hq_t local_scan[MAX_SCAN_NODES]; + size_t scan_count = 0; + u_result ans; + memset(local_scan, 0, sizeof(local_scan)); + + _waitCapsuledNode(capsule_node); // // always discard the first data since it may be incomplete + + + + + while(_isScanning) + { + if (IS_FAIL(ans=_waitCapsuledNode(capsule_node))) { + if (ans != RESULT_OPERATION_TIMEOUT && ans != RESULT_INVALID_DATA) { + _isScanning = false; + return RESULT_OPERATION_FAIL; + } else { + // current data is invalid, do not use it. + continue; + } + } + switch (_cached_express_flag) + { + case 0: + _capsuleToNormal(capsule_node, local_buf, count); + break; + case 1: + _dense_capsuleToNormal(capsule_node, local_buf, count); + break; + } + // + + for (size_t pos = 0; pos < count; ++pos) + { + if (local_buf[pos].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) + { + // only publish the data when it contains a full 360 degree scan + + if ((local_scan[0].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT)) { + _lock.lock(); + memcpy(_cached_scan_node_hq_buf, local_scan, scan_count*sizeof(rplidar_response_measurement_node_hq_t)); + _cached_scan_node_hq_count = scan_count; + _dataEvt.set(); + _lock.unlock(); + } + scan_count = 0; + } + local_scan[scan_count++] = local_buf[pos]; + if (scan_count == _countof(local_scan)) scan_count-=1; // prevent overflow + + //for interval retrieve + { + rp::hal::AutoLocker l(_lock); + _cached_scan_node_hq_buf_for_interval_retrieve[_cached_scan_node_hq_count_for_interval_retrieve++] = local_buf[pos]; + if(_cached_scan_node_hq_count_for_interval_retrieve == _countof(_cached_scan_node_hq_buf_for_interval_retrieve)) _cached_scan_node_hq_count_for_interval_retrieve-=1; // prevent overflow + } + } + } + _isScanning = false; + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::_cacheUltraCapsuledScanData() +{ + rplidar_response_ultra_capsule_measurement_nodes_t ultra_capsule_node; + rplidar_response_measurement_node_hq_t local_buf[128]; + size_t count = 128; + rplidar_response_measurement_node_hq_t local_scan[MAX_SCAN_NODES]; + size_t scan_count = 0; + u_result ans; + memset(local_scan, 0, sizeof(local_scan)); + + _waitUltraCapsuledNode(ultra_capsule_node); + + while(_isScanning) + { + if (IS_FAIL(ans=_waitUltraCapsuledNode(ultra_capsule_node))) { + if (ans != RESULT_OPERATION_TIMEOUT && ans != RESULT_INVALID_DATA) { + _isScanning = false; + return RESULT_OPERATION_FAIL; + } else { + // current data is invalid, do not use it. + continue; + } + } + + _ultraCapsuleToNormal(ultra_capsule_node, local_buf, count); + + for (size_t pos = 0; pos < count; ++pos) + { + if (local_buf[pos].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) + { + // only publish the data when it contains a full 360 degree scan + + if ((local_scan[0].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT)) { + _lock.lock(); + memcpy(_cached_scan_node_hq_buf, local_scan, scan_count*sizeof(rplidar_response_measurement_node_hq_t)); + _cached_scan_node_hq_count = scan_count; + _dataEvt.set(); + _lock.unlock(); + } + scan_count = 0; + } + local_scan[scan_count++] = local_buf[pos]; + if (scan_count == _countof(local_scan)) scan_count-=1; // prevent overflow + + //for interval retrieve + { + rp::hal::AutoLocker l(_lock); + _cached_scan_node_hq_buf_for_interval_retrieve[_cached_scan_node_hq_count_for_interval_retrieve++] = local_buf[pos]; + if(_cached_scan_node_hq_count_for_interval_retrieve == _countof(_cached_scan_node_hq_buf_for_interval_retrieve)) _cached_scan_node_hq_count_for_interval_retrieve-=1; // prevent overflow + } + } + } + + _isScanning = false; + + return RESULT_OK; +} + +void RPlidarDriverImplCommon::_capsuleToNormal(const rplidar_response_capsule_measurement_nodes_t & capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount) +{ + nodeCount = 0; + if (_is_previous_capsuledataRdy) { + int diffAngle_q8; + int currentStartAngle_q8 = ((capsule.start_angle_sync_q6 & 0x7FFF)<< 2); + int prevStartAngle_q8 = ((_cached_previous_capsuledata.start_angle_sync_q6 & 0x7FFF) << 2); + + diffAngle_q8 = (currentStartAngle_q8) - (prevStartAngle_q8); + if (prevStartAngle_q8 > currentStartAngle_q8) { + diffAngle_q8 += (360<<8); + } + + int angleInc_q16 = (diffAngle_q8 << 3); + int currentAngle_raw_q16 = (prevStartAngle_q8 << 8); + for (size_t pos = 0; pos < _countof(_cached_previous_capsuledata.cabins); ++pos) + { + int dist_q2[2]; + int angle_q6[2]; + int syncBit[2]; + + dist_q2[0] = (_cached_previous_capsuledata.cabins[pos].distance_angle_1 & 0xFFFC); + dist_q2[1] = (_cached_previous_capsuledata.cabins[pos].distance_angle_2 & 0xFFFC); + + int angle_offset1_q3 = ( (_cached_previous_capsuledata.cabins[pos].offset_angles_q3 & 0xF) | ((_cached_previous_capsuledata.cabins[pos].distance_angle_1 & 0x3)<<4)); + int angle_offset2_q3 = ( (_cached_previous_capsuledata.cabins[pos].offset_angles_q3 >> 4) | ((_cached_previous_capsuledata.cabins[pos].distance_angle_2 & 0x3)<<4)); + + angle_q6[0] = ((currentAngle_raw_q16 - (angle_offset1_q3<<13))>>10); + syncBit[0] = (( (currentAngle_raw_q16 + angleInc_q16) % (360<<16)) < angleInc_q16 )?1:0; + currentAngle_raw_q16 += angleInc_q16; + + + angle_q6[1] = ((currentAngle_raw_q16 - (angle_offset2_q3<<13))>>10); + syncBit[1] = (( (currentAngle_raw_q16 + angleInc_q16) % (360<<16)) < angleInc_q16 )?1:0; + currentAngle_raw_q16 += angleInc_q16; + + for (int cpos = 0; cpos < 2; ++cpos) { + + if (angle_q6[cpos] < 0) angle_q6[cpos] += (360<<6); + if (angle_q6[cpos] >= (360<<6)) angle_q6[cpos] -= (360<<6); + + rplidar_response_measurement_node_hq_t node; + + node.angle_z_q14 = _u16((angle_q6[cpos] << 8) / 90); + node.flag = (syncBit[cpos] | ((!syncBit[cpos]) << 1)); + node.quality = dist_q2[cpos] ? (0x2f << RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT) : 0; + node.dist_mm_q2 = dist_q2[cpos]; + + nodebuffer[nodeCount++] = node; + } + + } + } + + _cached_previous_capsuledata = capsule; + _is_previous_capsuledataRdy = true; +} + +void RPlidarDriverImplCommon::_dense_capsuleToNormal(const rplidar_response_capsule_measurement_nodes_t & capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount) +{ + const rplidar_response_dense_capsule_measurement_nodes_t *dense_capsule = reinterpret_cast(&capsule); + nodeCount = 0; + if (_is_previous_capsuledataRdy) { + int diffAngle_q8; + int currentStartAngle_q8 = ((dense_capsule->start_angle_sync_q6 & 0x7FFF) << 2); + int prevStartAngle_q8 = ((_cached_previous_dense_capsuledata.start_angle_sync_q6 & 0x7FFF) << 2); + + diffAngle_q8 = (currentStartAngle_q8)-(prevStartAngle_q8); + if (prevStartAngle_q8 > currentStartAngle_q8) { + diffAngle_q8 += (360 << 8); + } + + int angleInc_q16 = (diffAngle_q8 << 8)/40; + int currentAngle_raw_q16 = (prevStartAngle_q8 << 8); + for (size_t pos = 0; pos < _countof(_cached_previous_dense_capsuledata.cabins); ++pos) + { + int dist_q2; + int angle_q6; + int syncBit; + const int dist = static_cast(_cached_previous_dense_capsuledata.cabins[pos].distance); + dist_q2 = dist << 2; + angle_q6 = (currentAngle_raw_q16 >> 10); + syncBit = (((currentAngle_raw_q16 + angleInc_q16) % (360 << 16)) < angleInc_q16) ? 1 : 0; + currentAngle_raw_q16 += angleInc_q16; + + if (angle_q6 < 0) angle_q6 += (360 << 6); + if (angle_q6 >= (360 << 6)) angle_q6 -= (360 << 6); + + + + rplidar_response_measurement_node_hq_t node; + + node.angle_z_q14 = _u16((angle_q6 << 8) / 90); + node.flag = (syncBit | ((!syncBit) << 1)); + node.quality = dist_q2 ? (0x2f << RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT) : 0; + node.dist_mm_q2 = dist_q2; + + nodebuffer[nodeCount++] = node; + + + } + } + + _cached_previous_dense_capsuledata = *dense_capsule; + _is_previous_capsuledataRdy = true; +} + +u_result RPlidarDriverImplCommon::_cacheHqScanData() +{ + rplidar_response_hq_capsule_measurement_nodes_t hq_node; + rplidar_response_measurement_node_hq_t local_buf[128]; + size_t count = 128; + rplidar_response_measurement_node_hq_t local_scan[MAX_SCAN_NODES]; + size_t scan_count = 0; + u_result ans; + memset(local_scan, 0, sizeof(local_scan)); + _waitHqNode(hq_node); + while (_isScanning) { + if (IS_FAIL(ans = _waitHqNode(hq_node))) { + if (ans != RESULT_OPERATION_TIMEOUT && ans != RESULT_INVALID_DATA) { + _isScanning = false; + return RESULT_OPERATION_FAIL; + } + else { + // current data is invalid, do not use it. + continue; + } + } + + _HqToNormal(hq_node, local_buf, count); + for (size_t pos = 0; pos < count; ++pos) + { + if (local_buf[pos].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) + { + // only publish the data when it contains a full 360 degree scan + if ((local_scan[0].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT)) { + _lock.lock(); + memcpy(_cached_scan_node_hq_buf, local_scan, scan_count * sizeof(rplidar_response_measurement_node_hq_t)); + _cached_scan_node_hq_count = scan_count; + _dataEvt.set(); + _lock.unlock(); + } + scan_count = 0; + } + local_scan[scan_count++] = local_buf[pos]; + if (scan_count == _countof(local_scan)) scan_count -= 1; // prevent overflow + //for interval retrieve + { + rp::hal::AutoLocker l(_lock); + _cached_scan_node_hq_buf_for_interval_retrieve[_cached_scan_node_hq_count_for_interval_retrieve++] = local_buf[pos]; + if (_cached_scan_node_hq_count_for_interval_retrieve == _countof(_cached_scan_node_hq_buf_for_interval_retrieve)) _cached_scan_node_hq_count_for_interval_retrieve -= 1; // prevent overflow + } + } + + } + return RESULT_OK; +} + +//CRC calculate +static _u32 table[256];//crc32_table + +//reflect +static _u32 _bitrev(_u32 input, _u16 bw) +{ + _u16 i; + _u32 var; + var = 0; + for (i = 0; i>= 1; + } + return var; +} + +// crc32_table init +static void _crc32_init(_u32 poly) +{ + _u16 i; + _u16 j; + _u32 c; + + poly = _bitrev(poly, 32); + for (i = 0; i<256; i++){ + c = i; + for (j = 0; j<8; j++){ + if (c & 1) + c = poly ^ (c >> 1); + else + c = c >> 1; + } + table[i] = c; + } +} + +static _u32 _crc32cal(_u32 crc, void* input, _u16 len) +{ + _u16 i; + _u8 index; + _u8* pch; + pch = (unsigned char*)input; + _u8 leftBytes = 4 - len & 0x3; + + for (i = 0; i> 8) ^ table[index]; + pch++; + } + + for (i = 0; i < leftBytes; i++) {//zero padding + index = (unsigned char)(crc^0); + crc = (crc >> 8) ^ table[index]; + } + return crc^0xffffffff; +} + +//crc32cal +static u_result _crc32(_u8 *ptr, _u32 len) { + static _u8 tmp; + if (tmp != 1) { + _crc32_init(0x4C11DB7); + tmp = 1; + } + + return _crc32cal(0xFFFFFFFF, ptr,len); +} + +u_result RPlidarDriverImplCommon::_waitHqNode(rplidar_response_hq_capsule_measurement_nodes_t & node, _u32 timeout) +{ + if (!_isConnected) { + return RESULT_OPERATION_FAIL; + } + + int recvPos = 0; + _u32 startTs = getms(); + _u8 recvBuffer[sizeof(rplidar_response_hq_capsule_measurement_nodes_t)]; + _u8 *nodeBuffer = (_u8*)&node; + _u32 waitTime; + + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - recvPos; + size_t recvSize; + + bool ans = _chanDev->waitfordata(remainSize, timeout-waitTime, &recvSize); + if(!ans) + { + return RESULT_OPERATION_TIMEOUT; + } + if (recvSize > remainSize) recvSize = remainSize; + + recvSize = _chanDev->recvdata(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + _u8 currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: // expect the sync byte + { + _u8 tmp = (currentByte); + if ( tmp == RPLIDAR_RESP_MEASUREMENT_HQ_SYNC ) { + // pass + } + else { + recvPos = 0; + _is_previous_HqdataRdy = false; + continue; + } + } + break; + case sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 1 - 4: + { + + } + break; + case sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 1: + { + + } + break; + } + nodeBuffer[recvPos++] = currentByte; + if (recvPos == sizeof(rplidar_response_hq_capsule_measurement_nodes_t)) { + _u32 crcCalc2 = _crc32(nodeBuffer, sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 4); + + if(crcCalc2 == node.crc32){ + _is_previous_HqdataRdy = true; + return RESULT_OK; + } + else { + _is_previous_HqdataRdy = false; + return RESULT_INVALID_DATA; + } + + } + } + } + _is_previous_HqdataRdy = false; + return RESULT_OPERATION_TIMEOUT; +} + +void RPlidarDriverImplCommon::_HqToNormal(const rplidar_response_hq_capsule_measurement_nodes_t & node_hq, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount) +{ + nodeCount = 0; + if (_is_previous_HqdataRdy) { + for (size_t pos = 0; pos < _countof(_cached_previous_Hqdata.node_hq); ++pos) + { + nodebuffer[nodeCount++] = node_hq.node_hq[pos]; + } + } + _cached_previous_Hqdata = node_hq; + _is_previous_HqdataRdy = true; + +} +//*******************************************HQ support********************************// + +static _u32 _varbitscale_decode(_u32 scaled, _u32 & scaleLevel) +{ + static const _u32 VBS_SCALED_BASE[] = { + RPLIDAR_VARBITSCALE_X16_DEST_VAL, + RPLIDAR_VARBITSCALE_X8_DEST_VAL, + RPLIDAR_VARBITSCALE_X4_DEST_VAL, + RPLIDAR_VARBITSCALE_X2_DEST_VAL, + 0, + }; + + static const _u32 VBS_SCALED_LVL[] = { + 4, + 3, + 2, + 1, + 0, + }; + + static const _u32 VBS_TARGET_BASE[] = { + (0x1 << RPLIDAR_VARBITSCALE_X16_SRC_BIT), + (0x1 << RPLIDAR_VARBITSCALE_X8_SRC_BIT), + (0x1 << RPLIDAR_VARBITSCALE_X4_SRC_BIT), + (0x1 << RPLIDAR_VARBITSCALE_X2_SRC_BIT), + 0, + }; + + for (size_t i = 0; i < _countof(VBS_SCALED_BASE); ++i) + { + int remain = ((int)scaled - (int)VBS_SCALED_BASE[i]); + if (remain >= 0) { + scaleLevel = VBS_SCALED_LVL[i]; + return VBS_TARGET_BASE[i] + (remain << scaleLevel); + } + } + return 0; +} + +void RPlidarDriverImplCommon::_ultraCapsuleToNormal(const rplidar_response_ultra_capsule_measurement_nodes_t & capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount) +{ + nodeCount = 0; + if (_is_previous_capsuledataRdy) { + int diffAngle_q8; + int currentStartAngle_q8 = ((capsule.start_angle_sync_q6 & 0x7FFF) << 2); + int prevStartAngle_q8 = ((_cached_previous_ultracapsuledata.start_angle_sync_q6 & 0x7FFF) << 2); + + diffAngle_q8 = (currentStartAngle_q8)-(prevStartAngle_q8); + if (prevStartAngle_q8 > currentStartAngle_q8) { + diffAngle_q8 += (360 << 8); + } + + int angleInc_q16 = (diffAngle_q8 << 3) / 3; + int currentAngle_raw_q16 = (prevStartAngle_q8 << 8); + for (size_t pos = 0; pos < _countof(_cached_previous_ultracapsuledata.ultra_cabins); ++pos) + { + int dist_q2[3]; + int angle_q6[3]; + int syncBit[3]; + + + _u32 combined_x3 = _cached_previous_ultracapsuledata.ultra_cabins[pos].combined_x3; + + // unpack ... + int dist_major = (combined_x3 & 0xFFF); + + // signed partical integer, using the magic shift here + // DO NOT TOUCH + + int dist_predict1 = (((int)(combined_x3 << 10)) >> 22); + int dist_predict2 = (((int)combined_x3) >> 22); + + int dist_major2; + + _u32 scalelvl1, scalelvl2; + + // prefetch next ... + if (pos == _countof(_cached_previous_ultracapsuledata.ultra_cabins) - 1) + { + dist_major2 = (capsule.ultra_cabins[0].combined_x3 & 0xFFF); + } + else { + dist_major2 = (_cached_previous_ultracapsuledata.ultra_cabins[pos + 1].combined_x3 & 0xFFF); + } + + // decode with the var bit scale ... + dist_major = _varbitscale_decode(dist_major, scalelvl1); + dist_major2 = _varbitscale_decode(dist_major2, scalelvl2); + + + int dist_base1 = dist_major; + int dist_base2 = dist_major2; + + if ((!dist_major) && dist_major2) { + dist_base1 = dist_major2; + scalelvl1 = scalelvl2; + } + + + dist_q2[0] = (dist_major << 2); + if ((dist_predict1 == 0xFFFFFE00) || (dist_predict1 == 0x1FF)) { + dist_q2[1] = 0; + } else { + dist_predict1 = (dist_predict1 << scalelvl1); + dist_q2[1] = (dist_predict1 + dist_base1) << 2; + + } + + if ((dist_predict2 == 0xFFFFFE00) || (dist_predict2 == 0x1FF)) { + dist_q2[2] = 0; + } else { + dist_predict2 = (dist_predict2 << scalelvl2); + dist_q2[2] = (dist_predict2 + dist_base2) << 2; + } + + + for (int cpos = 0; cpos < 3; ++cpos) + { + + syncBit[cpos] = (((currentAngle_raw_q16 + angleInc_q16) % (360 << 16)) < angleInc_q16) ? 1 : 0; + + int offsetAngleMean_q16 = (int)(7.5 * 3.1415926535 * (1 << 16) / 180.0); + + if (dist_q2[cpos] >= (50 * 4)) + { + const int k1 = 98361; + const int k2 = int(k1 / dist_q2[cpos]); + + offsetAngleMean_q16 = (int)(8 * 3.1415926535 * (1 << 16) / 180) - (k2 << 6) - (k2 * k2 * k2) / 98304; + } + + angle_q6[cpos] = ((currentAngle_raw_q16 - int(offsetAngleMean_q16 * 180 / 3.14159265)) >> 10); + currentAngle_raw_q16 += angleInc_q16; + + if (angle_q6[cpos] < 0) angle_q6[cpos] += (360 << 6); + if (angle_q6[cpos] >= (360 << 6)) angle_q6[cpos] -= (360 << 6); + + rplidar_response_measurement_node_hq_t node; + + node.flag = (syncBit[cpos] | ((!syncBit[cpos]) << 1)); + node.quality = dist_q2[cpos] ? (0x2F << RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT) : 0; + node.angle_z_q14 = _u16((angle_q6[cpos] << 8) / 90); + node.dist_mm_q2 = dist_q2[cpos]; + + nodebuffer[nodeCount++] = node; + } + + } + } + + _cached_previous_ultracapsuledata = capsule; + _is_previous_capsuledataRdy = true; +} + +u_result RPlidarDriverImplCommon::checkSupportConfigCommands(bool& outSupport, _u32 timeoutInMs) +{ + u_result ans; + + rplidar_response_device_info_t devinfo; + ans = getDeviceInfo(devinfo, timeoutInMs); + if (IS_FAIL(ans)) return ans; + + // if lidar firmware >= 1.24 + if (devinfo.firmware_version >= ((0x1 << 8) | 24)) { + outSupport = true; + } + return ans; +} + +u_result RPlidarDriverImplCommon::getLidarConf(_u32 type, std::vector<_u8> &outputBuf, const std::vector<_u8> &reserve, _u32 timeout) +{ + rplidar_payload_get_scan_conf_t query; + memset(&query, 0, sizeof(query)); + query.type = type; + int sizeVec = reserve.size(); + + int maxLen = sizeof(query.reserved) / sizeof(query.reserved[0]); + if (sizeVec > maxLen) sizeVec = maxLen; + + if (sizeVec > 0) + memcpy(query.reserved, &reserve[0], reserve.size()); + + u_result ans; + { + rp::hal::AutoLocker l(_lock); + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_GET_LIDAR_CONF, &query, sizeof(query)))) { + return ans; + } + + // waiting for confirmation + rplidar_ans_header_t response_header; + if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) { + return ans; + } + + // verify whether we got a correct header + if (response_header.type != RPLIDAR_ANS_TYPE_GET_LIDAR_CONF) { + return RESULT_INVALID_DATA; + } + + _u32 header_size = (response_header.size_q30_subtype & RPLIDAR_ANS_HEADER_SIZE_MASK); + if (header_size < sizeof(type)) { + return RESULT_INVALID_DATA; + } + + if (!_chanDev->waitfordata(header_size, timeout)) { + return RESULT_OPERATION_TIMEOUT; + } + + std::vector<_u8> dataBuf; + dataBuf.resize(header_size); + _chanDev->recvdata(reinterpret_cast<_u8 *>(&dataBuf[0]), header_size); + + //check if returned type is same as asked type + _u32 replyType = -1; + memcpy(&replyType, &dataBuf[0], sizeof(type)); + if (replyType != type) { + return RESULT_INVALID_DATA; + } + + //copy all the payload into &outputBuf + int payLoadLen = header_size - sizeof(type); + + //do consistency check + if (payLoadLen <= 0) { + return RESULT_INVALID_DATA; + } + //copy all payLoadLen bytes to outputBuf + outputBuf.resize(payLoadLen); + memcpy(&outputBuf[0], &dataBuf[0] + sizeof(type), payLoadLen); + } + return ans; +} + +u_result RPlidarDriverImplCommon::getTypicalScanMode(_u16& outMode, _u32 timeoutInMs) +{ + u_result ans; + std::vector<_u8> answer; + bool lidarSupportConfigCmds = false; + ans = checkSupportConfigCommands(lidarSupportConfigCmds); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + + if (lidarSupportConfigCmds) + { + ans = getLidarConf(RPLIDAR_CONF_SCAN_MODE_TYPICAL, answer, std::vector<_u8>(), timeoutInMs); + if (IS_FAIL(ans)) { + return ans; + } + if (answer.size() < sizeof(_u16)) { + return RESULT_INVALID_DATA; + } + + const _u16 *p_answer = reinterpret_cast(&answer[0]); + outMode = *p_answer; + return ans; + } + //old version of triangle lidar + else + { + outMode = RPLIDAR_CONF_SCAN_COMMAND_EXPRESS; + return ans; + } + return ans; +} + +u_result RPlidarDriverImplCommon::getLidarSampleDuration(float& sampleDurationRes, _u16 scanModeID, _u32 timeoutInMs) +{ + u_result ans; + std::vector<_u8> reserve(2); + memcpy(&reserve[0], &scanModeID, sizeof(scanModeID)); + + std::vector<_u8> answer; + ans = getLidarConf(RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE, answer, reserve, timeoutInMs); + if (IS_FAIL(ans)) + { + return ans; + } + if (answer.size() < sizeof(_u32)) + { + return RESULT_INVALID_DATA; + } + const _u32 *result = reinterpret_cast(&answer[0]); + sampleDurationRes = (float)(*result >> 8); + return ans; +} + +u_result RPlidarDriverImplCommon::getMaxDistance(float &maxDistance, _u16 scanModeID, _u32 timeoutInMs) +{ + u_result ans; + std::vector<_u8> reserve(2); + memcpy(&reserve[0], &scanModeID, sizeof(scanModeID)); + + std::vector<_u8> answer; + ans = getLidarConf(RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE, answer, reserve, timeoutInMs); + if (IS_FAIL(ans)) + { + return ans; + } + if (answer.size() < sizeof(_u32)) + { + return RESULT_INVALID_DATA; + } + const _u32 *result = reinterpret_cast(&answer[0]); + maxDistance = (float)(*result >> 8); + return ans; +} + +u_result RPlidarDriverImplCommon::getScanModeAnsType(_u8 &ansType, _u16 scanModeID, _u32 timeoutInMs) +{ + u_result ans; + std::vector<_u8> reserve(2); + memcpy(&reserve[0], &scanModeID, sizeof(scanModeID)); + + std::vector<_u8> answer; + ans = getLidarConf(RPLIDAR_CONF_SCAN_MODE_ANS_TYPE, answer, reserve, timeoutInMs); + if (IS_FAIL(ans)) + { + return ans; + } + if (answer.size() < sizeof(_u8)) + { + return RESULT_INVALID_DATA; + } + const _u8 *result = reinterpret_cast(&answer[0]); + ansType = *result; + return ans; +} + +u_result RPlidarDriverImplCommon::getScanModeName(char* modeName, _u16 scanModeID, _u32 timeoutInMs) +{ + u_result ans; + std::vector<_u8> reserve(2); + memcpy(&reserve[0], &scanModeID, sizeof(scanModeID)); + + std::vector<_u8> answer; + ans = getLidarConf(RPLIDAR_CONF_SCAN_MODE_NAME, answer, reserve, timeoutInMs); + if (IS_FAIL(ans)) + { + return ans; + } + int len = answer.size(); + if (0 == len) return RESULT_INVALID_DATA; + memcpy(modeName, &answer[0], len); + return ans; +} + +u_result RPlidarDriverImplCommon::getAllSupportedScanModes(std::vector& outModes, _u32 timeoutInMs) +{ + u_result ans; + bool confProtocolSupported = false; + ans = checkSupportConfigCommands(confProtocolSupported); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + + if (confProtocolSupported) + { + // 1. get scan mode count + _u16 modeCount; + ans = getScanModeCount(modeCount); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + // 2. for loop to get all fields of each scan mode + for (_u16 i = 0; i < modeCount; i++) + { + RplidarScanMode scanModeInfoTmp; + memset(&scanModeInfoTmp, 0, sizeof(scanModeInfoTmp)); + scanModeInfoTmp.id = i; + ans = getLidarSampleDuration(scanModeInfoTmp.us_per_sample, i); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + ans = getMaxDistance(scanModeInfoTmp.max_distance, i); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + ans = getScanModeAnsType(scanModeInfoTmp.ans_type, i); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + ans = getScanModeName(scanModeInfoTmp.scan_mode, i); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + outModes.push_back(scanModeInfoTmp); + } + return ans; + } + else + { + rplidar_response_sample_rate_t sampleRateTmp; + ans = getSampleDuration_uS(sampleRateTmp); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + //judge if support express scan + bool ifSupportExpScan = false; + ans = checkExpressScanSupported(ifSupportExpScan); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + + RplidarScanMode stdScanModeInfo; + stdScanModeInfo.id = RPLIDAR_CONF_SCAN_COMMAND_STD; + stdScanModeInfo.us_per_sample = sampleRateTmp.std_sample_duration_us; + stdScanModeInfo.max_distance = 16; + stdScanModeInfo.ans_type = RPLIDAR_ANS_TYPE_MEASUREMENT; + strcpy(stdScanModeInfo.scan_mode, "Standard"); + outModes.push_back(stdScanModeInfo); + if (ifSupportExpScan) + { + RplidarScanMode expScanModeInfo; + expScanModeInfo.id = RPLIDAR_CONF_SCAN_COMMAND_EXPRESS; + expScanModeInfo.us_per_sample = sampleRateTmp.express_sample_duration_us; + expScanModeInfo.max_distance = 16; + expScanModeInfo.ans_type = RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED; + strcpy(expScanModeInfo.scan_mode, "Express"); + outModes.push_back(expScanModeInfo); + } + return ans; + } + return ans; +} + +u_result RPlidarDriverImplCommon::getScanModeCount(_u16& modeCount, _u32 timeoutInMs) +{ + u_result ans; + std::vector<_u8> answer; + ans = getLidarConf(RPLIDAR_CONF_SCAN_MODE_COUNT, answer, std::vector<_u8>(), timeoutInMs); + + if (IS_FAIL(ans)) { + return ans; + } + if (answer.size() < sizeof(_u16)) { + return RESULT_INVALID_DATA; + } + const _u16 *p_answer = reinterpret_cast(&answer[0]); + modeCount = *p_answer; + + return ans; +} + + +u_result RPlidarDriverImplCommon::startScan(bool force, bool useTypicalScan, _u32 options, RplidarScanMode* outUsedScanMode) +{ + u_result ans; + + bool ifSupportLidarConf = false; + ans = checkSupportConfigCommands(ifSupportLidarConf); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + + if (useTypicalScan) + { + //if support lidar config protocol + if (ifSupportLidarConf) + { + _u16 typicalMode; + ans = getTypicalScanMode(typicalMode); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + + //call startScanExpress to do the job + return startScanExpress(false, typicalMode, 0, outUsedScanMode); + } + //if old version of triangle lidar + else + { + bool isExpScanSupported = false; + ans = checkExpressScanSupported(isExpScanSupported); + if (IS_FAIL(ans)) { + return ans; + } + if (isExpScanSupported) + { + return startScanExpress(false, RPLIDAR_CONF_SCAN_COMMAND_EXPRESS, 0, outUsedScanMode); + } + } + } + + // 'useTypicalScan' is false, just use normal scan mode + if(ifSupportLidarConf) + { + if(outUsedScanMode) + { + outUsedScanMode->id = RPLIDAR_CONF_SCAN_COMMAND_STD; + ans = getLidarSampleDuration(outUsedScanMode->us_per_sample, outUsedScanMode->id); + if(IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + + ans = getMaxDistance(outUsedScanMode->max_distance, outUsedScanMode->id); + if(IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + + ans = getScanModeAnsType(outUsedScanMode->ans_type, outUsedScanMode->id); + if(IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + + ans = getScanModeName(outUsedScanMode->scan_mode, outUsedScanMode->id); + if(IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + } + } + else + { + if(outUsedScanMode) + { + rplidar_response_sample_rate_t sampleRateTmp; + ans = getSampleDuration_uS(sampleRateTmp); + if(IS_FAIL(ans)) return RESULT_INVALID_DATA; + outUsedScanMode->us_per_sample = sampleRateTmp.std_sample_duration_us; + outUsedScanMode->max_distance = 16; + outUsedScanMode->ans_type = RPLIDAR_ANS_TYPE_MEASUREMENT; + strcpy(outUsedScanMode->scan_mode, "Standard"); + } + } + + return startScanNormal(force); +} + +u_result RPlidarDriverImplCommon::startScanExpress(bool force, _u16 scanMode, _u32 options, RplidarScanMode* outUsedScanMode, _u32 timeout) +{ + u_result ans; + if (!isConnected()) return RESULT_OPERATION_FAIL; + if (_isScanning) return RESULT_ALREADY_DONE; + + stop(); //force the previous operation to stop + + if (scanMode == RPLIDAR_CONF_SCAN_COMMAND_STD) + { + return startScan(force, false, 0, outUsedScanMode); + } + + + bool ifSupportLidarConf = false; + ans = checkSupportConfigCommands(ifSupportLidarConf); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + + if (outUsedScanMode) + { + outUsedScanMode->id = scanMode; + if (ifSupportLidarConf) + { + ans = getLidarSampleDuration(outUsedScanMode->us_per_sample, outUsedScanMode->id); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + + ans = getMaxDistance(outUsedScanMode->max_distance, outUsedScanMode->id); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + + ans = getScanModeAnsType(outUsedScanMode->ans_type, outUsedScanMode->id); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + + ans = getScanModeName(outUsedScanMode->scan_mode, outUsedScanMode->id); + if (IS_FAIL(ans)) + { + return RESULT_INVALID_DATA; + } + + + } + else + { + rplidar_response_sample_rate_t sampleRateTmp; + ans = getSampleDuration_uS(sampleRateTmp); + if (IS_FAIL(ans)) return RESULT_INVALID_DATA; + + outUsedScanMode->us_per_sample = sampleRateTmp.express_sample_duration_us; + outUsedScanMode->max_distance = 16; + outUsedScanMode->ans_type = RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED; + strcpy(outUsedScanMode->scan_mode, "Express"); + } + } + + //get scan answer type to specify how to wait data + _u8 scanAnsType; + if (ifSupportLidarConf) + { + getScanModeAnsType(scanAnsType, scanMode); + } + else + { + scanAnsType = RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED; + } + + { + rp::hal::AutoLocker l(_lock); + + rplidar_payload_express_scan_t scanReq; + memset(&scanReq, 0, sizeof(scanReq)); + if (scanMode != RPLIDAR_CONF_SCAN_COMMAND_STD && scanMode != RPLIDAR_CONF_SCAN_COMMAND_EXPRESS) + scanReq.working_mode = _u8(scanMode); + scanReq.working_flags = options; + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_EXPRESS_SCAN, &scanReq, sizeof(scanReq)))) { + return ans; + } + + // waiting for confirmation + rplidar_ans_header_t response_header; + if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) { + return ans; + } + + // verify whether we got a correct header + if (response_header.type != scanAnsType) { + return RESULT_INVALID_DATA; + } + + _u32 header_size = (response_header.size_q30_subtype & RPLIDAR_ANS_HEADER_SIZE_MASK); + + if (scanAnsType == RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED) + { + if (header_size < sizeof(rplidar_response_capsule_measurement_nodes_t)) { + return RESULT_INVALID_DATA; + } + _cached_express_flag = 0; + _isScanning = true; + _cachethread = CLASS_THREAD(RPlidarDriverImplCommon, _cacheCapsuledScanData); + } + else if (scanAnsType == RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED) + { + if (header_size < sizeof(rplidar_response_capsule_measurement_nodes_t)) { + return RESULT_INVALID_DATA; + } + _cached_express_flag = 1; + _isScanning = true; + _cachethread = CLASS_THREAD(RPlidarDriverImplCommon, _cacheCapsuledScanData); + } + else if (scanAnsType == RPLIDAR_ANS_TYPE_MEASUREMENT_HQ) { + if (header_size < sizeof(rplidar_response_hq_capsule_measurement_nodes_t)) { + return RESULT_INVALID_DATA; + } + _isScanning = true; + _cachethread = CLASS_THREAD(RPlidarDriverImplCommon, _cacheHqScanData); + } + else + { + if (header_size < sizeof(rplidar_response_ultra_capsule_measurement_nodes_t)) { + return RESULT_INVALID_DATA; + } + _isScanning = true; + _cachethread = CLASS_THREAD(RPlidarDriverImplCommon, _cacheUltraCapsuledScanData); + } + + if (_cachethread.getHandle() == 0) { + return RESULT_OPERATION_FAIL; + } + } + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::stop(_u32 timeout) +{ + u_result ans; + _disableDataGrabbing(); + + { + rp::hal::AutoLocker l(_lock); + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_STOP))) { + return ans; + } + } + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout) +{ + DEPRECATED_WARN("grabScanData()", "grabScanDataHq()"); + + switch (_dataEvt.wait(timeout)) + { + case rp::hal::Event::EVENT_TIMEOUT: + count = 0; + return RESULT_OPERATION_TIMEOUT; + case rp::hal::Event::EVENT_OK: + { + if(_cached_scan_node_hq_count == 0) return RESULT_OPERATION_TIMEOUT; //consider as timeout + + rp::hal::AutoLocker l(_lock); + + size_t size_to_copy = min(count, _cached_scan_node_hq_count); + + for (size_t i = 0; i < size_to_copy; i++) + convert(_cached_scan_node_hq_buf[i], nodebuffer[i]); + + count = size_to_copy; + _cached_scan_node_hq_count = 0; + } + return RESULT_OK; + + default: + count = 0; + return RESULT_OPERATION_FAIL; + } +} + +u_result RPlidarDriverImplCommon::grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout) +{ + switch (_dataEvt.wait(timeout)) + { + case rp::hal::Event::EVENT_TIMEOUT: + count = 0; + return RESULT_OPERATION_TIMEOUT; + case rp::hal::Event::EVENT_OK: + { + if (_cached_scan_node_hq_count == 0) return RESULT_OPERATION_TIMEOUT; //consider as timeout + + rp::hal::AutoLocker l(_lock); + + size_t size_to_copy = min(count, _cached_scan_node_hq_count); + memcpy(nodebuffer, _cached_scan_node_hq_buf, size_to_copy * sizeof(rplidar_response_measurement_node_hq_t)); + + count = size_to_copy; + _cached_scan_node_hq_count = 0; + } + return RESULT_OK; + + default: + count = 0; + return RESULT_OPERATION_FAIL; + } +} + +u_result RPlidarDriverImplCommon::getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count) +{ + DEPRECATED_WARN("getScanDataWithInterval(rplidar_response_measurement_node_t*, size_t&)", "getScanDataWithInterval(rplidar_response_measurement_node_hq_t*, size_t&)"); + + size_t size_to_copy = 0; + { + rp::hal::AutoLocker l(_lock); + if(_cached_scan_node_hq_count_for_interval_retrieve == 0) + { + return RESULT_OPERATION_TIMEOUT; + } + //copy all the nodes(_cached_scan_node_count_for_interval_retrieve nodes) in _cached_scan_node_buf_for_interval_retrieve + size_to_copy = _cached_scan_node_hq_count_for_interval_retrieve; + for (size_t i = 0; i < size_to_copy; i++) + { + convert(_cached_scan_node_hq_buf_for_interval_retrieve[i], nodebuffer[i]); + } + _cached_scan_node_hq_count_for_interval_retrieve = 0; + } + count = size_to_copy; + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count) +{ + size_t size_to_copy = 0; + { + rp::hal::AutoLocker l(_lock); + if (_cached_scan_node_hq_count_for_interval_retrieve == 0) + { + return RESULT_OPERATION_TIMEOUT; + } + //copy all the nodes(_cached_scan_node_count_for_interval_retrieve nodes) in _cached_scan_node_buf_for_interval_retrieve + size_to_copy = _cached_scan_node_hq_count_for_interval_retrieve; + memcpy(nodebuffer, _cached_scan_node_hq_buf_for_interval_retrieve, size_to_copy * sizeof(rplidar_response_measurement_node_hq_t)); + _cached_scan_node_hq_count_for_interval_retrieve = 0; + } + count = size_to_copy; + + return RESULT_OK; +} + +static inline float getAngle(const rplidar_response_measurement_node_t& node) +{ + return (node.angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) / 64.f; +} + +static inline void setAngle(rplidar_response_measurement_node_t& node, float v) +{ + _u16 checkbit = node.angle_q6_checkbit & RPLIDAR_RESP_MEASUREMENT_CHECKBIT; + node.angle_q6_checkbit = (((_u16)(v * 64.0f)) << RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) | checkbit; +} + +static inline float getAngle(const rplidar_response_measurement_node_hq_t& node) +{ + return node.angle_z_q14 * 90.f / 16384.f; +} + +static inline void setAngle(rplidar_response_measurement_node_hq_t& node, float v) +{ + node.angle_z_q14 = _u32(v * 16384.f / 90.f); +} + +static inline _u16 getDistanceQ2(const rplidar_response_measurement_node_t& node) +{ + return node.distance_q2; +} + +static inline _u32 getDistanceQ2(const rplidar_response_measurement_node_hq_t& node) +{ + return node.dist_mm_q2; +} + +template +static bool angleLessThan(const TNode& a, const TNode& b) +{ + return getAngle(a) < getAngle(b); +} + +template < class TNode > +static u_result ascendScanData_(TNode * nodebuffer, size_t count) +{ + float inc_origin_angle = 360.f/count; + size_t i = 0; + + //Tune head + for (i = 0; i < count; i++) { + if(getDistanceQ2(nodebuffer[i]) == 0) { + continue; + } else { + while(i != 0) { + i--; + float expect_angle = getAngle(nodebuffer[i+1]) - inc_origin_angle; + if (expect_angle < 0.0f) expect_angle = 0.0f; + setAngle(nodebuffer[i], expect_angle); + } + break; + } + } + + // all the data is invalid + if (i == count) return RESULT_OPERATION_FAIL; + + //Tune tail + for (i = count - 1; i >= 0; i--) { + if(getDistanceQ2(nodebuffer[i]) == 0) { + continue; + } else { + while(i != (count - 1)) { + i++; + float expect_angle = getAngle(nodebuffer[i-1]) + inc_origin_angle; + if (expect_angle > 360.0f) expect_angle -= 360.0f; + setAngle(nodebuffer[i], expect_angle); + } + break; + } + } + + //Fill invalid angle in the scan + float frontAngle = getAngle(nodebuffer[0]); + for (i = 1; i < count; i++) { + if(getDistanceQ2(nodebuffer[i]) == 0) { + float expect_angle = frontAngle + i * inc_origin_angle; + if (expect_angle > 360.0f) expect_angle -= 360.0f; + setAngle(nodebuffer[i], expect_angle); + } + } + + // Reorder the scan according to the angle value + std::sort(nodebuffer, nodebuffer + count, &angleLessThan); + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count) +{ + DEPRECATED_WARN("ascendScanData(rplidar_response_measurement_node_t*, size_t)", "ascendScanData(rplidar_response_measurement_node_hq_t*, size_t)"); + + return ascendScanData_(nodebuffer, count); +} + +u_result RPlidarDriverImplCommon::ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count) +{ + return ascendScanData_(nodebuffer, count); +} + +u_result RPlidarDriverImplCommon::_sendCommand(_u8 cmd, const void * payload, size_t payloadsize) +{ + _u8 pkt_header[10]; + rplidar_cmd_packet_t * header = reinterpret_cast(pkt_header); + _u8 checksum = 0; + + if (!_isConnected) return RESULT_OPERATION_FAIL; + + if (payloadsize && payload) { + cmd |= RPLIDAR_CMDFLAG_HAS_PAYLOAD; + } + + header->syncByte = RPLIDAR_CMD_SYNC_BYTE; + header->cmd_flag = cmd; + + // send header first + _chanDev->senddata(pkt_header, 2) ; + + if (cmd & RPLIDAR_CMDFLAG_HAS_PAYLOAD) { + checksum ^= RPLIDAR_CMD_SYNC_BYTE; + checksum ^= cmd; + checksum ^= (payloadsize & 0xFF); + + // calc checksum + for (size_t pos = 0; pos < payloadsize; ++pos) { + checksum ^= ((_u8 *)payload)[pos]; + } + + // send size + _u8 sizebyte = payloadsize; + _chanDev->senddata(&sizebyte, 1); + + // send payload + _chanDev->senddata((const _u8 *)payload, sizebyte); + + // send checksum + _chanDev->senddata(&checksum, 1); + } + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout) +{ + DEPRECATED_WARN("getSampleDuration_uS", "RplidarScanMode::us_per_sample"); + + if (!isConnected()) return RESULT_OPERATION_FAIL; + + _disableDataGrabbing(); + + rplidar_response_device_info_t devinfo; + // 1. fetch the device version first... + u_result ans = getDeviceInfo(devinfo, timeout); + + rateInfo.express_sample_duration_us = _cached_sampleduration_express; + rateInfo.std_sample_duration_us = _cached_sampleduration_std; + + if (devinfo.firmware_version < ((0x1<<8) | 17)) { + // provide fake data... + + return RESULT_OK; + } + + + { + rp::hal::AutoLocker l(_lock); + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_GET_SAMPLERATE))) { + return ans; + } + + rplidar_ans_header_t response_header; + if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) { + return ans; + } + + // verify whether we got a correct header + if (response_header.type != RPLIDAR_ANS_TYPE_SAMPLE_RATE) { + return RESULT_INVALID_DATA; + } + + _u32 header_size = (response_header.size_q30_subtype & RPLIDAR_ANS_HEADER_SIZE_MASK); + if ( header_size < sizeof(rplidar_response_sample_rate_t)) { + return RESULT_INVALID_DATA; + } + + if (!_chanDev->waitfordata(header_size, timeout)) { + return RESULT_OPERATION_TIMEOUT; + } + _chanDev->recvdata(reinterpret_cast<_u8 *>(&rateInfo), sizeof(rateInfo)); + } + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::checkMotorCtrlSupport(bool & support, _u32 timeout) +{ + u_result ans; + support = false; + + if (!isConnected()) return RESULT_OPERATION_FAIL; + + _disableDataGrabbing(); + + { + rp::hal::AutoLocker l(_lock); + + rplidar_payload_acc_board_flag_t flag; + flag.reserved = 0; + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_GET_ACC_BOARD_FLAG, &flag, sizeof(flag)))) { + return ans; + } + + rplidar_ans_header_t response_header; + if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) { + return ans; + } + + // verify whether we got a correct header + if (response_header.type != RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG) { + return RESULT_INVALID_DATA; + } + + _u32 header_size = (response_header.size_q30_subtype & RPLIDAR_ANS_HEADER_SIZE_MASK); + if ( header_size < sizeof(rplidar_response_acc_board_flag_t)) { + return RESULT_INVALID_DATA; + } + + if (!_chanDev->waitfordata(header_size, timeout)) { + return RESULT_OPERATION_TIMEOUT; + } + rplidar_response_acc_board_flag_t acc_board_flag; + _chanDev->recvdata(reinterpret_cast<_u8 *>(&acc_board_flag), sizeof(acc_board_flag)); + + if (acc_board_flag.support_flag & RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK) { + support = true; + } + } + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::setMotorPWM(_u16 pwm) +{ + u_result ans; + rplidar_payload_motor_pwm_t motor_pwm; + motor_pwm.pwm_value = pwm; + + { + rp::hal::AutoLocker l(_lock); + + if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_SET_MOTOR_PWM,(const _u8 *)&motor_pwm, sizeof(motor_pwm)))) { + return ans; + } + } + + return RESULT_OK; +} + +u_result RPlidarDriverImplCommon::startMotor() +{ + if (_isSupportingMotorCtrl) { // RPLIDAR A2 + setMotorPWM(DEFAULT_MOTOR_PWM); + delay(500); + return RESULT_OK; + } else { // RPLIDAR A1 + rp::hal::AutoLocker l(_lock); + _chanDev->clearDTR(); + delay(500); + return RESULT_OK; + } +} + +u_result RPlidarDriverImplCommon::stopMotor() +{ + if (_isSupportingMotorCtrl) { // RPLIDAR A2 + setMotorPWM(0); + delay(500); + return RESULT_OK; + } else { // RPLIDAR A1 + rp::hal::AutoLocker l(_lock); + _chanDev->setDTR(); + delay(500); + return RESULT_OK; + } +} + +void RPlidarDriverImplCommon::_disableDataGrabbing() +{ + _isScanning = false; + _cachethread.join(); +} + +// Serial Driver Impl + +RPlidarDriverSerial::RPlidarDriverSerial() +{ + _chanDev = new SerialChannelDevice(); +} + +RPlidarDriverSerial::~RPlidarDriverSerial() +{ + // force disconnection + disconnect(); + + _chanDev->close(); + _chanDev->ReleaseRxTx(); +} + +void RPlidarDriverSerial::disconnect() +{ + if (!_isConnected) return ; + stop(); +} + +u_result RPlidarDriverSerial::connect(const char * port_path, _u32 baudrate, _u32 flag) +{ + if (isConnected()) return RESULT_ALREADY_DONE; + + if (!_chanDev) return RESULT_INSUFFICIENT_MEMORY; + + { + rp::hal::AutoLocker l(_lock); + + // establish the serial connection... + if (!_chanDev->bind(port_path, baudrate) || !_chanDev->open()) { + return RESULT_INVALID_DATA; + } + _chanDev->flush(); + } + + _isConnected = true; + + checkMotorCtrlSupport(_isSupportingMotorCtrl); + stopMotor(); + + return RESULT_OK; +} + +RPlidarDriverTCP::RPlidarDriverTCP() +{ + _chanDev = new TCPChannelDevice(); +} + +RPlidarDriverTCP::~RPlidarDriverTCP() +{ + // force disconnection + disconnect(); +} + +void RPlidarDriverTCP::disconnect() +{ + if (!_isConnected) return ; + stop(); + _chanDev->close(); +} + +u_result RPlidarDriverTCP::connect(const char * ipStr, _u32 port, _u32 flag) +{ + if (isConnected()) return RESULT_ALREADY_DONE; + + if (!_chanDev) return RESULT_INSUFFICIENT_MEMORY; + + { + rp::hal::AutoLocker l(_lock); + + // establish the serial connection... + if(!_chanDev->bind(ipStr, port)) + return RESULT_INVALID_DATA; + } + + _isConnected = true; + + checkMotorCtrlSupport(_isSupportingMotorCtrl); + stopMotor(); + + return RESULT_OK; +} + +}}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_TCP.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_TCP.h new file mode 100644 index 0000000..0bd7ffd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_TCP.h @@ -0,0 +1,85 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +namespace rp { namespace standalone{ namespace rplidar { + +class TCPChannelDevice :public ChannelDevice +{ +public: + rp::net::StreamSocket * _binded_socket; + TCPChannelDevice():_binded_socket(rp::net::StreamSocket::CreateSocket()){} + + bool bind(const char * ipStr, uint32_t port) + { + rp::net::SocketAddress socket(ipStr, port); + return IS_OK(_binded_socket->connect(socket)); + } + void close() + { + _binded_socket->dispose(); + _binded_socket = NULL; + } + bool waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL) + { + if(returned_size) + *returned_size = data_count; + return (_binded_socket->waitforData(timeout) == RESULT_OK); + } + int senddata(const _u8 * data, size_t size) + { + return _binded_socket->send(data, size) ; + } + int recvdata(unsigned char * data, size_t size) + { + size_t lenRec = 0; + _binded_socket->recv(data, size, lenRec); + return lenRec; + } +}; + + +class RPlidarDriverTCP : public RPlidarDriverImplCommon +{ +public: + + RPlidarDriverTCP(); + virtual ~RPlidarDriverTCP(); + virtual u_result connect(const char * ipStr, _u32 port, _u32 flag = 0); + virtual void disconnect(); +}; + + +}}} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_impl.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_impl.h new file mode 100644 index 0000000..a8db47d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_impl.h @@ -0,0 +1,133 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +namespace rp { namespace standalone{ namespace rplidar { + class RPlidarDriverImplCommon : public RPlidarDriver +{ +public: + + virtual bool isConnected(); + virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT); + virtual u_result clearNetSerialRxCache(); + virtual u_result getAllSupportedScanModes(std::vector& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT); + virtual u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT); + virtual u_result checkSupportConfigCommands(bool& outSupport, _u32 timeoutInMs = DEFAULT_TIMEOUT); + + virtual u_result getScanModeCount(_u16& modeCount, _u32 timeoutInMs = DEFAULT_TIMEOUT); + virtual u_result getLidarSampleDuration(float& sampleDurationRes, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT); + virtual u_result getMaxDistance(float &maxDistance, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT); + virtual u_result getScanModeAnsType(_u8 &ansType, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT); + virtual u_result getScanModeName(char* modeName, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT); + virtual u_result getLidarConf(_u32 type, std::vector<_u8> &outputBuf, const std::vector<_u8> &reserve = std::vector<_u8>(), _u32 timeout = DEFAULT_TIMEOUT); + + virtual u_result startScan(bool force, bool useTypicalScan, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL); + virtual u_result startScanExpress(bool force, _u16 scanMode, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL, _u32 timeout = DEFAULT_TIMEOUT); + + + virtual u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result setMotorPWM(_u16 pwm); + virtual u_result startMotor(); + virtual u_result stopMotor(); + virtual u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode); + virtual u_result getFrequency(const RplidarScanMode& scanMode, size_t count, float & frequency); + virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result checkExpressScanSupported(bool & support, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result stop(_u32 timeout = DEFAULT_TIMEOUT); + virtual u_result grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count); + virtual u_result ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count); + virtual u_result getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count); + virtual u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count); + +protected: + + virtual u_result _sendCommand(_u8 cmd, const void * payload = NULL, size_t payloadsize = 0); + void _disableDataGrabbing(); + + virtual u_result _waitResponseHeader(rplidar_ans_header_t * header, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result _cacheScanData(); + virtual u_result _waitScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result _waitNode(rplidar_response_measurement_node_t * node, _u32 timeout = DEFAULT_TIMEOUT); + virtual u_result _cacheCapsuledScanData(); + virtual u_result _waitCapsuledNode(rplidar_response_capsule_measurement_nodes_t & node, _u32 timeout = DEFAULT_TIMEOUT); + virtual void _capsuleToNormal(const rplidar_response_capsule_measurement_nodes_t & capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount); + virtual void _dense_capsuleToNormal(const rplidar_response_capsule_measurement_nodes_t & capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount); + + //FW1.23 + virtual u_result _cacheUltraCapsuledScanData(); + virtual u_result _waitUltraCapsuledNode(rplidar_response_ultra_capsule_measurement_nodes_t & node, _u32 timeout = DEFAULT_TIMEOUT); + virtual void _ultraCapsuleToNormal(const rplidar_response_ultra_capsule_measurement_nodes_t & capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount); + + virtual u_result _cacheHqScanData(); + virtual u_result _waitHqNode(rplidar_response_hq_capsule_measurement_nodes_t & node, _u32 timeout = DEFAULT_TIMEOUT); + virtual void _HqToNormal(const rplidar_response_hq_capsule_measurement_nodes_t & node_hq, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount); + + bool _isConnected; + bool _isScanning; + bool _isSupportingMotorCtrl; + + rplidar_response_measurement_node_hq_t _cached_scan_node_hq_buf[8192]; + size_t _cached_scan_node_hq_count; + + rplidar_response_measurement_node_hq_t _cached_scan_node_hq_buf_for_interval_retrieve[8192]; + size_t _cached_scan_node_hq_count_for_interval_retrieve; + + _u16 _cached_sampleduration_std; + _u16 _cached_sampleduration_express; + _u8 _cached_express_flag; + + rplidar_response_capsule_measurement_nodes_t _cached_previous_capsuledata; + rplidar_response_dense_capsule_measurement_nodes_t _cached_previous_dense_capsuledata; + rplidar_response_ultra_capsule_measurement_nodes_t _cached_previous_ultracapsuledata; + rplidar_response_hq_capsule_measurement_nodes_t _cached_previous_Hqdata; + bool _is_previous_capsuledataRdy; + bool _is_previous_HqdataRdy; + + + + rp::hal::Locker _lock; + rp::hal::Event _dataEvt; + rp::hal::Thread _cachethread; + +protected: + RPlidarDriverImplCommon(); + virtual ~RPlidarDriverImplCommon() {} +}; +}}} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_serial.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_serial.h new file mode 100644 index 0000000..abc1468 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_serial.h @@ -0,0 +1,106 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#pragma once + +namespace rp { namespace standalone{ namespace rplidar { + +class SerialChannelDevice :public ChannelDevice +{ +public: + rp::hal::serial_rxtx * _rxtxSerial; + bool _closePending; + + SerialChannelDevice():_rxtxSerial(rp::hal::serial_rxtx::CreateRxTx()){} + + bool bind(const char * portname, uint32_t baudrate) + { + _closePending = false; + return _rxtxSerial->bind(portname, baudrate); + } + bool open() + { + return _rxtxSerial->open(); + } + void close() + { + _closePending = true; + _rxtxSerial->cancelOperation(); + _rxtxSerial->close(); + } + void flush() + { + _rxtxSerial->flush(0); + } + bool waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL) + { + if (_closePending) return false; + return (_rxtxSerial->waitfordata(data_count, timeout, returned_size) == rp::hal::serial_rxtx::ANS_OK); + } + int senddata(const _u8 * data, size_t size) + { + return _rxtxSerial->senddata(data, size) ; + } + int recvdata(unsigned char * data, size_t size) + { + size_t lenRec = 0; + lenRec = _rxtxSerial->recvdata(data, size); + return lenRec; + } + void setDTR() + { + _rxtxSerial->setDTR(); + } + void clearDTR() + { + _rxtxSerial->clearDTR(); + } + void ReleaseRxTx() + { + rp::hal::serial_rxtx::ReleaseRxTx(_rxtxSerial); + } +}; + +class RPlidarDriverSerial : public RPlidarDriverImplCommon +{ +public: + + RPlidarDriverSerial(); + virtual ~RPlidarDriverSerial(); + virtual u_result connect(const char * port_path, _u32 baudrate, _u32 flag = 0); + virtual void disconnect(); + +}; + +}}} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/sdkcommon.h b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/sdkcommon.h new file mode 100644 index 0000000..d025dfb --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/sdkcommon.h @@ -0,0 +1,50 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#if defined(_WIN32) +#include "arch\win32\arch_win32.h" +#elif defined(_MACOS) +#include "arch/macOS/arch_macOS.h" +#elif defined(__GNUC__) +#include "arch/linux/arch_linux.h" +#else +#error "unsupported target" +#endif + +#include "hal/types.h" +#include "hal/assert.h" + +#include "rplidar.h" + +#include "hal/util.h" \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/src/client.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/src/client.cpp new file mode 100644 index 0000000..4020101 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/src/client.cpp @@ -0,0 +1,65 @@ +/* + * Copyright (c) 2014, RoboPeak + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ +/* + * RoboPeak LIDAR System + * RPlidar ROS Node client test app + * + * Copyright 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * + */ + + +#include "ros/ros.h" +#include "sensor_msgs/LaserScan.h" + +#define RAD2DEG(x) ((x)*180./M_PI) + +void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan) +{ + int count = scan->scan_time / scan->time_increment; + ROS_INFO("I heard a laser scan %s[%d]:", scan->header.frame_id.c_str(), count); + ROS_INFO("angle_range, %f, %f", RAD2DEG(scan->angle_min), RAD2DEG(scan->angle_max)); + + for(int i = 0; i < count; i++) { + float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i); + ROS_INFO(": [%f, %f]", degree, scan->ranges[i]); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "rplidar_node_client"); + ros::NodeHandle n; + + ros::Subscriber sub = n.subscribe("/scan", 1000, scanCallback); + + ros::spin(); + + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/src/node.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/src/node.cpp new file mode 100644 index 0000000..ea70ea2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/rplidar_ros/src/node.cpp @@ -0,0 +1,384 @@ +/* + * RPLIDAR ROS NODE + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "ros/ros.h" +#include "sensor_msgs/LaserScan.h" +#include "std_srvs/Empty.h" +#include "rplidar.h" + +#ifndef _countof +#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0])) +#endif + +#define DEG2RAD(x) ((x)*M_PI/180.) + +using namespace rp::standalone::rplidar; + +RPlidarDriver * drv = NULL; + +void publish_scan(ros::Publisher *pub, + rplidar_response_measurement_node_hq_t *nodes, + size_t node_count, ros::Time start, + double scan_time, bool inverted, + float angle_min, float angle_max, + float max_distance, + std::string frame_id) +{ + static int scan_count = 0; + sensor_msgs::LaserScan scan_msg; + + scan_msg.header.stamp = start; + scan_msg.header.frame_id = frame_id; + scan_count++; + + bool reversed = (angle_max > angle_min); + if ( reversed ) { + scan_msg.angle_min = M_PI - angle_max; + scan_msg.angle_max = M_PI - angle_min; + } else { + scan_msg.angle_min = M_PI - angle_min; + scan_msg.angle_max = M_PI - angle_max; + } + scan_msg.angle_increment = + (scan_msg.angle_max - scan_msg.angle_min) / (double)(node_count-1); + + scan_msg.scan_time = scan_time; + scan_msg.time_increment = scan_time / (double)(node_count-1); + scan_msg.range_min = 0.15; + scan_msg.range_max = max_distance;//8.0; + + scan_msg.intensities.resize(node_count); + scan_msg.ranges.resize(node_count); + bool reverse_data = (!inverted && reversed) || (inverted && !reversed); + if (!reverse_data) { + for (size_t i = 0; i < node_count; i++) { + float read_value = (float) nodes[i].dist_mm_q2/4.0f/1000; + if (read_value == 0.0) + scan_msg.ranges[i] = std::numeric_limits::infinity(); + else + scan_msg.ranges[i] = read_value; + scan_msg.intensities[i] = (float) (nodes[i].quality >> 2); + } + } else { + for (size_t i = 0; i < node_count; i++) { + float read_value = (float)nodes[i].dist_mm_q2/4.0f/1000; + if (read_value == 0.0) + scan_msg.ranges[node_count-1-i] = std::numeric_limits::infinity(); + else + scan_msg.ranges[node_count-1-i] = read_value; + scan_msg.intensities[node_count-1-i] = (float) (nodes[i].quality >> 2); + } + } + + pub->publish(scan_msg); +} + +bool getRPLIDARDeviceInfo(RPlidarDriver * drv) +{ + u_result op_result; + rplidar_response_device_info_t devinfo; + + op_result = drv->getDeviceInfo(devinfo); + if (IS_FAIL(op_result)) { + if (op_result == RESULT_OPERATION_TIMEOUT) { + ROS_ERROR("Error, operation time out. RESULT_OPERATION_TIMEOUT! "); + } else { + ROS_ERROR("Error, unexpected error, code: %x",op_result); + } + return false; + } + + // print out the device serial number, firmware and hardware version number.. + printf("RPLIDAR S/N: "); + for (int pos = 0; pos < 16 ;++pos) { + printf("%02X", devinfo.serialnum[pos]); + } + printf("\n"); + ROS_INFO("Firmware Ver: %d.%02d",devinfo.firmware_version>>8, devinfo.firmware_version & 0xFF); + ROS_INFO("Hardware Rev: %d",(int)devinfo.hardware_version); + return true; +} + +bool checkRPLIDARHealth(RPlidarDriver * drv) +{ + u_result op_result; + rplidar_response_device_health_t healthinfo; + + op_result = drv->getHealth(healthinfo); + if (IS_OK(op_result)) { + ROS_INFO("RPLidar health status : %d", healthinfo.status); + if (healthinfo.status == RPLIDAR_STATUS_ERROR) { + ROS_ERROR("Error, rplidar internal error detected. Please reboot the device to retry."); + return false; + } else { + return true; + } + + } else { + ROS_ERROR("Error, cannot retrieve rplidar health code: %x", op_result); + return false; + } +} + +bool stop_motor(std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res) +{ + if(!drv) + return false; + + ROS_DEBUG("Stop motor"); + drv->stop(); + drv->stopMotor(); + return true; +} + +bool start_motor(std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res) +{ + if(!drv) + return false; + ROS_DEBUG("Start motor"); + drv->startMotor(); + drv->startScan(0,1); + return true; +} + +static float getAngle(const rplidar_response_measurement_node_hq_t& node) +{ + return node.angle_z_q14 * 90.f / 16384.f; +} + +int main(int argc, char * argv[]) { + ros::init(argc, argv, "rplidar_node"); + + std::string channel_type; + std::string tcp_ip; + std::string serial_port; + int tcp_port = 20108; + int serial_baudrate = 115200; + std::string frame_id; + bool inverted = false; + bool angle_compensate = true; + float max_distance = 8.0; + int angle_compensate_multiple = 1;//it stand of angle compensate at per 1 degree + std::string scan_mode; + ros::NodeHandle nh; + ros::Publisher scan_pub = nh.advertise("scan", 1000); + ros::NodeHandle nh_private("~"); + nh_private.param("channel_type", channel_type, "serial"); + nh_private.param("tcp_ip", tcp_ip, "192.168.0.7"); + nh_private.param("tcp_port", tcp_port, 20108); + nh_private.param("serial_port", serial_port, "/dev/ttyUSB0"); + nh_private.param("serial_baudrate", serial_baudrate, 115200/*256000*/);//ros run for A1 A2, change to 256000 if A3 + nh_private.param("frame_id", frame_id, "laser_frame"); + nh_private.param("inverted", inverted, false); + nh_private.param("angle_compensate", angle_compensate, false); + nh_private.param("scan_mode", scan_mode, std::string()); + + ROS_INFO("RPLIDAR running on ROS package rplidar_ros. SDK Version:%s", RPLIDAR_SDK_VERSION); + + u_result op_result; + + // create the driver instance + if(channel_type == "tcp"){ + drv = RPlidarDriver::CreateDriver(rp::standalone::rplidar::DRIVER_TYPE_TCP); + } + else{ + drv = RPlidarDriver::CreateDriver(rp::standalone::rplidar::DRIVER_TYPE_SERIALPORT); + } + + + if (!drv) { + ROS_ERROR("Create Driver fail, exit"); + return -2; + } + + if(channel_type == "tcp"){ + // make connection... + if (IS_FAIL(drv->connect(tcp_ip.c_str(), (_u32)tcp_port))) { + ROS_ERROR("Error, cannot bind to the specified serial port %s.",serial_port.c_str()); + RPlidarDriver::DisposeDriver(drv); + return -1; + } + + } + else{ + // make connection... + if (IS_FAIL(drv->connect(serial_port.c_str(), (_u32)serial_baudrate))) { + ROS_ERROR("Error, cannot bind to the specified serial port %s.",serial_port.c_str()); + RPlidarDriver::DisposeDriver(drv); + return -1; + } + + } + + // get rplidar device info + if (!getRPLIDARDeviceInfo(drv)) { + return -1; + } + + // check health... + if (!checkRPLIDARHealth(drv)) { + RPlidarDriver::DisposeDriver(drv); + return -1; + } + + ros::ServiceServer stop_motor_service = nh.advertiseService("stop_motor", stop_motor); + ros::ServiceServer start_motor_service = nh.advertiseService("start_motor", start_motor); + + drv->startMotor(); + + RplidarScanMode current_scan_mode; + if (scan_mode.empty()) { + op_result = drv->startScan(false /* not force scan */, true /* use typical scan mode */, 0, ¤t_scan_mode); + } else { + std::vector allSupportedScanModes; + op_result = drv->getAllSupportedScanModes(allSupportedScanModes); + + if (IS_OK(op_result)) { + _u16 selectedScanMode = _u16(-1); + for (std::vector::iterator iter = allSupportedScanModes.begin(); iter != allSupportedScanModes.end(); iter++) { + if (iter->scan_mode == scan_mode) { + selectedScanMode = iter->id; + break; + } + } + + if (selectedScanMode == _u16(-1)) { + ROS_ERROR("scan mode `%s' is not supported by lidar, supported modes:", scan_mode.c_str()); + for (std::vector::iterator iter = allSupportedScanModes.begin(); iter != allSupportedScanModes.end(); iter++) { + ROS_ERROR("\t%s: max_distance: %.1f m, Point number: %.1fK", iter->scan_mode, + iter->max_distance, (1000/iter->us_per_sample)); + } + op_result = RESULT_OPERATION_FAIL; + } else { + op_result = drv->startScanExpress(false /* not force scan */, selectedScanMode, 0, ¤t_scan_mode); + } + } + } + + if(IS_OK(op_result)) + { + //default frequent is 10 hz (by motor pwm value), current_scan_mode.us_per_sample is the number of scan point per us + angle_compensate_multiple = (int)(1000*1000/current_scan_mode.us_per_sample/10.0/360.0); + if(angle_compensate_multiple < 1) + angle_compensate_multiple = 1; + max_distance = current_scan_mode.max_distance; + ROS_INFO("current scan mode: %s, max_distance: %.1f m, Point number: %.1fK , angle_compensate: %d", current_scan_mode.scan_mode, + current_scan_mode.max_distance, (1000/current_scan_mode.us_per_sample), angle_compensate_multiple); + } + else + { + ROS_ERROR("Can not start scan: %08x!", op_result); + } + + ros::Time start_scan_time; + ros::Time end_scan_time; + double scan_duration; + while (ros::ok()) { + rplidar_response_measurement_node_hq_t nodes[360*8]; + size_t count = _countof(nodes); + + start_scan_time = ros::Time::now(); + op_result = drv->grabScanDataHq(nodes, count); + end_scan_time = ros::Time::now(); + scan_duration = (end_scan_time - start_scan_time).toSec(); + + if (op_result == RESULT_OK) { + op_result = drv->ascendScanData(nodes, count); + float angle_min = DEG2RAD(0.0f); + float angle_max = DEG2RAD(359.0f); + if (op_result == RESULT_OK) { + if (angle_compensate) { + //const int angle_compensate_multiple = 1; + const int angle_compensate_nodes_count = 360*angle_compensate_multiple; + int angle_compensate_offset = 0; + rplidar_response_measurement_node_hq_t angle_compensate_nodes[angle_compensate_nodes_count]; + memset(angle_compensate_nodes, 0, angle_compensate_nodes_count*sizeof(rplidar_response_measurement_node_hq_t)); + + int i = 0, j = 0; + for( ; i < count; i++ ) { + if (nodes[i].dist_mm_q2 != 0) { + float angle = getAngle(nodes[i]); + int angle_value = (int)(angle * angle_compensate_multiple); + if ((angle_value - angle_compensate_offset) < 0) angle_compensate_offset = angle_value; + for (j = 0; j < angle_compensate_multiple; j++) { + angle_compensate_nodes[angle_value-angle_compensate_offset+j] = nodes[i]; + } + } + } + + publish_scan(&scan_pub, angle_compensate_nodes, angle_compensate_nodes_count, + start_scan_time, scan_duration, inverted, + angle_min, angle_max, max_distance, + frame_id); + } else { + int start_node = 0, end_node = 0; + int i = 0; + // find the first valid node and last valid node + while (nodes[i++].dist_mm_q2 == 0); + start_node = i-1; + i = count -1; + while (nodes[i--].dist_mm_q2 == 0); + end_node = i+1; + + angle_min = DEG2RAD(getAngle(nodes[start_node])); + angle_max = DEG2RAD(getAngle(nodes[end_node])); + + publish_scan(&scan_pub, &nodes[start_node], end_node-start_node +1, + start_scan_time, scan_duration, inverted, + angle_min, angle_max, max_distance, + frame_id); + } + } else if (op_result == RESULT_OPERATION_FAIL) { + // All the data is invalid, just publish them + float angle_min = DEG2RAD(0.0f); + float angle_max = DEG2RAD(359.0f); + + publish_scan(&scan_pub, nodes, count, + start_scan_time, scan_duration, inverted, + angle_min, angle_max, max_distance, + frame_id); + } + } + + ros::spinOnce(); + } + + // done! + drv->stop(); + drv->stopMotor(); + RPlidarDriver::DisposeDriver(drv); + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/CMakeLists.txt new file mode 100644 index 0000000..88fc168 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/CMakeLists.txt @@ -0,0 +1,192 @@ +cmake_minimum_required(VERSION 2.8.3) +project(simple_follower) + +## 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 + sensor_msgs + geometry_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 + position.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 + sensor_msgs + geometry_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 you 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 simple_follower + CATKIN_DEPENDS roscpp 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) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(simple_follower +# src/${PROJECT_NAME}/simple_follower.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(simple_follower ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(simple_follower_node src/simple_follower_node.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(simple_follower_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(simple_follower_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 simple_follower simple_follower_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_simple_follower.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) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/laser_follower.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/laser_follower.launch new file mode 100644 index 0000000..5c48954 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/laser_follower.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/follower.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/follower.launch new file mode 100644 index 0000000..1103af5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/follower.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch new file mode 100644 index 0000000..7f21ccf --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch new file mode 100644 index 0000000..73dd9d0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch @@ -0,0 +1,17 @@ + + + + + upper : [0, 120, 100] + lower : [9, 255, 255] + + + + pictureHeight: 480 + pictureWidth: 640 + + verticalAngle: 0.43196898986859655 + horizontalAngle: 0.5235987755982988 + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/visual_follower.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/visual_follower.launch new file mode 100644 index 0000000..5c4025e --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/launch/visual_follower.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/msg/position.msg b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/msg/position.msg new file mode 100644 index 0000000..67dde10 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/msg/position.msg @@ -0,0 +1,3 @@ +float32 angleX +float32 angleY +float32 distance diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/package.xml new file mode 100644 index 0000000..a37c8b6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/package.xml @@ -0,0 +1,61 @@ + + + simple_follower + 0.0.0 + Makes a mobile robot follow a target. either using rgb-d or laser range finder + + + + + clemens + + + + + + TODO + + + + + + + + + + + + + + + + + + + message_generation + + + + + + catkin + roscpp + rospy + std_msgs + sensor_msgs + geometry_msgs + message_runtime + message_generation + roscpp + rospy + std_msgs + sensor_msgs + geometry_msgs + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/parameters/PID_param.yaml b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/parameters/PID_param.yaml new file mode 100644 index 0000000..c03fd6a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/parameters/PID_param.yaml @@ -0,0 +1,3 @@ +P: [0.7, 0.6] +I: [0.07,0.04] +D: [0.00, 0.000] diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/follower.py b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/follower.py new file mode 100644 index 0000000..0f92486 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/follower.py @@ -0,0 +1,213 @@ +#!/usr/bin/env python +# test mail: chutter@uos.de + +import rospy +import thread, threading +import time +import numpy as np +from sensor_msgs.msg import Joy, LaserScan +from geometry_msgs.msg import Twist, Vector3 +from simple_follower.msg import position as PositionMsg +from std_msgs.msg import String as StringMsg + +class Follower: + def __init__(self): + # as soon as we stop receiving Joy messages from the ps3 controller we stop all movement: + self.controllerLossTimer = threading.Timer(1, self.controllerLoss) #if we lose connection + self.controllerLossTimer.start() + self.switchMode= rospy.get_param('~switchMode') # if this is set to False the O button has to be kept pressed in order for it to move + self.max_speed = rospy.get_param('~maxSpeed') + self.controllButtonIndex = rospy.get_param('~controllButtonIndex') + + self.buttonCallbackBusy=False + self.active=False + + self.cmdVelPublisher = rospy.Publisher('/cmd_vel', Twist, queue_size =3) + # the topic for the messages from the ps3 controller (game pad) + self.joySubscriber = rospy.Subscriber('joy', Joy, self.buttonCallback) + + # the topic for the tracker that gives us the current position of the object we are following + self.positionSubscriber = rospy.Subscriber('/object_tracker/current_position', PositionMsg, self.positionUpdateCallback) + # an info string from that tracker. E.g. telling us if we lost the object + self.trackerInfoSubscriber = rospy.Subscriber('/object_tracker/info', StringMsg, self.trackerInfoCallback) + + # PID parameters first is angular, dist + targetDist = rospy.get_param('~targetDist') + PID_param = rospy.get_param('~PID_controller') + # the first parameter is the angular target (0 degrees always) the second is the target distance (say 1 meter) + self.PID_controller = simplePID([0, targetDist], PID_param['P'], PID_param['I'], PID_param['D']) + + # this method gets called when the process is killed with Ctrl+C + rospy.on_shutdown(self.controllerLoss) + + def trackerInfoCallback(self, info): + # we do not handle any info from the object tracker specifically at the moment. just ignore that we lost the object for example + rospy.logwarn(info.data) + + def positionUpdateCallback(self, position): + # gets called whenever we receive a new position. It will then update the motorcomand + + #if(not(self.active)): + # return #if we are not active we will return imediatly without doing anything + + angleX= position.angleX + distance = position.distance + + rospy.loginfo('Angle: {}, Distance: {}, '.format(angleX, distance)) + + # call the PID controller to update it and get new speeds + [uncliped_ang_speed, uncliped_lin_speed] = self.PID_controller.update([angleX, distance]) + + # clip these speeds to be less then the maximal speed specified above + angularSpeed = np.clip(-uncliped_ang_speed, -self.max_speed, self.max_speed) + linearSpeed = np.clip(-uncliped_lin_speed, -self.max_speed, self.max_speed) + + # create the Twist message to send to the cmd_vel topic + velocity = Twist() + velocity.linear = Vector3(linearSpeed,0,0.) + velocity.angular= Vector3(0., 0.,angularSpeed) + rospy.loginfo('linearSpeed: {}, angularSpeed: {}'.format(linearSpeed, angularSpeed)) + self.cmdVelPublisher.publish(velocity) + + + def buttonCallback(self, joy_data): + # this method gets called whenever we receive a message from the joy stick + + # there is a timer that always gets reset if we have a new joy stick message + # if it runs out we know that we have lost connection and the controllerLoss function + # will be called + self.controllerLossTimer.cancel() + self.controllerLossTimer = threading.Timer(0.5, self.controllerLoss) + self.controllerLossTimer.start() + + # if we are in switch mode, one button press will make the follower active / inactive + # but 'one' button press will be visible in roughly 10 joy messages (since they get published to fast) + # so we need to drop the remaining 9 + + if self.buttonCallbackBusy: + # we are busy with dealing with the last message + return + else: + # we are not busy. i.e. there is a real 'new' button press + # we deal with it in a seperate thread to be able to drop the other joy messages arriving in the mean + # time + thread.start_new_thread(self.threadedButtonCallback, (joy_data, )) + + def threadedButtonCallback(self, joy_data): + self.buttonCallbackBusy = True + + if(joy_data.buttons[self.controllButtonIndex]==self.switchMode and self.active): + # we are active + # switchMode = false: we will always be inactive whenever the button is not pressed (buttons[index]==false) + # switchMode = true: we will only become inactive if we press the button. (if we keep pressing it, + # we would alternate between active and not in 0.5 second intervalls) + rospy.loginfo('stoping') + self.stopMoving() + self.active = False + rospy.sleep(0.5) + elif(joy_data.buttons[self.controllButtonIndex]==True and not(self.active)): + # if we are not active and just pressed the button (or are constantly pressing it) we become active + rospy.loginfo('activating') + self.active = True #enable response + rospy.sleep(0.5) + + self.buttonCallbackBusy = False + + def stopMoving(self): + velocity = Twist() + velocity.linear = Vector3(0.,0.,0.) + velocity.angular= Vector3(0.,0.,0.) + self.cmdVelPublisher.publish(velocity) + + def controllerLoss(self): + # we lost connection so we will stop moving and become inactive + self.stopMoving() + self.active = False + rospy.loginfo('lost connection') + + + +class simplePID: + '''very simple discrete PID controller''' + def __init__(self, target, P, I, D): + '''Create a discrete PID controller + each of the parameters may be a vector if they have the same length + + Args: + target (double) -- the target value(s) + P, I, D (double)-- the PID parameter + + ''' + + # check if parameter shapes are compatabile. + if(not(np.size(P)==np.size(I)==np.size(D)) or ((np.size(target)==1) and np.size(P)!=1) or (np.size(target )!=1 and (np.size(P) != np.size(target) and (np.size(P) != 1)))): + raise TypeError('input parameters shape is not compatable') + rospy.loginfo('PID initialised with P:{}, I:{}, D:{}'.format(P,I,D)) + self.Kp =np.array(P) + self.Ki =np.array(I) + self.Kd =np.array(D) + self.setPoint =np.array(target) + + self.last_error=0 + self.integrator = 0 + self.integrator_max = float('inf') + self.timeOfLastCall = None + + + def update(self, current_value): + '''Updates the PID controller. + + Args: + current_value (double): vector/number of same legth as the target given in the constructor + + Returns: + controll signal (double): vector of same length as the target + + ''' + current_value=np.array(current_value) + if(np.size(current_value) != np.size(self.setPoint)): + raise TypeError('current_value and target do not have the same shape') + if(self.timeOfLastCall is None): + # the PID was called for the first time. we don't know the deltaT yet + # no controll signal is applied + self.timeOfLastCall = time.clock() + return np.zeros(np.size(current_value)) + + + error = self.setPoint - current_value + P = error + + currentTime = time.clock() + deltaT = (currentTime-self.timeOfLastCall) + + # integral of the error is current error * time since last update + self.integrator = self.integrator + (error*deltaT) + I = self.integrator + + # derivative is difference in error / time since last update + D = (error-self.last_error)/deltaT + + self.last_error = error + self.timeOfLastCall = currentTime + + # return controll signal + return self.Kp*P + self.Ki*I + self.Kd*D + + + + + + + + + +if __name__ == '__main__': + print('starting') + rospy.init_node('follower') + follower = Follower() + try: + rospy.spin() + except rospy.ROSInterruptException: + print('exception') + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/laserTracker.py b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/laserTracker.py new file mode 100644 index 0000000..1d1caf8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/laserTracker.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python +# test mail: chutter@uos.de + +import rospy +import thread, threading +import time +import numpy as np +from sensor_msgs.msg import Joy, LaserScan +from geometry_msgs.msg import Twist, Vector3 +from std_msgs.msg import String as StringMsg +from simple_follower.msg import position as PositionMsg + +class laserTracker: + def __init__(self): + self.lastScan=None + self.winSize = rospy.get_param('~winSize') + self.deltaDist = rospy.get_param('~deltaDist') + self.scanSubscriber = rospy.Subscriber('/scan', LaserScan, self.registerScan) + self.positionPublisher = rospy.Publisher('/object_tracker/current_position', PositionMsg,queue_size=3) + self.infoPublisher = rospy.Publisher('/object_tracker/info', StringMsg, queue_size=3) + + def registerScan(self, scan_data): + # registers laser scan and publishes position of closest object (or point rather) + ranges = np.array(scan_data.ranges) + # sort by distance to check from closer to further away points if they might be something real + sortedIndices = np.argsort(ranges) + + minDistanceID = None + minDistance = float('inf') + + if(not(self.lastScan is None)): + # if we already have a last scan to compare to: + for i in sortedIndices: + # check all distance measurements starting from the closest one + tempMinDistance = ranges[i] + + # now we check if this might be noise: + # get a window. in it we will check if there has been a scan with similar distance + # in the last scan within that window + + # we kneed to clip the window so we don't have an index out of bounds + windowIndex = np.clip([i-self.winSize, i+self.winSize+1],0,len(self.lastScan)) + window = self.lastScan[windowIndex[0]:windowIndex[1]] + + with np.errstate(invalid='ignore'): + # check if any of the scans in the window (in the last scan) has a distance close enough to the current one + if(np.any(abs(window-tempMinDistance)<=self.deltaDist)): + # this will also be false for all tempMinDistance = NaN or inf + + # we found a plausible distance + minDistanceID = i + minDistance = ranges[minDistanceID] + break # at least one point was equally close + # so we found a valid minimum and can stop the loop + + self.lastScan=ranges + + #catches no scan, no minimum found, minimum is actually inf + if(minDistance > scan_data.range_max): + #means we did not really find a plausible object + + # publish warning that we did not find anything + rospy.logwarn('laser no object found') + self.infoPublisher.publish(StringMsg('laser:nothing found')) + + else: + # calculate angle of the objects location. 0 is straight ahead + minDistanceAngle = scan_data.angle_min + minDistanceID * scan_data.angle_increment + # here we only have an x angle, so the y is set arbitrarily + self.positionPublisher.publish(PositionMsg(minDistanceAngle, 42, minDistance)) + + + + +if __name__ == '__main__': + print('starting') + rospy.init_node('laser_tracker') + tracker = laserTracker() + print('seems to do something') + try: + rospy.spin() + except rospy.ROSInterruptException: + print('exception') + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/testCode.py b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/testCode.py new file mode 100644 index 0000000..9f77b59 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/testCode.py @@ -0,0 +1,114 @@ +import numpy as np +import copy +from unsafe_runaway import * +import time +from nose.tools import assert_raises + + + + +class mockup: + pass + + +def makeLaserData(): + laser_data = mockup() + laser_data.range_max = 5.6 + laser_data.angle_min = -2.1 + laser_data.angle_increment = 0.06136 + laser_data.ranges = list(1+np.random.rand(69)*5) + return laser_data + +class Test_simpleTracker: + + + def setUp(self): + self.tracker = simpleTracker() + + def test_ignor_first_scan(self): + laser_data = makeLaserData() + tracker = simpleTracker() + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + + def test_unmuted(self): + laser_data = makeLaserData() + backup = copy.copy(laser_data) + try: + angle, distance = self.tracker.registerScan(laser_data) + except: + pass + assert backup.ranges == laser_data.ranges + #print(laser_data.ranges) + #print('angle: {}, dist: {}'.format(angle, distance)) + + def test_nan(self): + laser_data = makeLaserData() + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + laser_data.ranges[12] = float('nan') + angle, dist=self.tracker.registerScan(laser_data) + #print('angle: {}, dist: {}'.format(angle, dist)) + + def test_only_nan(self): + laser_data = makeLaserData() + laser_data.ranges = [float('nan') for _ in laser_data.ranges] + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + + + + def test_real_real_min(self): + laser_data = makeLaserData() + laser_data.ranges[-1]=0.5 #real min + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + laser_data.ranges[-1]=0.6 + laser_data.ranges[42]=0.1 #fake min + ang, dist = self.tracker.registerScan(laser_data) + assert dist == 0.6 + #print('ang: {}, target: {}'.format(ang, (laser_data.angle_min+ 23*laser_data.angle_increment))) + assert ang == laser_data.angle_min+ 68*laser_data.angle_increment + + +class Test_PID: + def setUp(self): + pass + + def test_convergence(self): + self.pid = simplePID([0,30], 0.8, 0.001, 0.0001) + x =np.array([23, 12]) + for i in range(20): + update= self.pid.update(x) + print('added {} to current x {}'.format(update, x)) + x = x+update + time.sleep(0.1) + assert np.all(abs(x-[0,30])<=0.01) + + def test_convergence_differentParamShape(self): + self.pid = simplePID([0,30],0.8, 0.001, 0.0001) + x =np.array([23, 12]) + for i in range(20): + update= self.pid.update(x) + print('added {} to current x {}'.format(update, x)) + x = x+update + time.sleep(0.1) + assert np.all(abs(x-[0,30])<=0.01) + + + def test_raises_unequal_param_shape_at_creation(self): + assert_raises(TypeError, simplePID, [0,30],[0.8, 0.7, 0.1], 0.001, 0.0001) + assert_raises(TypeError, simplePID, [0,30],[0.8, 0.7], 0.001, 0.0001) + assert_raises(TypeError, simplePID, 0,[0.8, 0.7], 0.001, 0.0001) + assert_raises(TypeError, simplePID, 0, [0.8, 0.7], [0.001, 0.001], [0.0001, 0,0001]) + _ = simplePID([0,30],[0.8, 0.7], [0.001, 0.001], [0.0001, 0.0001]) + _ = simplePID([0,30],0.8, 0.001, 0.0001) + _ = simplePID(0,0.8, 0.001, 0.0001) + + def test_raise_incompatable_input(self): + self.pid = simplePID([0,30], 0.8, 0.001, 0.0001) + _ = assert_raises(TypeError, self.pid.update, 3) + x =np.array([23, 12]) + for i in range(50): + update= self.pid.update(x) + print('added {} to current x {}'.format(update, x)) + x = x+update + time.sleep(0.1) + assert np.all(abs(x-[0,30])<=0.001) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/visualTracker.py b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/visualTracker.py new file mode 100644 index 0000000..b04c9f9 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/simple_follower/scripts/visualTracker.py @@ -0,0 +1,206 @@ +#!/usr/bin/env python + +from __future__ import division +import rospy +import message_filters +import numpy as np +import cv2 +from matplotlib import pyplot as plt +from cv_bridge import CvBridge + +from sensor_msgs.msg import Image +from simple_follower.msg import position as PositionMsg +from std_msgs.msg import String as StringMsg +np.seterr(all='raise') +displayImage=False + +plt.close('all') +class visualTracker: + def __init__(self): + self.bridge = CvBridge() + self.targetUpper = np.array(rospy.get_param('~target/upper')) + self.targetLower = np.array(rospy.get_param('~target/lower')) + self.pictureHeight= rospy.get_param('~pictureDimensions/pictureHeight') + self.pictureWidth = rospy.get_param('~pictureDimensions/pictureWidth') + vertAngle =rospy.get_param('~pictureDimensions/verticalAngle') + horizontalAngle = rospy.get_param('~pictureDimensions/horizontalAngle') + # precompute tangens since thats all we need anyways: + self.tanVertical = np.tan(vertAngle) + self.tanHorizontal = np.tan(horizontalAngle) + + self.lastPosition =None + + # one callback that deals with depth and rgb at the same time + im_sub = message_filters.Subscriber('/orbbec_astra/rgb/image_rect_color', Image) + dep_sub = message_filters.Subscriber('/orbbec_astra/depth/image', Image) + self.timeSynchronizer = message_filters.ApproximateTimeSynchronizer([im_sub, dep_sub], 10, 0.5) + self.timeSynchronizer.registerCallback(self.trackObject) + + + self.positionPublisher = rospy.Publisher('/object_tracker/current_position', PositionMsg, queue_size=3) + self.infoPublisher = rospy.Publisher('/object_tracker/info', StringMsg, queue_size=3) + rospy.logwarn(self.targetUpper) + + + def trackObject(self, image_data, depth_data): + if(image_data.encoding != 'rgb8'): + raise ValueError('image is not rgb8 as expected') + + #convert both images to numpy arrays + frame = self.bridge.imgmsg_to_cv2(image_data, desired_encoding='rgb8') + depthFrame = self.bridge.imgmsg_to_cv2(depth_data, desired_encoding='passthrough')#"32FC1") + + if(np.shape(frame)[0:2] != (self.pictureHeight, self.pictureWidth)): + raise ValueError('image does not have the right shape. shape(frame): {}, shape parameters:{}'.format(np.shape(frame)[0:2], (self.pictureHeight, self.pictureWidth))) + + # blure a little and convert to HSV color space + blurred = cv2.GaussianBlur(frame, (11,11), 0) + hsv = cv2.cvtColor(blurred, cv2.COLOR_RGB2HSV) + + # select all the pixels that are in the range specified by the target + org_mask = cv2.inRange(hsv, self.targetUpper, self.targetLower) + + # clean that up a little, the iterations are pretty much arbitrary + mask = cv2.erode(org_mask, None, iterations=4) + mask = cv2.dilate(mask,None, iterations=3) + + # find contours of the object + contours = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] + newPos = None #if no contour at all was found the last position will again be set to none + + # lets you display the image for debuging. Not in realtime though + if displayImage: + backConverted = cv2.cvtColor(hsv, cv2.COLOR_HSV2BGR) + #cv2.imshow('frame', backConverted) + #cv2.waitKey(0) + #print(backConverted) + plt.figure() + plt.subplot(2,2,1) + plt.imshow(frame) + plt.xticks([]),plt.yticks([]) + plt.subplot(2,2,2) + plt.imshow(org_mask, cmap='gray', interpolation = 'bicubic') + plt.xticks([]),plt.yticks([]) + plt.subplot(2,2,3) + plt.imshow(mask, cmap='gray', interpolation = 'bicubic') + plt.xticks([]),plt.yticks([]) + plt.show() + rospy.sleep(0.2) + + # go threw all the contours. starting with the bigest one + for contour in sorted(contours, key=cv2.contourArea, reverse=True): + # get position of object for this contour + pos = self.analyseContour(contour, depthFrame) + + # if it's the first one we found it will be the fall back for the next scan if we don't find a plausible one + if newPos is None: + newPos = pos + + # check if the position is plausible + if self.checkPosPlausible(pos): + self.lastPosition = pos + self.publishPosition(pos) + return + + self.lastPosition = newPos #we didn't find a plossible last position, so we just save the biggest contour + # and publish warnings + rospy.loginfo('no position found') + self.infoPublisher.publish(StringMsg('visual:nothing found')) + + + + + + def publishPosition(self, pos): + # calculate the angles from the raw position + angleX = self.calculateAngleX(pos) + angleY = self.calculateAngleY(pos) + # publish the position (angleX, angleY, distance) + posMsg = PositionMsg(angleX, angleY, pos[1]) + self.positionPublisher.publish(posMsg) + + def checkPosPlausible(self, pos): + '''Checks if a position is plausible. i.e. close enough to the last one.''' + + # for the first scan we cant tell + if self.lastPosition is None: + return False + + # unpack positions + ((centerX, centerY), dist)=pos + ((PcenterX, PcenterY), Pdist)=self.lastPosition + + if np.isnan(dist): + return False + + # distance changed to much + if abs(dist-Pdist)>0.5: + return False + + # location changed to much (5 is arbitrary) + if abs(centerX-PcenterX)>(self.pictureWidth /5): + return False + + if abs(centerY-PcenterY)>(self.pictureHeight/5): + return False + + return True + + + def calculateAngleX(self, pos): + '''calculates the X angle of displacement from straight ahead''' + + centerX = pos[0][0] + displacement = 2*centerX/self.pictureWidth-1 + angle = -1*np.arctan(displacement*self.tanHorizontal) + return angle + + def calculateAngleY(self, pos): + centerY = pos[0][1] + displacement = 2*centerY/self.pictureHeight-1 + angle = -1*np.arctan(displacement*self.tanVertical) + return angle + + def analyseContour(self, contour, depthFrame): + '''Calculates the centers coordinates and distance for a given contour + + Args: + contour (opencv contour): contour of the object + depthFrame (numpy array): the depth image + + Returns: + centerX, centerY (doubles): center coordinates + averageDistance : distance of the object + ''' + # get a rectangle that completely contains the object + centerRaw, size, rotation = cv2.minAreaRect(contour) + + # get the center of that rounded to ints (so we can index the image) + center = np.round(centerRaw).astype(int) + + # find out how far we can go in x/y direction without leaving the object (min of the extension of the bounding rectangle/2 (here 3 for safety)) + minSize = int(min(size)/3) + + # get all the depth points within this area (that is within the object) + depthObject = depthFrame[(center[1]-minSize):(center[1]+minSize), (center[0]-minSize):(center[0]+minSize)] + + # get the average of all valid points (average to have a more reliable distance measure) + depthArray = depthObject[~np.isnan(depthObject)] + averageDistance = np.mean(depthArray) + + if len(depthArray) == 0: + rospy.logwarn('empty depth array. all depth values are nan') + + return (centerRaw, averageDistance) + + +if __name__ == '__main__': + print('starting') + rospy.init_node('visual_tracker') + tracker=visualTracker() + print('seems to do something') + try: + rospy.spin() + except rospy.ROSInterruptException: + print('exception') + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/.gitignore b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/.gitignore new file mode 100644 index 0000000..4581ef2 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/.gitignore @@ -0,0 +1,29 @@ +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/CMakeLists.txt new file mode 100644 index 0000000..a15c01f --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ydlidar) + +add_definitions(-std=c++11) # Use C++11 + +find_package(catkin REQUIRED COMPONENTS + rosconsole + roscpp + sensor_msgs +) + +#add_subdirectory(sdk) + +set(SDK_PATH "./sdk/") + +FILE(GLOB SDK_SRC + "${SDK_PATH}/src/impl/unix/*.cpp" + "${SDK_PATH}/src/*.cpp" +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} + ${PROJECT_SOURCE_DIR}/src + ${PROJECT_SOURCE_DIR}/sdk/include + ${PROJECT_SOURCE_DIR}/sdk/src +) + +add_executable(ydlidar_node src/ydlidar_node.cpp ${SDK_SRC}) +add_executable(ydlidar_client src/ydlidar_client.cpp) + +target_link_libraries(ydlidar_node + ${catkin_LIBRARIES} + ) +target_link_libraries(ydlidar_client + ${catkin_LIBRARIES} + ) + +install(TARGETS ydlidar_node ydlidar_client + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + + +install(DIRECTORY launch startup sdk + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/README.md b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/README.md new file mode 100644 index 0000000..55c08e1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/README.md @@ -0,0 +1,60 @@ +YDLIDAR ROS PACKAGE V1.2.1 +===================================================================== + +ROS node and test application for YDLIDAR + +Visit EAI Website for more details about YDLIDAR. + +How to build YDLIDAR ros package +===================================================================== + 1) Clone this project to your catkin's workspace src folder + 2) Running catkin_make to build ydlidar_node and ydlidar_client + 3) Create the name "/dev/ydlidar" for YDLIDAR + --$ roscd ydlidar/startup + --$ sudo chmod 777 ./* + --$ sudo sh initenv.sh + +How to run YDLIDAR ros package +===================================================================== +There're two ways to run YDLIDAR ros package + +1. Run YDLIDAR node and view in the rviz +------------------------------------------------------------ +roslaunch ydlidar lidar_view.launch + +You should see YDLIDAR's scan result in the rviz. + +2. Run YDLIDAR node and view using test application +------------------------------------------------------------ +roslaunch ydlidar lidar.launch + +rosrun ydlidar ydlidar_client + +You should see YDLIDAR's scan result in the console + + + + + +雷达驱动升级日志 +===================================================================== +2017-11-30 version:1.1.2 + +新增 + + 1.增加对现有所有EAI雷达支持 + + 2.增加Linux下非标准波特率的支持 + + 3.增加串口异常检测 + +改进 + + 1.修复雷达数据不稳定 + + 2.修复雷达没有数据 + +2017-12-16 version:1.2.0 + + 1.SDK统一平台 + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4.launch new file mode 100644 index 0000000..b5c03e5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4_view.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4_view.launch new file mode 100644 index 0000000..5546499 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4_view.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4.launch new file mode 100644 index 0000000..67e95ab --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4_view.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4_view.launch new file mode 100644 index 0000000..29f61e7 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4_view.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.launch new file mode 100644 index 0000000..dde2618 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.rviz b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.rviz new file mode 100644 index 0000000..7c630f9 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.rviz @@ -0,0 +1,128 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /LidarLaserScan1 + Splitter Ratio: 0.5 + Tree Height: 413 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0 + Min Value: 0 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LidarLaserScan + Position Transformer: XYZ + Queue Size: 1000 + Selectable: true + Size (Pixels): 5 + Size (m): 0.03 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: laser_frame + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 11.1184 + Focal Point: + X: -0.0344972 + Y: 0.065886 + Z: 0.148092 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.615399 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.82358 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 626 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001950000022cfc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022c000000dd00fffffffb0000000a0049006d006100670065000000028d000000c60000000000000000000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003240000022c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1215 + X: 65 + Y: 24 diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_rviz.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_rviz.launch new file mode 100644 index 0000000..5859511 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_rviz.launch @@ -0,0 +1,3 @@ + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_view.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_view.launch new file mode 100644 index 0000000..fd9c6ee --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_view.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4.launch new file mode 100644 index 0000000..1ee6030 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4_view.launch b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4_view.launch new file mode 100644 index 0000000..7b6a2a6 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4_view.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/package.xml b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/package.xml new file mode 100644 index 0000000..4a01468 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/package.xml @@ -0,0 +1,56 @@ + + + ydlidar + 1.2.1 + The ydlidar package + + + + + shao + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rosconsole + roscpp + sensor_msgs + rosconsole + roscpp + sensor_msgs + + + + + + + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/CMakeLists.txt new file mode 100644 index 0000000..37f7a1a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/CMakeLists.txt @@ -0,0 +1,29 @@ + +add_definitions(-std=c++11) # Use C++11 +include_directories(include) +include_directories(src) + +IF (WIN32) +FILE(GLOB SDK_SRC + "src/*.cpp" + "src/*.h" + "src/impl/windows/*.cpp" + "src/impl/windows/*.h" +) + +ELSE() +FILE(GLOB SDK_SRC + "src/*.cpp" + "src/*.h" + "src/impl/unix/*.cpp" + "src/impl/unix/*.h" +) + + +ENDIF() + +add_library(ydlidar_driver ${SDK_SRC}) +IF (WIN32) +ELSE() +target_link_libraries(ydlidar_driver rt pthread) +ENDIF() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/locker.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/locker.h new file mode 100644 index 0000000..d499caf --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/locker.h @@ -0,0 +1,317 @@ +#pragma once +#ifdef _WIN32 +#include +#include +#include +#include +#include +#include +#include +#else +#include +#include +#include +#include +#include +#include +#endif + + +class Locker +{ +public: + enum LOCK_STATUS { + LOCK_OK = 0, + LOCK_TIMEOUT = -1, + LOCK_FAILED = -2 + }; + + Locker(){ +#ifdef _WIN32 + _lock = NULL; +#endif + init(); + } + + ~Locker(){ + release(); + } + + Locker::LOCK_STATUS lock(unsigned long timeout = 0xFFFFFFFF) { +#ifdef _WIN32 + switch (WaitForSingleObject(_lock, timeout==0xFFFFFFF?INFINITE:(DWORD)timeout)) { + case WAIT_ABANDONED: + return LOCK_FAILED; + case WAIT_OBJECT_0: + return LOCK_OK; + case WAIT_TIMEOUT: + return LOCK_TIMEOUT; + } + +#else +#ifdef _MACOS + if (timeout !=0 ) { + if (pthread_mutex_lock(&_lock) == 0) return LOCK_OK; + } +#else + if (timeout == 0xFFFFFFFF){ + if (pthread_mutex_lock(&_lock) == 0) return LOCK_OK; + } +#endif + else if (timeout == 0) { + if (pthread_mutex_trylock(&_lock) == 0) return LOCK_OK; + } +#ifndef _MACOS + else{ + timespec wait_time; + timeval now; + gettimeofday(&now,NULL); + + wait_time.tv_sec = timeout/1000 + now.tv_sec; + wait_time.tv_nsec = (timeout%1000)*1000000 + now.tv_usec*1000; + + if (wait_time.tv_nsec >= 1000000000){ + ++wait_time.tv_sec; + wait_time.tv_nsec -= 1000000000; + } + +#if !defined(__ANDROID__) + + switch (pthread_mutex_timedlock(&_lock,&wait_time)){ + case 0: + return LOCK_OK; + case ETIMEDOUT: + return LOCK_TIMEOUT; + } + +#else + struct timeval timenow; + struct timespec sleepytime; + /* This is just to avoid a completely busy wait */ + sleepytime.tv_sec = 0; + sleepytime.tv_nsec = 10000000; /* 10ms */ + + while (pthread_mutex_trylock (&_lock) == EBUSY) { + gettimeofday (&timenow, NULL); + + if (timenow.tv_sec >= wait_time.tv_sec && + (timenow.tv_usec * 1000) >= wait_time.tv_nsec) { + return LOCK_TIMEOUT; + } + + nanosleep (&sleepytime, NULL); + } + + return LOCK_OK; + +#endif + + } +#endif +#endif + + return LOCK_FAILED; + } + + + void unlock(){ +#ifdef _WIN32 + ReleaseMutex(_lock); +#else + pthread_mutex_unlock(&_lock); +#endif + } + +#ifdef _WIN32 + HANDLE getLockHandle(){ + return _lock; + } +#else + pthread_mutex_t *getLockHandle(){ + return &_lock; + } +#endif + + + +protected: + void init(){ +#ifdef _WIN32 + _lock = CreateMutex(NULL,FALSE,NULL); +#else + pthread_mutex_init(&_lock, NULL); +#endif + } + + void release(){ + unlock(); +#ifdef _WIN32 + + if(_lock){ + CloseHandle(_lock); + } + _lock = NULL; +#else + pthread_mutex_destroy(&_lock); +#endif + } + +#ifdef _WIN32 + HANDLE _lock; +#else + pthread_mutex_t _lock; +#endif +}; + + +class Event +{ +public: + + enum { + EVENT_OK = 1, + EVENT_TIMEOUT = 2, + EVENT_FAILED = 0, + }; + + Event(bool isAutoReset = true, bool isSignal = false) +#ifdef _WIN32 + : _event(NULL) +#else + : _is_signalled(isSignal) + , _isAutoReset(isAutoReset) +#endif + { +#ifdef _WIN32 + _event = CreateEvent(NULL, isAutoReset?FALSE:TRUE, isSignal?TRUE:FALSE, NULL); +#else + pthread_mutex_init(&_cond_locker, NULL); + pthread_cond_init(&_cond_var, NULL); +#endif + } + + ~ Event(){ + release(); + } + + void set( bool isSignal = true ){ + if (isSignal){ +#ifdef _WIN32 + SetEvent(_event); +#else + pthread_mutex_lock(&_cond_locker); + + if ( _is_signalled == false ){ + _is_signalled = true; + pthread_cond_signal(&_cond_var); + } + pthread_mutex_unlock(&_cond_locker); +#endif + }else{ +#ifdef _WIN32 + ResetEvent(_event); +#else + pthread_mutex_lock(&_cond_locker); + _is_signalled = false; + pthread_mutex_unlock(&_cond_locker); +#endif + } + } + + unsigned long wait( unsigned long timeout = 0xFFFFFFFF ){ +#ifdef _WIN32 + switch (WaitForSingleObject(_event, timeout==0xFFFFFFF?INFINITE:(DWORD)timeout)){ + case WAIT_FAILED: + return EVENT_FAILED; + case WAIT_OBJECT_0: + return EVENT_OK; + case WAIT_TIMEOUT: + return EVENT_TIMEOUT; + } + return EVENT_OK; +#else + unsigned long ans = EVENT_OK; + pthread_mutex_lock( &_cond_locker ); + + if (!_is_signalled){ + if (timeout == 0xFFFFFFFF){ + pthread_cond_wait(&_cond_var,&_cond_locker); + }else{ + timespec wait_time; + timeval now; + gettimeofday(&now,NULL); + + wait_time.tv_sec = timeout/1000 + now.tv_sec; + wait_time.tv_nsec = (timeout%1000)*1000000ULL + now.tv_usec*1000; + + if (wait_time.tv_nsec >= 1000000000){ + ++wait_time.tv_sec; + wait_time.tv_nsec -= 1000000000; + } + switch (pthread_cond_timedwait(&_cond_var,&_cond_locker,&wait_time)){ + case 0: + // signalled + break; + case ETIMEDOUT: + // time up + ans = EVENT_TIMEOUT; + goto _final; + break; + default: + ans = EVENT_FAILED; + goto _final; + } + + } + } + + assert(_is_signalled); + + if (_isAutoReset){ + _is_signalled = false; + } +_final: + pthread_mutex_unlock( &_cond_locker ); + + return ans; +#endif + + } +protected: + + void release() { +#ifdef _WIN32 + CloseHandle(_event); +#else + pthread_mutex_destroy(&_cond_locker); + pthread_cond_destroy(&_cond_var); +#endif + } + +#ifdef _WIN32 + HANDLE _event; +#else + pthread_cond_t _cond_var; + pthread_mutex_t _cond_locker; + bool _is_signalled; + bool _isAutoReset; +#endif +}; + +class ScopedLocker +{ +public : + ScopedLocker(Locker &l): _binded(l) { + _binded.lock(); + } + + void forceUnlock() { + _binded.unlock(); + } + ~ScopedLocker() { + _binded.unlock(); + } + Locker & _binded; +}; + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/serial.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/serial.h new file mode 100644 index 0000000..4bc0f60 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/serial.h @@ -0,0 +1,593 @@ +#ifndef SERIAL_H +#define SERIAL_H + +#include +#include +#include +#include +#include +#include "v8stdint.h" + +namespace serial { + + /*! + * Enumeration defines the possible bytesizes for the serial port. + */ + typedef enum { + fivebits = 5, + sixbits = 6, + sevenbits = 7, + eightbits = 8 + } bytesize_t; + + /*! + * Enumeration defines the possible parity types for the serial port. + */ + typedef enum { + parity_none = 0, + parity_odd = 1, + parity_even = 2, + parity_mark = 3, + parity_space = 4 + } parity_t; + + /*! + * Enumeration defines the possible stopbit types for the serial port. + */ + typedef enum { + stopbits_one = 1, + stopbits_two = 2, + stopbits_one_point_five + } stopbits_t; + + /*! + * Enumeration defines the possible flowcontrol types for the serial port. + */ + typedef enum { + flowcontrol_none = 0, + flowcontrol_software, + flowcontrol_hardware + } flowcontrol_t; + + /*! + * Structure for setting the timeout of the serial port, times are + * in milliseconds. + * + * In order to disable the interbyte timeout, set it to Timeout::max(). + */ + struct Timeout { +#ifdef max +# undef max +#endif + static uint32_t max() {return std::numeric_limits::max();} + /*! + * Convenience function to generate Timeout structs using a + * single absolute timeout. + * + * \param timeout A long that defines the time in milliseconds until a + * timeout occurs after a call to read or write is made. + * + * \return Timeout struct that represents this simple timeout provided. + */ + static Timeout simpleTimeout(uint32_t timeout) { + return Timeout(max(), timeout, 0, timeout, 0); + } + + /*! Number of milliseconds between bytes received to timeout on. */ + uint32_t inter_byte_timeout; + /*! A constant number of milliseconds to wait after calling read. */ + uint32_t read_timeout_constant; + /*! A multiplier against the number of requested bytes to wait after + * calling read. + */ + uint32_t read_timeout_multiplier; + /*! A constant number of milliseconds to wait after calling write. */ + uint32_t write_timeout_constant; + /*! A multiplier against the number of requested bytes to wait after + * calling write. + */ + uint32_t write_timeout_multiplier; + + explicit Timeout (uint32_t inter_byte_timeout_=0, + uint32_t read_timeout_constant_=0, + uint32_t read_timeout_multiplier_=0, + uint32_t write_timeout_constant_=0, + uint32_t write_timeout_multiplier_=0) + : inter_byte_timeout(inter_byte_timeout_), + read_timeout_constant(read_timeout_constant_), + read_timeout_multiplier(read_timeout_multiplier_), + write_timeout_constant(write_timeout_constant_), + write_timeout_multiplier(write_timeout_multiplier_) + {} + }; + + /*! + * Class that provides a portable serial port interface. + */ + class Serial { + public: + /*! + * Creates a Serial object and opens the port if a port is specified, + * otherwise it remains closed until serial::Serial::open is called. + * + * \param port A std::string containing the address of the serial port, + * which would be something like 'COM1' on Windows and '/dev/ttyS0' + * on Linux. + * + * \param baudrate An unsigned 32-bit integer that represents the baudrate + * + * \param timeout A serial::Timeout struct that defines the timeout + * conditions for the serial port. \see serial::Timeout + * + * \param bytesize Size of each byte in the serial transmission of data, + * default is eightbits, possible values are: fivebits, sixbits, sevenbits, + * eightbits + * + * \param parity Method of parity, default is parity_none, possible values + * are: parity_none, parity_odd, parity_even + * + * \param stopbits Number of stop bits used, default is stopbits_one, + * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two + * + * \param flowcontrol Type of flowcontrol used, default is + * flowcontrol_none, possible values are: flowcontrol_none, + * flowcontrol_software, flowcontrol_hardware + * + * \throw serial::PortNotOpenedException + * \throw serial::IOException + * \throw std::invalid_argument + */ + Serial (const std::string &port = "", + uint32_t baudrate = 9600, + Timeout timeout = Timeout(), + bytesize_t bytesize = eightbits, + parity_t parity = parity_none, + stopbits_t stopbits = stopbits_one, + flowcontrol_t flowcontrol = flowcontrol_none); + + /*! Destructor */ + virtual ~Serial (); + + /*! + * Opens the serial port as long as the port is set and the port isn't + * already open. + * + * If the port is provided to the constructor then an explicit call to open + * is not needed. + * + * \see Serial::Serial + * \return Returns true if the port is open, false otherwise. + */ + bool open (); + + /*! Gets the open status of the serial port. + * + * \return Returns true if the port is open, false otherwise. + */ + bool isOpen () const; + + /*! Closes the serial port. */ + void close (); + + /*! Return the number of characters in the buffer. */ + size_t available (); + + /*! Block until there is serial data to read or read_timeout_constant + * number of milliseconds have elapsed. The return value is true when + * the function exits with the port in a readable state, false otherwise + * (due to timeout or select interruption). */ + bool waitReadable (); + + /*! Block for a period of time corresponding to the transmission time of + * count characters at present serial settings. This may be used in con- + * junction with waitReadable to read larger blocks of data from the + * port. */ + void waitByteTimes (size_t count); + + + int waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size); + + /*! Read a given amount of bytes from the serial port into a given buffer. + * + * The read function will return in one of three cases: + * * The number of requested bytes was read. + * * In this case the number of bytes requested will match the size_t + * returned by read. + * * A timeout occurred, in this case the number of bytes read will not + * match the amount requested, but no exception will be thrown. One of + * two possible timeouts occurred: + * * The inter byte timeout expired, this means that number of + * milliseconds elapsed between receiving bytes from the serial port + * exceeded the inter byte timeout. + * * The total timeout expired, which is calculated by multiplying the + * read timeout multiplier by the number of requested bytes and then + * added to the read timeout constant. If that total number of + * milliseconds elapses after the initial call to read a timeout will + * occur. + * * An exception occurred, in this case an actual exception will be thrown. + * + * \param buffer An uint8_t array of at least the requested size. + * \param size A size_t defining how many bytes to be read. + * + * \return A size_t representing the number of bytes read as a result of the + * call to read. + * + */ + size_t read (uint8_t *buffer, size_t size); + + /*! Read a given amount of bytes from the serial port into a give buffer. + * + * \param buffer A reference to a std::vector of uint8_t. + * \param size A size_t defining how many bytes to be read. + * + * \return A size_t representing the number of bytes read as a result of the + * call to read. + * + */ + size_t read (std::vector &buffer, size_t size = 1); + + /*! Read a given amount of bytes from the serial port into a give buffer. + * + * \param buffer A reference to a std::string. + * \param size A size_t defining how many bytes to be read. + * + * \return A size_t representing the number of bytes read as a result of the + * call to read. + * + */ + size_t read (std::string &buffer, size_t size = 1); + + /*! Read a given amount of bytes from the serial port and return a string + * containing the data. + * + * \param size A size_t defining how many bytes to be read. + * + * \return A std::string containing the data read from the port. + * + */ + std::string read (size_t size = 1); + + /*! Reads in a line or until a given delimiter has been processed. + * + * Reads from the serial port until a single line has been read. + * + * \param buffer A std::string reference used to store the data. + * \param size A maximum length of a line, defaults to 65536 (2^16) + * \param eol A string to match against for the EOL. + * + * \return A size_t representing the number of bytes read. + * + */ + size_t readline (std::string &buffer, size_t size = 65536, std::string eol = "\n"); + + /*! Reads in a line or until a given delimiter has been processed. + * + * Reads from the serial port until a single line has been read. + * + * \param size A maximum length of a line, defaults to 65536 (2^16) + * \param eol A string to match against for the EOL. + * + * \return A std::string containing the line. + * + */ + std::string readline (size_t size = 65536, std::string eol = "\n"); + + /*! Reads in multiple lines until the serial port times out. + * + * This requires a timeout > 0 before it can be run. It will read until a + * timeout occurs and return a list of strings. + * + * \param size A maximum length of combined lines, defaults to 65536 (2^16) + * + * \param eol A string to match against for the EOL. + * + * \return A vector containing the lines. + * + */ + std::vector readlines (size_t size = 65536, std::string eol = "\n"); + + /*! Write a string to the serial port. + * + * \param data A const reference containing the data to be written + * to the serial port. + * + * \param size A size_t that indicates how many bytes should be written from + * the given data buffer. + * + * \return A size_t representing the number of bytes actually written to + * the serial port. + * + * \throw serial::PortNotOpenedException + * \throw serial::SerialException + * \throw serial::IOException + */ + size_t write (const uint8_t *data, size_t size); + + /*! Write a string to the serial port. + * + * \param data A const reference containing the data to be written + * to the serial port. + * + * \return A size_t representing the number of bytes actually written to + * the serial port. + * + */ + size_t write (const std::vector &data); + + /*! Write a string to the serial port. + * + * \param data A const reference containing the data to be written + * to the serial port. + * + * \return A size_t representing the number of bytes actually written to + * the serial port. + * + */ + size_t write (const std::string &data); + + /*! Sets the serial port identifier. + * + * \param port A const std::string reference containing the address of the + * serial port, which would be something like 'COM1' on Windows and + * '/dev/ttyS0' on Linux. + * + * \throw std::invalid_argument + */ + void setPort (const std::string &port); + + /*! Gets the serial port identifier. + * + * \see Serial::setPort + * + * \throw std::invalid_argument + */ + std::string getPort () const; + + /*! Sets the timeout for reads and writes using the Timeout struct. + * + * There are two timeout conditions described here: + * * The inter byte timeout: + * * The inter_byte_timeout component of serial::Timeout defines the + * maximum amount of time, in milliseconds, between receiving bytes on + * the serial port that can pass before a timeout occurs. Setting this + * to zero will prevent inter byte timeouts from occurring. + * * Total time timeout: + * * The constant and multiplier component of this timeout condition, + * for both read and write, are defined in serial::Timeout. This + * timeout occurs if the total time since the read or write call was + * made exceeds the specified time in milliseconds. + * * The limit is defined by multiplying the multiplier component by the + * number of requested bytes and adding that product to the constant + * component. In this way if you want a read call, for example, to + * timeout after exactly one second regardless of the number of bytes + * you asked for then set the read_timeout_constant component of + * serial::Timeout to 1000 and the read_timeout_multiplier to zero. + * This timeout condition can be used in conjunction with the inter + * byte timeout condition with out any problems, timeout will simply + * occur when one of the two timeout conditions is met. This allows + * users to have maximum control over the trade-off between + * responsiveness and efficiency. + * + * Read and write functions will return in one of three cases. When the + * reading or writing is complete, when a timeout occurs, or when an + * exception occurs. + * + * A timeout of 0 enables non-blocking mode. + * + * \param timeout A serial::Timeout struct containing the inter byte + * timeout, and the read and write timeout constants and multipliers. + * + * \see serial::Timeout + */ + void setTimeout (Timeout &timeout); + + /*! Sets the timeout for reads and writes. */ + void setTimeout (uint32_t inter_byte_timeout, uint32_t read_timeout_constant, + uint32_t read_timeout_multiplier, uint32_t write_timeout_constant, + uint32_t write_timeout_multiplier) + { + Timeout timeout(inter_byte_timeout, read_timeout_constant, + read_timeout_multiplier, write_timeout_constant, + write_timeout_multiplier); + return setTimeout(timeout); + } + + /*! Gets the timeout for reads in seconds. + * + * \return A Timeout struct containing the inter_byte_timeout, and read + * and write timeout constants and multipliers. + * + * \see Serial::setTimeout + */ + Timeout getTimeout () const; + + /*! Sets the baudrate for the serial port. + * + * Possible baudrates depends on the system but some safe baudrates include: + * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000, + * 57600, 115200 + * Some other baudrates that are supported by some comports: + * 128000, 153600, 230400, 256000, 460800, 921600 + * + * \param baudrate An integer that sets the baud rate for the serial port. + * + */ + bool setBaudrate (uint32_t baudrate); + + /*! Gets the baudrate for the serial port. + * + * \return An integer that sets the baud rate for the serial port. + * + * \see Serial::setBaudrate + * + * \ + */ + uint32_t getBaudrate () const; + + /*! Sets the bytesize for the serial port. + * + * \param bytesize Size of each byte in the serial transmission of data, + * default is eightbits, possible values are: fivebits, sixbits, sevenbits, + * eightbits + * + * \ + */ + bool setBytesize (bytesize_t bytesize); + + /*! Gets the bytesize for the serial port. + * + * \see Serial::setBytesize + * + * \ + */ + bytesize_t getBytesize () const; + + /*! Sets the parity for the serial port. + * + * \param parity Method of parity, default is parity_none, possible values + * are: parity_none, parity_odd, parity_even + * + * \ + */ + bool setParity (parity_t parity); + + /*! Gets the parity for the serial port. + * + * \see Serial::setParity + * + * \ + */ + parity_t getParity () const; + + /*! Sets the stopbits for the serial port. + * + * \param stopbits Number of stop bits used, default is stopbits_one, + * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two + * + * \ + */ + bool setStopbits (stopbits_t stopbits); + + /*! Gets the stopbits for the serial port. + * + * \see Serial::setStopbits + * + * \ + */ + stopbits_t getStopbits () const; + + /*! Sets the flow control for the serial port. + * + * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none, + * possible values are: flowcontrol_none, flowcontrol_software, + * flowcontrol_hardware + * + * \ + */ + bool setFlowcontrol (flowcontrol_t flowcontrol); + + /*! Gets the flow control for the serial port. + * + * \see Serial::setFlowcontrol + * + * \ + */ + flowcontrol_t getFlowcontrol () const; + + /*! Flush the input and output buffers */ + void flush (); + + /*! Flush only the input buffer */ + void flushInput (); + + /*! Flush only the output buffer */ + void flushOutput (); + + /*! Sends the RS-232 break signal. See tcsendbreak(3). */ + void sendBreak (int duration); + + /*! Set the break condition to a given level. Defaults to true. */ + bool setBreak (bool level = true); + + /*! Set the RTS handshaking line to the given level. Defaults to true. */ + bool setRTS (bool level = true); + + /*! Set the DTR handshaking line to the given level. Defaults to true. */ + bool setDTR (bool level = true); + + /*! + * Blocks until CTS, DSR, RI, CD changes or something interrupts it. + * + * Can throw an exception if an error occurs while waiting. + * You can check the status of CTS, DSR, RI, and CD once this returns. + * Uses TIOCMIWAIT via ioctl if available (mostly only on Linux) with a + * resolution of less than +-1ms and as good as +-0.2ms. Otherwise a + * polling method is used which can give +-2ms. + * + * \return Returns true if one of the lines changed, false if something else + * occurred. + * + */ + bool waitForChange (); + + /*! Returns the current status of the CTS line. */ + bool getCTS (); + + /*! Returns the current status of the DSR line. */ + bool getDSR (); + + /*! Returns the current status of the RI line. */ + bool getRI (); + + /*! Returns the current status of the CD line. */ + bool getCD (); + + private: + // Disable copy constructors + Serial(const Serial&); + Serial& operator=(const Serial&); + + // Pimpl idiom, d_pointer + class SerialImpl; + SerialImpl *pimpl_; + + // Scoped Lock Classes + class ScopedReadLock; + class ScopedWriteLock; + + // Read common function + size_t read_ (uint8_t *buffer, size_t size); + // Write common function + size_t write_ (const uint8_t *data, size_t length); + }; + + + /*! + * Structure that describes a serial device. + */ + struct PortInfo { + + /*! Address of the serial port (this can be passed to the constructor of Serial). */ + std::string port; + + /*! Human readable description of serial device if available. */ + std::string description; + + /*! Hardware ID (e.g. VID:PID of USB serial devices) or "n/a" if not available. */ + std::string hardware_id; + + }; + + /* Lists the serial ports available on the system + * + * Returns a vector of available serial ports, each represented + * by a serial::PortInfo data structure: + * + * \return vector of serial::PortInfo. + */ + std::vector + list_ports(); + +} // namespace serial + +#endif diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/thread.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/thread.h new file mode 100644 index 0000000..643e415 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/thread.h @@ -0,0 +1,105 @@ +#pragma once +#include "v8stdint.h" + +#ifdef _WIN32 +#include +#include +#include +#include +#else +#include +#include +#endif + +#define UNUSED(x) (void)x + +#if defined(__ANDROID__) +#define pthread_cancel(x) 0 +#endif + +#define CLASS_THREAD(c , x ) Thread::ThreadCreateObjectFunctor(this) + +class Thread +{ +public: + + template static Thread ThreadCreateObjectFunctor(CLASS * pthis){ + return createThread(createThreadAux, pthis); + } + + template static _size_t THREAD_PROC createThreadAux(void * param){ + return (static_cast(param)->*PROC)(); + } + + static Thread createThread(thread_proc_t proc, void * param = NULL ){ + Thread thread_(proc, param); +#if defined(_WIN32) + thread_._handle = (_size_t)( _beginthreadex(NULL, 0, (unsigned int (__stdcall * )( void * ))proc, param, 0, NULL)); +#else + assert( sizeof(thread_._handle) >= sizeof(pthread_t)); + + pthread_create((pthread_t *)&thread_._handle, NULL, (void * (*)(void *))proc, param); +#endif + return thread_; + } + +public: + explicit Thread(): _param(NULL),_func(NULL),_handle(0){} + virtual ~Thread(){} + _size_t getHandle(){ + return _handle; + } + int terminate(){ +#if defined(_WIN32) + if (!this->_handle){ + return 0; + } + if (TerminateThread( reinterpret_cast(this->_handle), -1)){ + CloseHandle(reinterpret_cast(this->_handle)); + this->_handle = NULL; + return 0; + }else{ + return -2; + } + +#else + if (!this->_handle) return 0; + + return pthread_cancel((pthread_t)this->_handle); +#endif + } + void *getParam() { + return _param; + } + int join(unsigned long timeout = -1){ + if (!this->_handle){ + return 0; + } +#if defined(_WIN32) + switch ( WaitForSingleObject(reinterpret_cast(this->_handle), timeout)){ + case WAIT_OBJECT_0: + CloseHandle(reinterpret_cast(this->_handle)); + this->_handle = NULL; + return 0; + case WAIT_ABANDONED: + return -2; + case WAIT_TIMEOUT: + return -1; + } +#else + UNUSED(timeout); + pthread_join((pthread_t)(this->_handle), NULL); +#endif + return 0; + } + + bool operator== ( const Thread & right) { + return this->_handle == right._handle; + } +protected: + explicit Thread( thread_proc_t proc, void * param ):_param(param),_func(proc), _handle(0){} + void * _param; + thread_proc_t _func; + _size_t _handle; +}; + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/v8stdint.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/v8stdint.h new file mode 100644 index 0000000..973d57b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/v8stdint.h @@ -0,0 +1,54 @@ +#ifndef V8STDINT_H_ +#define V8STDINT_H_ + +#include +#include + +#if defined(_WIN32) && !defined(__MINGW32__) +typedef signed char int8_t; +typedef unsigned char uint8_t; +typedef short int16_t; +typedef unsigned short uint16_t; +typedef int int32_t; +typedef unsigned int uint32_t; +typedef __int64 int64_t; +typedef unsigned __int64 uint64_t; +#else + +#include + +#endif + +#define __small_endian + +#ifndef __GNUC__ +#define __attribute__(x) +#endif + + +#ifdef _AVR_ +typedef uint8_t _size_t; +#define THREAD_PROC +#elif defined (WIN64) +typedef uint64_t _size_t; +#define THREAD_PROC __stdcall +#elif defined (WIN32) +typedef uint32_t _size_t; +#define THREAD_PROC __stdcall +#elif defined (__GNUC__) +typedef unsigned long _size_t; +#define THREAD_PROC +#elif defined (__ICCARM__) +typedef uint32_t _size_t; +#define THREAD_PROC +#endif + +typedef _size_t (THREAD_PROC * thread_proc_t ) ( void * ); + +typedef int32_t result_t; + +#define RESULT_OK 0 +#define RESULT_TIMEOUT -1 +#define RESULT_FAIL -2 + +#endif // V8STDINT_H_ diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h new file mode 100644 index 0000000..ec5da24 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h @@ -0,0 +1,280 @@ +#ifndef YDLIDAR_DRIVER_H +#define YDLIDAR_DRIVER_H + +#include "locker.h" +#include "serial.h" +#include "thread.h" + +#if !defined(__cplusplus) +#ifndef __cplusplus +#error "The YDLIDAR SDK requires a C++ compiler to be built" +#endif +#endif +#if !defined(_countof) +#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0])) +#endif + +#define LIDAR_CMD_STOP 0x65 +#define LIDAR_CMD_SCAN 0x60 +#define LIDAR_CMD_FORCE_SCAN 0x61 +#define LIDAR_CMD_RESET 0x80 +#define LIDAR_CMD_FORCE_STOP 0x00 +#define LIDAR_CMD_GET_EAI 0x55 +#define LIDAR_CMD_GET_DEVICE_INFO 0x90 +#define LIDAR_CMD_GET_DEVICE_HEALTH 0x92 +#define LIDAR_ANS_TYPE_DEVINFO 0x4 +#define LIDAR_ANS_TYPE_DEVHEALTH 0x6 +#define LIDAR_CMD_SYNC_BYTE 0xA5 +#define LIDAR_CMDFLAG_HAS_PAYLOAD 0x80 +#define LIDAR_ANS_SYNC_BYTE1 0xA5 +#define LIDAR_ANS_SYNC_BYTE2 0x5A +#define LIDAR_ANS_TYPE_MEASUREMENT 0x81 +#define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) +#define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 +#define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) +#define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 + +#define LIDAR_CMD_RUN_POSITIVE 0x06 +#define LIDAR_CMD_RUN_INVERSION 0x07 +#define LIDAR_CMD_SET_AIMSPEED_ADDMIC 0x09 +#define LIDAR_CMD_SET_AIMSPEED_DISMIC 0x0A +#define LIDAR_CMD_SET_AIMSPEED_ADD 0x0B +#define LIDAR_CMD_SET_AIMSPEED_DIS 0x0C +#define LIDAR_CMD_GET_AIMSPEED 0x0D + +#define LIDAR_CMD_SET_SAMPLING_RATE 0xD0 +#define LIDAR_CMD_GET_SAMPLING_RATE 0xD1 +#define LIDAR_STATUS_OK 0x0 +#define LIDAR_STATUS_WARNING 0x1 +#define LIDAR_STATUS_ERROR 0x2 + +#define PackageSampleMaxLngth 0x100 +typedef enum { + CT_Normal = 0, + CT_RingStart = 1, + CT_Tail, +}CT; +#define Node_Default_Quality (10<<2) +#define Node_Sync 1 +#define Node_NotSync 2 +#define PackagePaidBytes 10 +#define PH 0x55AA + +#if defined(_WIN32) +#pragma pack(1) +#endif + +struct node_info { + uint8_t sync_quality; + uint16_t angle_q6_checkbit; + uint16_t distance_q2; +} __attribute__((packed)) ; + +struct PackageNode { + uint8_t PakageSampleQuality; + uint16_t PakageSampleDistance; +}__attribute__((packed)); + +struct node_package { + uint16_t package_Head; + uint8_t package_CT; + uint8_t nowPackageNum; + uint16_t packageFirstSampleAngle; + uint16_t packageLastSampleAngle; + uint16_t checkSum; + PackageNode packageSample[PackageSampleMaxLngth]; +} __attribute__((packed)) ; + +struct node_packages { + uint16_t package_Head; + uint8_t package_CT; + uint8_t nowPackageNum; + uint16_t packageFirstSampleAngle; + uint16_t packageLastSampleAngle; + uint16_t checkSum; + uint16_t packageSampleDistance[PackageSampleMaxLngth]; +} __attribute__((packed)) ; + + +struct device_info{ + uint8_t model; + uint16_t firmware_version; + uint8_t hardware_version; + uint8_t serialnum[16]; +} __attribute__((packed)) ; + +struct device_health { + uint8_t status; + uint16_t error_code; +} __attribute__((packed)) ; + +struct sampling_rate { + uint8_t rate; +} __attribute__((packed)) ; + +struct scan_frequency { + uint32_t frequency; +} __attribute__((packed)) ; + +struct scan_rotation { + uint8_t rotation; +} __attribute__((packed)) ; + +struct cmd_packet { + uint8_t syncByte; + uint8_t cmd_flag; + uint8_t size; + uint8_t data; +} __attribute__((packed)) ; + +struct lidar_ans_header { + uint8_t syncByte1; + uint8_t syncByte2; + uint32_t size:30; + uint32_t subType:2; + uint8_t type; +} __attribute__((packed)); + +struct scanDot { + uint8_t quality; + float angle; + float dist; +}; + + +//! A struct for returning configuration from the YDLIDAR +struct LaserConfig { + //! Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. + float min_angle; + //! Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. + float max_angle; + //! Scan resolution [rad]. + float ang_increment; + //! Scan resoltuion [s] + float time_increment; + //! Time between scans + float scan_time; + //! Minimum range [m] + float min_range; + //! Maximum range [m] + float max_range; + //! Range Resolution [m] + float range_res; +}; + + +//! A struct for returning laser readings from the YDLIDAR +struct LaserScan { + //! Array of ranges + std::vector ranges; + //! Array of intensities + std::vector intensities; + //! Self reported time stamp in nanoseconds + uint64_t self_time_stamp; + //! System time when first range was measured in nanoseconds + uint64_t system_time_stamp; + //! Configuration of scan + LaserConfig config; +}; + +using namespace std; +using namespace serial; + + +namespace ydlidar{ + + class YDlidarDriver + { + public: + static YDlidarDriver* singleton(){ + return _impl; + } + static void initDriver(){ + _impl = new YDlidarDriver; + } + static void done(){ + if(_impl){ + delete _impl; + _impl = NULL; + } + } + + result_t connect(const char * port_path, uint32_t baudrate); + void disconnect(); + const std::string getSDKVersion(); + void setIntensities(const bool isintensities); + result_t getHealth(device_health & health, uint32_t timeout = DEFAULT_TIMEOUT); + result_t getDeviceInfo(device_info & info, uint32_t timeout = DEFAULT_TIMEOUT); + result_t startScan(bool force = false, uint32_t timeout = DEFAULT_TIMEOUT) ; + result_t stop(); + result_t grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT) ; + result_t ascendScanData(node_info * nodebuffer, size_t count); + void simpleScanData(std::vector * scan_data , node_info *buffer, size_t count); + + result_t reset(uint32_t timeout = DEFAULT_TIMEOUT); + result_t startMotor(); + result_t stopMotor(); + result_t getScanFrequency(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t getSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setRotationPositive(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setRotationInversion(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT); + + protected: + YDlidarDriver(); + virtual ~YDlidarDriver(); + + result_t createThread(); + result_t waitPackage(node_info * node, uint32_t timeout = DEFAULT_TIMEOUT); + result_t waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT); + int cacheScanData(); + result_t sendCommand(uint8_t cmd, const void * payload = NULL, size_t payloadsize = 0); + result_t waitResponseHeader(lidar_ans_header * header, uint32_t timeout = DEFAULT_TIMEOUT); + result_t waitForData(size_t data_count,uint32_t timeout = -1, size_t * returned_size = NULL); + result_t getData(uint8_t * data, size_t size); + result_t sendData(const uint8_t * data, size_t size); + void disableDataGrabbing(); + void setDTR(); + void clearDTR(); + + + public: + bool isConnected; + bool isScanning; + + enum { + DEFAULT_TIMEOUT = 2000, + MAX_SCAN_NODES = 2048, + }; + enum { + YDLIDAR_F4=1, + YDLIDAR_T1=2, + YDLIDAR_F2=3, + YDLIDAR_S4=4, + YDLIDAR_G4=5, + YDLIDAR_X4=6, + }; + node_info scan_node_buf[2048]; + size_t scan_node_count; + Locker _scanning_lock; + Event _dataEvent; + Locker _lock; + Thread _thread; + + private: + static int PackageSampleBytes; + static YDlidarDriver* _impl; + serial::Serial *_serial; + bool m_intensities; + int _sampling_rate; + uint32_t _baudrate; + bool isSupportMotorCtrl; + + }; +} + +#endif // YDLIDAR_DRIVER_H diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/common.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/common.h new file mode 100644 index 0000000..d69d9f3 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/common.h @@ -0,0 +1,19 @@ +#pragma once + +#if defined(_WIN32) +#include "impl\windows\win.h" +#include "impl\windows\win_serial.h" +#include "impl\windows\win_timer.h" +#elif defined(__GNUC__) +#include "impl/unix/unix.h" +#include "impl/unix/unix_serial.h" +#include "impl/unix/unix_timer.h" +#else +#error "unsupported target" +#endif + +#include "locker.h" +#include "serial.h" +#include "thread.h" + +#define SDKVerision "1.2.1" diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_linux.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_linux.cpp new file mode 100644 index 0000000..e8e3ce4 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_linux.cpp @@ -0,0 +1,336 @@ +#if defined(__linux__) + +/* + * Copyright (c) 2014 Craig Lilley + * This software is made available under the terms of the MIT licence. + * A copy of the licence can be obtained from: + * http://opensource.org/licenses/MIT + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include "serial.h" + +using serial::PortInfo; +using std::istringstream; +using std::ifstream; +using std::getline; +using std::vector; +using std::string; +using std::cout; +using std::endl; + +static vector glob(const vector& patterns); +static string basename(const string& path); +static string dirname(const string& path); +static bool path_exists(const string& path); +static string realpath(const string& path); +static string usb_sysfs_friendly_name(const string& sys_usb_path); +static vector get_sysfs_info(const string& device_path); +static string read_line(const string& file); +static string usb_sysfs_hw_string(const string& sysfs_path); +static string format(const char* format, ...); + +vector +glob(const vector& patterns) +{ + vector paths_found; + + if(patterns.size() == 0) + return paths_found; + + glob_t glob_results; + + int glob_retval = glob(patterns[0].c_str(), 0, NULL, &glob_results); + + vector::const_iterator iter = patterns.begin(); + + while(++iter != patterns.end()) + { + glob_retval = glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results); + } + + for(int path_index = 0; path_index < glob_results.gl_pathc; path_index++) + { + paths_found.push_back(glob_results.gl_pathv[path_index]); + } + + globfree(&glob_results); + + return paths_found; +} + +string +basename(const string& path) +{ + size_t pos = path.rfind("/"); + + if(pos == std::string::npos) + return path; + + return string(path, pos+1, string::npos); +} + +string +dirname(const string& path) +{ + size_t pos = path.rfind("/"); + + if(pos == std::string::npos) + return path; + else if(pos == 0) + return "/"; + + return string(path, 0, pos); +} + +bool +path_exists(const string& path) +{ + struct stat sb; + + if( stat(path.c_str(), &sb ) == 0 ) + return true; + + return false; +} + +string +realpath(const string& path) +{ + char* real_path = realpath(path.c_str(), NULL); + + string result; + + if(real_path != NULL) + { + result = real_path; + + free(real_path); + } + + return result; +} + +string +usb_sysfs_friendly_name(const string& sys_usb_path) +{ + unsigned int device_number = 0; + + istringstream( read_line(sys_usb_path + "/devnum") ) >> device_number; + + string manufacturer = read_line( sys_usb_path + "/manufacturer" ); + + string product = read_line( sys_usb_path + "/product" ); + + string serial = read_line( sys_usb_path + "/serial" ); + + if( manufacturer.empty() && product.empty() && serial.empty() ) + return ""; + + return format("%s %s %s", manufacturer.c_str(), product.c_str(), serial.c_str() ); +} + +vector +get_sysfs_info(const string& device_path) +{ + string device_name = basename( device_path ); + + string friendly_name; + + string hardware_id; + + string sys_device_path = format( "/sys/class/tty/%s/device", device_name.c_str() ); + + if( device_name.compare(0,6,"ttyUSB") == 0 ) + { + sys_device_path = dirname( dirname( realpath( sys_device_path ) ) ); + + if( path_exists( sys_device_path ) ) + { + friendly_name = usb_sysfs_friendly_name( sys_device_path ); + + hardware_id = usb_sysfs_hw_string( sys_device_path ); + } + } + else if( device_name.compare(0,6,"ttyACM") == 0 ) + { + sys_device_path = dirname( realpath( sys_device_path ) ); + + if( path_exists( sys_device_path ) ) + { + friendly_name = usb_sysfs_friendly_name( sys_device_path ); + + hardware_id = usb_sysfs_hw_string( sys_device_path ); + } + } + else + { + // Try to read ID string of PCI device + + string sys_id_path = sys_device_path + "/id"; + + if( path_exists( sys_id_path ) ) + hardware_id = read_line( sys_id_path ); + } + + if( friendly_name.empty() ) + friendly_name = device_name; + + if( hardware_id.empty() ) + hardware_id = "n/a"; + + vector result; + result.push_back(friendly_name); + result.push_back(hardware_id); + + return result; +} + +string +read_line(const string& file) +{ + ifstream ifs(file.c_str(), ifstream::in); + + string line; + + if(ifs) + { + getline(ifs, line); + } + + return line; +} + +string +format(const char* format, ...) +{ + va_list ap; + + size_t buffer_size_bytes = 256; + + string result; + + char* buffer = (char*)malloc(buffer_size_bytes); + + if( buffer == NULL ) + return result; + + bool done = false; + + unsigned int loop_count = 0; + + while(!done) + { + va_start(ap, format); + + int return_value = vsnprintf(buffer, buffer_size_bytes, format, ap); + + if( return_value < 0 ) + { + done = true; + } + else if( return_value >= buffer_size_bytes ) + { + // Realloc and try again. + + buffer_size_bytes = return_value + 1; + + char* new_buffer_ptr = (char*)realloc(buffer, buffer_size_bytes); + + if( new_buffer_ptr == NULL ) + { + done = true; + } + else + { + buffer = new_buffer_ptr; + } + } + else + { + result = buffer; + done = true; + } + + va_end(ap); + + if( ++loop_count > 5 ) + done = true; + } + + free(buffer); + + return result; +} + +string +usb_sysfs_hw_string(const string& sysfs_path) +{ + string serial_number = read_line( sysfs_path + "/serial" ); + + if( serial_number.length() > 0 ) + { + serial_number = format( "SNR=%s", serial_number.c_str() ); + } + + string vid = read_line( sysfs_path + "/idVendor" ); + + string pid = read_line( sysfs_path + "/idProduct" ); + + return format("USB VID:PID=%s:%s %s", vid.c_str(), pid.c_str(), serial_number.c_str() ); +} + +vector +serial::list_ports() +{ + vector results; + + vector search_globs; + search_globs.push_back("/dev/ttyACM*"); + search_globs.push_back("/dev/ttyS*"); + search_globs.push_back("/dev/ttyUSB*"); + search_globs.push_back("/dev/tty.*"); + search_globs.push_back("/dev/cu.*"); + + vector devices_found = glob( search_globs ); + + vector::iterator iter = devices_found.begin(); + + while( iter != devices_found.end() ) + { + string device = *iter++; + + vector sysfs_info = get_sysfs_info( device ); + + string friendly_name = sysfs_info[0]; + + string hardware_id = sysfs_info[1]; + + PortInfo device_entry; + device_entry.port = device; + device_entry.description = friendly_name; + device_entry.hardware_id = hardware_id; + + results.push_back( device_entry ); + + } + + return results; +} + +#endif // defined(__linux__) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_osx.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_osx.cpp new file mode 100644 index 0000000..333c55c --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_osx.cpp @@ -0,0 +1,286 @@ +#if defined(__APPLE__) + +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include "serial/serial.h" + +using serial::PortInfo; +using std::string; +using std::vector; + +#define HARDWARE_ID_STRING_LENGTH 128 + +string cfstring_to_string( CFStringRef cfstring ); +string get_device_path( io_object_t& serial_port ); +string get_class_name( io_object_t& obj ); +io_registry_entry_t get_parent_iousb_device( io_object_t& serial_port ); +string get_string_property( io_object_t& device, const char* property ); +uint16_t get_int_property( io_object_t& device, const char* property ); +string rtrim(const string& str); + +string +cfstring_to_string( CFStringRef cfstring ) +{ + char cstring[MAXPATHLEN]; + string result; + + if( cfstring ) + { + Boolean success = CFStringGetCString( cfstring, + cstring, + sizeof(cstring), + kCFStringEncodingASCII ); + + if( success ) + result = cstring; + } + + return result; +} + +string +get_device_path( io_object_t& serial_port ) +{ + CFTypeRef callout_path; + string device_path; + + callout_path = IORegistryEntryCreateCFProperty( serial_port, + CFSTR(kIOCalloutDeviceKey), + kCFAllocatorDefault, + 0 ); + + if (callout_path) + { + if( CFGetTypeID(callout_path) == CFStringGetTypeID() ) + device_path = cfstring_to_string( static_cast(callout_path) ); + + CFRelease(callout_path); + } + + return device_path; +} + +string +get_class_name( io_object_t& obj ) +{ + string result; + io_name_t class_name; + kern_return_t kern_result; + + kern_result = IOObjectGetClass( obj, class_name ); + + if( kern_result == KERN_SUCCESS ) + result = class_name; + + return result; +} + +io_registry_entry_t +get_parent_iousb_device( io_object_t& serial_port ) +{ + io_object_t device = serial_port; + io_registry_entry_t parent = 0; + io_registry_entry_t result = 0; + kern_return_t kern_result = KERN_FAILURE; + string name = get_class_name(device); + + // Walk the IO Registry tree looking for this devices parent IOUSBDevice. + while( name != "IOUSBDevice" ) + { + kern_result = IORegistryEntryGetParentEntry( device, + kIOServicePlane, + &parent ); + + if(kern_result != KERN_SUCCESS) + { + result = 0; + break; + } + + device = parent; + + name = get_class_name(device); + } + + if(kern_result == KERN_SUCCESS) + result = device; + + return result; +} + +string +get_string_property( io_object_t& device, const char* property ) +{ + string property_name; + + if( device ) + { + CFStringRef property_as_cfstring = CFStringCreateWithCString ( + kCFAllocatorDefault, + property, + kCFStringEncodingASCII ); + + CFTypeRef name_as_cfstring = IORegistryEntryCreateCFProperty( + device, + property_as_cfstring, + kCFAllocatorDefault, + 0 ); + + if( name_as_cfstring ) + { + if( CFGetTypeID(name_as_cfstring) == CFStringGetTypeID() ) + property_name = cfstring_to_string( static_cast(name_as_cfstring) ); + + CFRelease(name_as_cfstring); + } + + if(property_as_cfstring) + CFRelease(property_as_cfstring); + } + + return property_name; +} + +uint16_t +get_int_property( io_object_t& device, const char* property ) +{ + uint16_t result = 0; + + if( device ) + { + CFStringRef property_as_cfstring = CFStringCreateWithCString ( + kCFAllocatorDefault, + property, + kCFStringEncodingASCII ); + + CFTypeRef number = IORegistryEntryCreateCFProperty( device, + property_as_cfstring, + kCFAllocatorDefault, + 0 ); + + if(property_as_cfstring) + CFRelease(property_as_cfstring); + + if( number ) + { + if( CFGetTypeID(number) == CFNumberGetTypeID() ) + { + bool success = CFNumberGetValue( static_cast(number), + kCFNumberSInt16Type, + &result ); + + if( !success ) + result = 0; + } + + CFRelease(number); + } + + } + + return result; +} + +string rtrim(const string& str) +{ + string result = str; + + string whitespace = " \t\f\v\n\r"; + + std::size_t found = result.find_last_not_of(whitespace); + + if (found != std::string::npos) + result.erase(found+1); + else + result.clear(); + + return result; +} + +vector +serial::list_ports(void) +{ + vector devices_found; + CFMutableDictionaryRef classes_to_match; + io_iterator_t serial_port_iterator; + io_object_t serial_port; + mach_port_t master_port; + kern_return_t kern_result; + + kern_result = IOMasterPort(MACH_PORT_NULL, &master_port); + + if(kern_result != KERN_SUCCESS) + return devices_found; + + classes_to_match = IOServiceMatching(kIOSerialBSDServiceValue); + + if (classes_to_match == NULL) + return devices_found; + + CFDictionarySetValue( classes_to_match, + CFSTR(kIOSerialBSDTypeKey), + CFSTR(kIOSerialBSDAllTypes) ); + + kern_result = IOServiceGetMatchingServices(master_port, classes_to_match, &serial_port_iterator); + + if (KERN_SUCCESS != kern_result) + return devices_found; + + while ( (serial_port = IOIteratorNext(serial_port_iterator)) ) + { + string device_path = get_device_path( serial_port ); + io_registry_entry_t parent = get_parent_iousb_device( serial_port ); + IOObjectRelease(serial_port); + + if( device_path.empty() ) + continue; + + PortInfo port_info; + port_info.port = device_path; + port_info.description = "n/a"; + port_info.hardware_id = "n/a"; + + string device_name = rtrim( get_string_property( parent, "USB Product Name" ) ); + string vendor_name = rtrim( get_string_property( parent, "USB Vendor Name") ); + string description = rtrim( vendor_name + " " + device_name ); + if( !description.empty() ) + port_info.description = description; + + string serial_number = rtrim(get_string_property( parent, "USB Serial Number" ) ); + uint16_t vendor_id = get_int_property( parent, "idVendor" ); + uint16_t product_id = get_int_property( parent, "idProduct" ); + + if( vendor_id && product_id ) + { + char cstring[HARDWARE_ID_STRING_LENGTH]; + + if(serial_number.empty()) + serial_number = "None"; + + int ret = snprintf( cstring, HARDWARE_ID_STRING_LENGTH, "USB VID:PID=%04x:%04x SNR=%s", + vendor_id, + product_id, + serial_number.c_str() ); + + if( (ret >= 0) && (ret < HARDWARE_ID_STRING_LENGTH) ) + port_info.hardware_id = cstring; + } + + devices_found.push_back(port_info); + } + + IOObjectRelease(serial_port_iterator); + return devices_found; +} + +#endif // defined(__APPLE__) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_win.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_win.cpp new file mode 100644 index 0000000..abfddae --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_win.cpp @@ -0,0 +1,152 @@ +#if defined(_WIN32) + +/* + * Copyright (c) 2014 Craig Lilley + * This software is made available under the terms of the MIT licence. + * A copy of the licence can be obtained from: + * http://opensource.org/licenses/MIT + */ + +#include "serial.h" +#include +#include +#include +#include +#include +#include + +using serial::PortInfo; +using std::vector; +using std::string; + +static const DWORD port_name_max_length = 256; +static const DWORD friendly_name_max_length = 256; +static const DWORD hardware_id_max_length = 256; + +// Convert a wide Unicode string to an UTF8 string +std::string utf8_encode(const std::wstring &wstr) +{ + int size_needed = WideCharToMultiByte(CP_UTF8, 0, &wstr[0], (int)wstr.size(), NULL, 0, NULL, NULL); + std::string strTo( size_needed, 0 ); + WideCharToMultiByte (CP_UTF8, 0, &wstr[0], (int)wstr.size(), &strTo[0], size_needed, NULL, NULL); + return strTo; +} + +vector +serial::list_ports() +{ + vector devices_found; + + HDEVINFO device_info_set = SetupDiGetClassDevs( + (const GUID *) &GUID_DEVCLASS_PORTS, + NULL, + NULL, + DIGCF_PRESENT); + + unsigned int device_info_set_index = 0; + SP_DEVINFO_DATA device_info_data; + + device_info_data.cbSize = sizeof(SP_DEVINFO_DATA); + + while(SetupDiEnumDeviceInfo(device_info_set, device_info_set_index, &device_info_data)) + { + device_info_set_index++; + + // Get port name + + HKEY hkey = SetupDiOpenDevRegKey( + device_info_set, + &device_info_data, + DICS_FLAG_GLOBAL, + 0, + DIREG_DEV, + KEY_READ); + + TCHAR port_name[port_name_max_length]; + DWORD port_name_length = port_name_max_length; + + LONG return_code = RegQueryValueEx( + hkey, + _T("PortName"), + NULL, + NULL, + (LPBYTE)port_name, + &port_name_length); + + RegCloseKey(hkey); + + if(return_code != EXIT_SUCCESS) + continue; + + if(port_name_length > 0 && port_name_length <= port_name_max_length) + port_name[port_name_length-1] = '\0'; + else + port_name[0] = '\0'; + + // Ignore parallel ports + + if(_tcsstr(port_name, _T("LPT")) != NULL) + continue; + + // Get port friendly name + + TCHAR friendly_name[friendly_name_max_length]; + DWORD friendly_name_actual_length = 0; + + BOOL got_friendly_name = SetupDiGetDeviceRegistryProperty( + device_info_set, + &device_info_data, + SPDRP_FRIENDLYNAME, + NULL, + (PBYTE)friendly_name, + friendly_name_max_length, + &friendly_name_actual_length); + + if(got_friendly_name == TRUE && friendly_name_actual_length > 0) + friendly_name[friendly_name_actual_length-1] = '\0'; + else + friendly_name[0] = '\0'; + + // Get hardware ID + + TCHAR hardware_id[hardware_id_max_length]; + DWORD hardware_id_actual_length = 0; + + BOOL got_hardware_id = SetupDiGetDeviceRegistryProperty( + device_info_set, + &device_info_data, + SPDRP_HARDWAREID, + NULL, + (PBYTE)hardware_id, + hardware_id_max_length, + &hardware_id_actual_length); + + if(got_hardware_id == TRUE && hardware_id_actual_length > 0) + hardware_id[hardware_id_actual_length-1] = '\0'; + else + hardware_id[0] = '\0'; + + #ifdef UNICODE + std::string portName = utf8_encode(port_name); + std::string friendlyName = utf8_encode(friendly_name); + std::string hardwareId = utf8_encode(hardware_id); + #else + std::string portName = port_name; + std::string friendlyName = friendly_name; + std::string hardwareId = hardware_id; + #endif + + PortInfo port_entry; + port_entry.port = portName; + port_entry.description = friendlyName; + port_entry.hardware_id = hardwareId; + + devices_found.push_back(port_entry); + } + + SetupDiDestroyDeviceInfoList(device_info_set); + + return devices_found; +} + +#endif // #if defined(_WIN32) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix.h new file mode 100644 index 0000000..53ea5d5 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix.h @@ -0,0 +1,29 @@ +#pragma once +// libc dep +#include +#include +#include +#include +#include +#include +#include +#include + +// libc++ dep +#include +#include + +// linux specific +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "unix_timer.h" + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.cpp new file mode 100644 index 0000000..cb6ef2b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.cpp @@ -0,0 +1,1273 @@ +#if !defined(_WIN32) + +#include +#include +#include +#include +#include +#include +#if !defined(__ANDROID__) +#include +#include + +#endif + +#include +#include +#include +#include +#include +#include + +#include + +#if defined(__linux__) &&!defined(__ANDROID__) +# include +#endif + +#include +#include +#include +#include + +#ifdef __MACH__ +#include +#include +#include +#endif + +#include "unix_serial.h" + +#ifndef TIOCINQ +#ifdef FIONREAD +#define TIOCINQ FIONREAD +#else +#define TIOCINQ 0x541B +#endif +#endif + +#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3) +#include +#endif + +/** +* setup_port - Configure the port, eg. baud rate, data bits,etc. +* +* @param fd : The serial port +* @param speed : The baud rate +* @param data_bits : The data bits +* @param parity : The parity bits +* @param stop_bits : The stop bits +* +* @return Return 0 if everything is OK, otherwise -1 with some error msg. +* @note +Here are termios structure members: +\verbatim +Member Description +c_cflag Control options +c_lflag Line options +c_iflag Input options +c_oflag Output options +c_cc Control characters +c_ispeed Input baud (new interface) +c_ospeed Output baud (new interface) +\endverbatim +The c_cflag member controls the baud rate, number of data bits, parity, +stop bits, and hardware flow control. There are constants for all of the +supported configurations. +Constant Description +\verbatim +CBAUD Bit mask for baud rate +B0 0 baud (drop DTR) +B50 50 baud +B75 75 baud +B110 110 baud +B134 134.5 baud +B150 150 baud +B200 200 baud +B300 300 baud +B600 600 baud +B1200 1200 baud +B1800 1800 baud +B2400 2400 baud +B4800 4800 baud +B9600 9600 baud +B19200 19200 baud +B38400 38400 baud +B57600 57,600 baud +B76800 76,800 baud +B115200 115,200 baud +EXTA External rate clock +EXTB External rate clock +CSIZE Bit mask for data bits +CS5 5 data bits +CS6 6 data bits +CS7 7 data bits +CS8 8 data bits +CSTOPB 2 stop bits (1 otherwise) +CREAD Enable receiver +PARENB Enable parity bit +PARODD Use odd parity instead of even +HUPCL Hangup (drop DTR) on last close +CLOCAL Local line - do not change "owner" of port +LOBLK Block job control output +CNEW_RTSCTS CRTSCTS Enable hardware flow control (not supported on all +platforms) +\endverbatim +The input modes member c_iflag controls any input processing that is done to +characters received on the port. Like the c_cflag field, the final value +stored in c_iflag is the bitwise OR of the desired options. +\verbatim +Constant Description +INPCK Enable parity check +IGNPAR Ignore parity errors +PARMRK Mark parity errors +ISTRIP Strip parity bits +IXON Enable software flow control (outgoing) +IXOFF Enable software flow control (incoming) +IXANY Allow any character to start flow again +IGNBRK Ignore break condition +BRKINT Send a SIGINT when a break condition is detected +INLCR Map NL to CR +IGNCR Ignore CR +ICRNL Map CR to NL +IUCLC Map uppercase to lowercase +IMAXBEL Echo BEL on input line too long +\endverbatim +Here are some examples of setting parity checking: @n +No parity (8N1): +\verbatim +options.c_cflag &= ~PARENB +options.c_cflag &= ~CSTOPB +options.c_cflag &= ~CSIZE; +options.c_cflag |= CS8; +\endverbatim +Even parity (7E1): +\verbatim +options.c_cflag |= PARENB +options.c_cflag &= ~PARODD +options.c_cflag &= ~CSTOPB +options.c_cflag &= ~CSIZE; +options.c_cflag |= CS7; +\endverbatim +Odd parity (7O1): +\verbatim +options.c_cflag |= PARENB +options.c_cflag |= PARODD +options.c_cflag &= ~CSTOPB +options.c_cflag &= ~CSIZE; +options.c_cflag |= CS7; +\endverbatim +*/ + + +namespace serial{ + + using std::string; + using serial::MillisecondTimer; + using serial::Serial; + using namespace serial; + +#define SNCCS 19 + + + struct termios2 { + tcflag_t c_iflag; /* input mode flags */ + tcflag_t c_oflag; /* output mode flags */ + tcflag_t c_cflag; /* control mode flags */ + tcflag_t c_lflag; /* local mode flags */ + cc_t c_line; /* line discipline */ + cc_t c_cc[SNCCS]; /* control characters */ + speed_t c_ispeed; /* input speed */ + speed_t c_ospeed; /* output speed */ + }; + +#ifndef TCGETS2 +#define TCGETS2 _IOR('T', 0x2A, struct termios2) +#endif + +#ifndef TCSETS2 +#define TCSETS2 _IOW('T', 0x2B, struct termios2) +#endif + +#ifndef BOTHER +# define BOTHER 0010000 +#endif + + +#if defined(__ANDROID__) +struct serial_struct { + int type; + int line; + unsigned int port; + int irq; + int flags; + int xmit_fifo_size; + int custom_divisor; + int baud_base; + unsigned short close_delay; + char io_type; + char reserved_char[1]; + int hub6; + unsigned short closing_wait; + unsigned short closing_wait2; + unsigned char *iomem_base; + unsigned short iomem_reg_shift; + unsigned int port_high; + unsigned long iomap_base; +}; +# define ASYNC_SPD_CUST 0x0030 +# define ASYNC_SPD_MASK 0x1030 +# define PORT_UNKNOWN 0 +# define FNDELAY 0x800 +#endif + + + MillisecondTimer::MillisecondTimer (const uint32_t millis) : expiry(timespec_now()){ + int64_t tv_nsec = expiry.tv_nsec + (millis * 1e6); + if (tv_nsec >= 1e9) { + int64_t sec_diff = tv_nsec / static_cast (1e9); + expiry.tv_nsec = tv_nsec % static_cast(1e9); + expiry.tv_sec += sec_diff; + } else { + expiry.tv_nsec = tv_nsec; + } + } + + int64_t MillisecondTimer::remaining () { + timespec now(timespec_now()); + int64_t millis = (expiry.tv_sec - now.tv_sec) * 1e3; + millis += (expiry.tv_nsec - now.tv_nsec) / 1e6; + return millis; + } + + timespec MillisecondTimer::timespec_now () { + timespec time; +# ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + time.tv_sec = mts.tv_sec; + time.tv_nsec = mts.tv_nsec; +# else + clock_gettime(CLOCK_MONOTONIC, &time); +# endif + return time; + } + + timespec timespec_from_ms (const uint32_t millis) { + timespec time; + time.tv_sec = millis / 1e3; + time.tv_nsec = (millis - (time.tv_sec * 1e3)) * 1e6; + return time; + } + + + static inline void set_common_props(termios *tio) { +#ifdef OS_SOLARIS + tio->c_iflag &= ~(IMAXBEL|IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL|IXON); + tio->c_oflag &= ~OPOST; + tio->c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN); + tio->c_cflag &= ~(CSIZE|PARENB); + tio->c_cflag |= CS8; +#else + ::cfmakeraw(tio); +#endif + tio->c_cflag |= CLOCAL; + tio->c_cc[VTIME] = 0; + tio->c_cc[VMIN] = 0; + } + + + static inline void set_databits(termios *tio, serial::bytesize_t databits) { + tio->c_cflag &= ~CSIZE; + switch (databits) { + case serial::fivebits: + tio->c_cflag |= CS5; + break; + case serial::sixbits: + tio->c_cflag |= CS6; + break; + case serial::sevenbits: + tio->c_cflag |= CS7; + break; + case serial::eightbits: + tio->c_cflag |= CS8; + break; + default: + tio->c_cflag |= CS8; + break; + } + } + + + static inline void set_parity(termios *tio, serial::parity_t parity) { + tio->c_iflag &= ~(PARMRK | INPCK); + tio->c_iflag |= IGNPAR; + + switch (parity) { + +#ifdef CMSPAR + // Here Installation parity only for GNU/Linux where the macro CMSPAR. + case serial::parity_space: + tio->c_cflag &= ~PARODD; + tio->c_cflag |= PARENB | CMSPAR; + break; + case serial::parity_mark: + tio->c_cflag |= PARENB | CMSPAR | PARODD; + break; +#endif + case serial::parity_none: + tio->c_cflag &= ~PARENB; + break; + case serial::parity_even: + tio->c_cflag &= ~PARODD; + tio->c_cflag |= PARENB; + break; + case serial::parity_odd: + tio->c_cflag |= PARENB | PARODD; + break; + default: + tio->c_cflag |= PARENB; + tio->c_iflag |= PARMRK | INPCK; + tio->c_iflag &= ~IGNPAR; + break; + } + } + + + static inline void set_stopbits(termios *tio, serial::stopbits_t stopbits) { + switch (stopbits) { + case serial::stopbits_one: + tio->c_cflag &= ~CSTOPB; + break; + case serial::stopbits_two: + tio->c_cflag |= CSTOPB; + break; + default: + tio->c_cflag &= ~CSTOPB; + break; + } + } + + static inline void set_flowcontrol(termios *tio, serial::flowcontrol_t flowcontrol) { + switch (flowcontrol) { + case serial::flowcontrol_none: + tio->c_cflag &= ~CRTSCTS; + tio->c_iflag &= ~(IXON | IXOFF | IXANY); + break; + case serial::flowcontrol_hardware: + tio->c_cflag |= CRTSCTS; + tio->c_iflag &= ~(IXON | IXOFF | IXANY); + break; + case serial::flowcontrol_software: + tio->c_cflag &= ~CRTSCTS; + tio->c_iflag |= IXON | IXOFF | IXANY; + break; + default: + tio->c_cflag &= ~CRTSCTS; + tio->c_iflag &= ~(IXON | IXOFF | IXANY); + break; + } + } + + + static inline bool is_standardbaudrate(unsigned long baudrate, speed_t &baud){ + // setup baud rate + bool custom_baud = false; + switch (baudrate) { +#ifdef B0 + case 0: baud = B0; break; +#endif +#ifdef B50 + case 50: baud = B50; break; +#endif +#ifdef B75 + case 75: baud = B75; break; +#endif +#ifdef B110 + case 110: baud = B110; break; +#endif +#ifdef B134 + case 134: baud = B134; break; +#endif +#ifdef B150 + case 150: baud = B150; break; +#endif +#ifdef B200 + case 200: baud = B200; break; +#endif +#ifdef B300 + case 300: baud = B300; break; +#endif +#ifdef B600 + case 600: baud = B600; break; +#endif +#ifdef B1200 + case 1200: baud = B1200; break; +#endif +#ifdef B1800 + case 1800: baud = B1800; break; +#endif +#ifdef B2400 + case 2400: baud = B2400; break; +#endif +#ifdef B4800 + case 4800: baud = B4800; break; +#endif +#ifdef B7200 + case 7200: baud = B7200; break; +#endif +#ifdef B9600 + case 9600: baud = B9600; break; +#endif +#ifdef B14400 + case 14400: baud = B14400; break; +#endif +#ifdef B19200 + case 19200: baud = B19200; break; +#endif +#ifdef B28800 + case 28800: baud = B28800; break; +#endif +#ifdef B57600 + case 57600: baud = B57600; break; +#endif +#ifdef B76800 + case 76800: baud = B76800; break; +#endif +#ifdef B38400 + case 38400: baud = B38400; break; +#endif +#ifdef B115200 + case 115200: baud = B115200; break; +#endif +#ifdef B128000 + case 128000: baud = B128000; break; +#endif +#ifdef B153600 + case 153600: baud = B153600; break; +#endif +#ifdef B230400 + case 230400: baud = B230400; break; +#endif +#ifdef B256000 + case 256000: baud = B256000; break; +#endif +#ifdef B460800 + case 460800: baud = B460800; break; +#endif +#ifdef B576000 + case 576000: baud = B576000; break; +#endif +#ifdef B921600 + case 921600: baud = B921600; break; +#endif +#ifdef B1000000 + case 1000000: baud = B1000000; break; +#endif +#ifdef B1152000 + case 1152000: baud = B1152000; break; +#endif +#ifdef B1500000 + case 1500000: baud = B1500000; break; +#endif +#ifdef B2000000 + case 2000000: baud = B2000000; break; +#endif +#ifdef B2500000 + case 2500000: baud = B2500000; break; +#endif +#ifdef B3000000 + case 3000000: baud = B3000000; break; +#endif +#ifdef B3500000 + case 3500000: baud = B3500000; break; +#endif +#ifdef B4000000 + case 4000000: baud = B4000000; break; +#endif + default: + custom_baud = true; + } + + return !custom_baud; + + } + + + + Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, + bytesize_t bytesize, + parity_t parity, stopbits_t stopbits, + flowcontrol_t flowcontrol) + : port_ (port), fd_ (-1), is_open_ (false), xonxoff_ (false), rtscts_ (false), + baudrate_ (baudrate), parity_ (parity), + bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol) + { + pthread_mutex_init(&this->read_mutex, NULL); + pthread_mutex_init(&this->write_mutex, NULL); + + } + + Serial::SerialImpl::~SerialImpl () { + close(); + pthread_mutex_destroy(&this->read_mutex); + pthread_mutex_destroy(&this->write_mutex); + } + + bool Serial::SerialImpl::open () { + if (port_.empty ()) { + return false; + } + if (is_open_ == true) { + return true; + } + + fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK | O_APPEND | O_NDELAY); + + if (fd_ == -1) { + switch (errno) { + case EINTR: + // Recurse because this is a recoverable error. + return open (); + case ENFILE: + case EMFILE: + default: + return false; + } + } + + termios tio; + if (!getTermios(&tio)){ + return false; + } + set_common_props(&tio); + set_databits(&tio, bytesize_); + set_parity(&tio, parity_); + set_stopbits(&tio, stopbits_); + set_flowcontrol(&tio, flowcontrol_); + + if (!setTermios(&tio)){ + return false; + } + + if (!setBaudrate(baudrate_)){ + return false; + } + + // Update byte_time_ based on the new settings. + uint32_t bit_time_ns = 1e9 / baudrate_; + byte_time_ns_ = bit_time_ns * (1 + bytesize_ + parity_ + stopbits_); + + // Compensate for the stopbits_one_point_five enum being equal to int 3, + // and not 1.5. + if (stopbits_ == stopbits_one_point_five) { + byte_time_ns_ += ((1.5 - stopbits_one_point_five) * bit_time_ns); + } + + is_open_ = true; + return true; + } + + + void Serial::SerialImpl::close (){ + if (is_open_ == true) { + if (fd_ != -1) { + ::close (fd_); + } + fd_ = -1; + is_open_ = false; + } + } + + bool Serial::SerialImpl::isOpen () const { + return is_open_; + } + + size_t Serial::SerialImpl::available () { + if (!is_open_) { + return 0; + } + int count = 0; + if (-1 == ioctl (fd_, TIOCINQ, &count)) { + return 0; + } else { + return static_cast (count); + } + } + + bool Serial::SerialImpl::waitReadable (uint32_t timeout) { + // Setup a select call to block for serial data or a timeout + fd_set readfds; + FD_ZERO (&readfds); + FD_SET (fd_, &readfds); + timespec timeout_ts (timespec_from_ms (timeout)); + int r = pselect (fd_ + 1, &readfds, NULL, NULL, &timeout_ts, NULL); + + if (r < 0) { + // Select was interrupted + if (errno == EINTR) { + return false; + } + // Otherwise there was some error + return false; + } + // Timeout occurred + if (r == 0) { + return false; + } + // This shouldn't happen, if r > 0 our fd has to be in the list! + if (!FD_ISSET (fd_, &readfds)) { + return false; + } + // Data available to read. + return true; + } + + + size_t Serial::SerialImpl::waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size) { + size_t length = 0; + if (returned_size==NULL){ + returned_size=(size_t *)&length; + } + *returned_size = 0; + + int max_fd; + fd_set input_set; + struct timeval timeout_val; + + /* Initialize the input set */ + FD_ZERO(&input_set); + FD_SET(fd_, &input_set); + max_fd = fd_ + 1; + + /* Initialize the timeout structure */ + timeout_val.tv_sec = timeout / 1000; + timeout_val.tv_usec = (timeout % 1000) * 1000; + + if(is_open_){ + if ( ioctl(fd_, FIONREAD, returned_size) == -1){ + return -2; + } + if (*returned_size >= data_count) { + return 0; + } + } + + while(is_open_){ + /* Do the select */ + int n = ::select(max_fd, &input_set, NULL, NULL, &timeout_val); + + if(n < 0){ + if (errno == EINTR){ + return -1; + } + // Otherwise there was some error + return -2; + }else if(n == 0){ + // time out + return -1; + }else{ + // data avaliable + assert (FD_ISSET(fd_, &input_set)); + + if ( ioctl(fd_, FIONREAD, returned_size) == -1){ + return -2; + } + if (*returned_size >= data_count) { + return 0; + }else{ + int remain_timeout = timeout_val.tv_sec*1000000 + timeout_val.tv_usec; + int expect_remain_time = (data_count - *returned_size)*1000000*8/baudrate_; + if (remain_timeout > expect_remain_time){ + usleep(expect_remain_time); + } + } + } + } + return -2; + } + + + void Serial::SerialImpl::waitByteTimes (size_t count){ + timespec wait_time = { 0, static_cast(byte_time_ns_ * count)}; + pselect (0, NULL, NULL, NULL, &wait_time, NULL); + } + + size_t Serial::SerialImpl::read (uint8_t *buf, size_t size){ + // If the port is not open, throw + if (!is_open_) { + return 0; + } + size_t bytes_read = 0; + + // Calculate total timeout in milliseconds t_c + (t_m * N) + long total_timeout_ms = timeout_.read_timeout_constant; + total_timeout_ms += timeout_.read_timeout_multiplier * static_cast (size); + MillisecondTimer total_timeout(total_timeout_ms); + + // Pre-fill buffer with available bytes + { + ssize_t bytes_read_now = ::read (fd_, buf, size); + if (bytes_read_now > 0) { + bytes_read = bytes_read_now; + } + } + + while (bytes_read < size) { + int64_t timeout_remaining_ms = total_timeout.remaining(); + if (timeout_remaining_ms <= 0) { + // Timed out + break; + } + // Timeout for the next select is whichever is less of the remaining + // total read timeout and the inter-byte timeout. + uint32_t timeout = std::min(static_cast (timeout_remaining_ms), timeout_.inter_byte_timeout); + // Wait for the device to be readable, and then attempt to read. + if (waitReadable(timeout)) { + // If it's a fixed-length multi-byte read, insert a wait here so that + // we can attempt to grab the whole thing in a single IO call. Skip + // this wait if a non-max inter_byte_timeout is specified. + if (size > 1 && timeout_.inter_byte_timeout == Timeout::max()) { + size_t bytes_available = available(); + if (bytes_available + bytes_read < size) { + waitByteTimes(size - (bytes_available + bytes_read)); + } + } + // This should be non-blocking returning only what is available now + // Then returning so that select can block again. + ssize_t bytes_read_now = ::read (fd_, buf + bytes_read, size - bytes_read); + // read should always return some data as select reported it was + // ready to read when we get to this point. + if (bytes_read_now < 1) { + // Disconnected devices, at least on Linux, show the + // behavior that they are always ready to read immediately + // but reading returns nothing. + continue; + } + // Update bytes_read + bytes_read += static_cast (bytes_read_now); + // If bytes_read == size then we have read everything we need + if (bytes_read == size) { + break; + } + // If bytes_read < size then we have more to read + if (bytes_read < size) { + continue; + } + // If bytes_read > size then we have over read, which shouldn't happen + if (bytes_read > size) { + break; + } + } + } + return bytes_read; + } + + size_t Serial::SerialImpl::write (const uint8_t *data, size_t length) { + if (is_open_ == false) { + return 0; + } + fd_set writefds; + size_t bytes_written = 0; + + // Calculate total timeout in milliseconds t_c + (t_m * N) + long total_timeout_ms = timeout_.write_timeout_constant; + total_timeout_ms += timeout_.write_timeout_multiplier * static_cast (length); + MillisecondTimer total_timeout(total_timeout_ms); + + bool first_iteration = true; + while (bytes_written < length) { + int64_t timeout_remaining_ms = total_timeout.remaining(); + // Only consider the timeout if it's not the first iteration of the loop + // otherwise a timeout of 0 won't be allowed through + if (!first_iteration && (timeout_remaining_ms <= 0)) { + // Timed out + break; + } + first_iteration = false; + + timespec timeout(timespec_from_ms(timeout_remaining_ms)); + + FD_ZERO (&writefds); + FD_SET (fd_, &writefds); + + // Do the select + int r = pselect (fd_ + 1, NULL, &writefds, NULL, &timeout, NULL); + + // Figure out what happened by looking at select's response 'r' + /** Error **/ + if (r < 0) { + // Select was interrupted, try again + if (errno == EINTR) { + continue; + } + // Otherwise there was some error + continue; + } + /** Timeout **/ + if (r == 0) { + break; + } + /** Port ready to write **/ + if (r > 0) { + // Make sure our file descriptor is in the ready to write list + if (FD_ISSET (fd_, &writefds)) { + // This will write some + ssize_t bytes_written_now = ::write (fd_, data + bytes_written, length - bytes_written); + // write should always return some data as select reported it was + // ready to write when we get to this point. + if (bytes_written_now < 1) { + // Disconnected devices, at least on Linux, show the + // behavior that they are always ready to write immediately + // but writing returns nothing. + continue; + } + // Update bytes_written + bytes_written += static_cast (bytes_written_now); + // If bytes_written == size then we have written everything we need to + if (bytes_written == length) { + break; + } + // If bytes_written < size then we have more to write + if (bytes_written < length) { + continue; + } + // If bytes_written > size then we have over written, which shouldn't happen + if (bytes_written > length) { + break; + } + } + // This shouldn't happen, if r > 0 our fd has to be in the list! + break; + //THROW (IOException, "select reports ready to write, but our fd isn't in the list, this shouldn't happen!"); + } + } + return bytes_written; + } + + void Serial::SerialImpl::setPort (const string &port) { + port_ = port; + } + + string Serial::SerialImpl::getPort () const { + return port_; + } + + void Serial::SerialImpl::setTimeout (serial::Timeout &timeout) { + timeout_ = timeout; + } + + serial::Timeout Serial::SerialImpl::getTimeout () const { + return timeout_; + } + + bool Serial::SerialImpl::setBaudrate (unsigned long baudrate) { + + if(fd_==-1){ + return false; + } + baudrate_ = baudrate; + // OS X support +#if defined(MAC_OS_X_VERSION_10_4) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_4) + // Starting with Tiger, the IOSSIOSPEED ioctl can be used to set arbitrary baud rates + // other than those specified by POSIX. The driver for the underlying serial hardware + // ultimately determines which baud rates can be used. This ioctl sets both the input + // and output speed. + speed_t new_baud = static_cast (baudrate); + if (-1 == ioctl (fd_, IOSSIOSPEED, &new_baud, 1)) { + return false; + } + // Linux Support +#elif defined(__linux__) && defined (TIOCSSERIAL) + speed_t baud; + bool standard_baud = is_standardbaudrate(baudrate, baud); + if(!standard_baud){ + return setCustomBaudRate(baudrate); + }else{ + return setStandardBaudRate(baud); + } +#else + return false; +#endif + + } + + unsigned long Serial::SerialImpl::getBaudrate () const { + return baudrate_; + } + + + bool Serial::SerialImpl::setStandardBaudRate(speed_t baudrate){ +#ifdef __linux__ + // try to clear custom baud rate, using termios v2 + struct termios2 tio2; + if (::ioctl(fd_, TCGETS2, &tio2) != -1) { + if (tio2.c_cflag & BOTHER) { + tio2.c_cflag &= ~BOTHER; + tio2.c_cflag |= CBAUD; + ::ioctl(fd_, TCSETS2, &tio2); + } + } + + // try to clear custom baud rate, using serial_struct (old way) + struct serial_struct serial; + ::memset(&serial, 0, sizeof(serial)); + if (::ioctl(fd_, TIOCGSERIAL, &serial) != -1) { + if (serial.flags & ASYNC_SPD_CUST) { + serial.flags &= ~ASYNC_SPD_CUST; + serial.custom_divisor = 0; + // we don't check on errors because a driver can has not this feature + ::ioctl(fd_, TIOCSSERIAL, &serial); + } + } +#endif + + termios tio; + if (!getTermios(&tio)){ + return false; + } +#ifdef _BSD_SOURCE + if(::cfsetspeed(&tio, baudrate) <0){ + return false; + } +#else + if (::cfsetispeed(&tio, baudrate) < 0) { + return false; + } + + if (::cfsetospeed(&tio, baudrate) < 0) { + return false; + } +#endif + return setTermios(&tio); + } + + + bool Serial::SerialImpl::setCustomBaudRate(unsigned long baudrate) { + struct termios2 tio2; + + if (::ioctl(fd_, TCGETS2, &tio2) != -1) { + tio2.c_cflag &= ~CBAUD; + tio2.c_cflag |= BOTHER; + + tio2.c_ispeed = baudrate; + tio2.c_ospeed = baudrate; + + tcflush(fd_,TCIFLUSH); + + if (fcntl(fd_, F_SETFL, FNDELAY)) { + return false; + } + + if (::ioctl(fd_, TCSETS2, &tio2) != -1 && ::ioctl(fd_, TCGETS2, &tio2) != -1) { + return true; + } + } + + struct serial_struct serial; + + if (::ioctl(fd_, TIOCGSERIAL, &serial) == -1) { + return false; + } + + serial.flags &= ~ASYNC_SPD_MASK; + serial.flags |= (ASYNC_SPD_CUST /* | ASYNC_LOW_LATENCY*/); + serial.custom_divisor = serial.baud_base / baudrate; + + if (serial.custom_divisor == 0) { + return false; + } + + if (serial.custom_divisor * baudrate != serial.baud_base) { + } + + if (::ioctl(fd_, TIOCSSERIAL, &serial) == -1) { + return false; + } + + return setStandardBaudRate(B38400); + } + + + bool Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) { + termios tio; + if (!getTermios(&tio)){ + return false; + } + bytesize_ = bytesize; + set_databits(&tio, bytesize); + + return setTermios(&tio); + } + + serial::bytesize_t Serial::SerialImpl::getBytesize () const { + return bytesize_; + } + + bool Serial::SerialImpl::setParity (serial::parity_t parity){ + termios tio; + if (!getTermios(&tio)){ + return false; + } + parity_ = parity; + set_parity(&tio, parity); + + return setTermios(&tio); + } + + serial::parity_t Serial::SerialImpl::getParity () const{ + return parity_; + } + + bool Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) { + termios tio; + if (!getTermios(&tio)){ + return false; + } + stopbits_ = stopbits; + set_stopbits(&tio, stopbits); + + return setTermios(&tio); + } + + serial::stopbits_t Serial::SerialImpl::getStopbits () const{ + return stopbits_; + } + + bool Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol){ + termios tio; + if (!getTermios(&tio)){ + return false; + } + flowcontrol_ = flowcontrol; + set_flowcontrol(&tio, flowcontrol); + + return setTermios(&tio); + } + + serial::flowcontrol_t Serial::SerialImpl::getFlowcontrol () const{ + return flowcontrol_; + } + + + bool Serial::SerialImpl::setTermios(const termios *tio){ + + tcflush(fd_,TCIFLUSH); + + if (fcntl(fd_, F_SETFL, FNDELAY)) { + return false; + } + + if (::tcsetattr(fd_, TCSANOW, tio) == -1) { + return false; + } + return true; + } + + bool Serial::SerialImpl::getTermios(termios *tio){ + ::memset(tio, 0, sizeof(termios)); + if (::tcgetattr(fd_, tio) == -1) { + return false; + } + return true; + } + + void Serial::SerialImpl::flush (){ + if (is_open_ == false) { + return; + } + #if !defined(__ANDROID__) + tcdrain (fd_); + #endif + } + + void Serial::SerialImpl::flushInput (){ + if (is_open_ == false) { + return; + } + tcflush (fd_, TCIFLUSH); + } + + void Serial::SerialImpl::flushOutput (){ + if (is_open_ == false) { + return; + } + tcflush (fd_, TCOFLUSH); + } + + void Serial::SerialImpl::sendBreak (int duration) { + if (is_open_ == false) { + return; + } + tcsendbreak (fd_, static_cast (duration / 4)); + } + + bool Serial::SerialImpl::setBreak (bool level) { + if (is_open_ == false) { + return false; + } + + if (level) { + if (-1 == ioctl (fd_, TIOCSBRK)) { + return false; + } + } else { + if (-1 == ioctl (fd_, TIOCCBRK)) { + return false; + } + } + return true; + } + + bool Serial::SerialImpl::setRTS (bool level){ + if (is_open_ == false) { + return false; + } + + int command = TIOCM_RTS; + + if (level) { + if (-1 == ioctl (fd_, TIOCMBIS, &command)) { + return false; + } + } else { + if (-1 == ioctl (fd_, TIOCMBIC, &command)) { + return false; + } + } + return true; + } + + bool Serial::SerialImpl::setDTR (bool level) { + if (is_open_ == false) { + return false; + } + + int command = TIOCM_DTR; + + if (level) { + if (-1 == ioctl (fd_, TIOCMBIS, &command)) { + return false; + } + } else { + if (-1 == ioctl (fd_, TIOCMBIC, &command)) { + return false; + } + } + return true; + } + + bool Serial::SerialImpl::waitForChange () { +#ifndef TIOCMIWAIT + + while (is_open_ == true) { + + int status; + + if (-1 == ioctl (fd_, TIOCMGET, &status)) { + return false; + }else{ + if (0 != (status & TIOCM_CTS) + || 0 != (status & TIOCM_DSR) + || 0 != (status & TIOCM_RI) + || 0 != (status & TIOCM_CD)) + { + return true; + } + } + + usleep(1000); + } + + return false; +#else + int command = (TIOCM_CD|TIOCM_DSR|TIOCM_RI|TIOCM_CTS); + + if (-1 == ioctl (fd_, TIOCMIWAIT, &command)) { + return false; + } + return true; +#endif + } + + bool Serial::SerialImpl::getCTS (){ + if (is_open_ == false) { + return false; + } + + int status; + + if (-1 == ioctl (fd_, TIOCMGET, &status)){ + return false; + }else{ + return 0 != (status & TIOCM_CTS); + } + } + + bool Serial::SerialImpl::getDSR (){ + if (is_open_ == false) { + return false; + } + + int status; + + if (-1 == ioctl (fd_, TIOCMGET, &status)){ + return false; + }else{ + return 0 != (status & TIOCM_DSR); + } + } + + bool Serial::SerialImpl::getRI (){ + if (is_open_ == false) { + return false; + } + + int status; + + if (-1 == ioctl (fd_, TIOCMGET, &status)){ + return false; + }else{ + return 0 != (status & TIOCM_RI); + } + } + + bool Serial::SerialImpl::getCD (){ + if (is_open_ == false) { + return false; + } + + int status; + + if (-1 == ioctl (fd_, TIOCMGET, &status)){ + return false; + }else{ + return 0 != (status & TIOCM_CD); + } + } + + int Serial::SerialImpl::readLock (){ + int result = pthread_mutex_lock(&this->read_mutex); + return result; + } + + int Serial::SerialImpl::readUnlock (){ + int result = pthread_mutex_unlock(&this->read_mutex); + return result; + } + + int Serial::SerialImpl::writeLock (){ + int result = pthread_mutex_lock(&this->write_mutex); + return result; + } + + int Serial::SerialImpl::writeUnlock (){ + int result = pthread_mutex_unlock(&this->write_mutex); + return result; + } +} +#endif // !defined(_WIN32) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.h new file mode 100644 index 0000000..99bfdbd --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.h @@ -0,0 +1,153 @@ +#if !defined(_WIN32) + +#ifndef SERIAL_IMPL_UNIX_H +#define SERIAL_IMPL_UNIX_H + +#include +#include +#include +#include "serial.h" + +namespace serial { + + using std::size_t; + using std::string; + + + class MillisecondTimer { + public: + MillisecondTimer(const uint32_t millis); + int64_t remaining(); + + private: + static timespec timespec_now(); + timespec expiry; + }; + + class serial::Serial::SerialImpl { + public: + SerialImpl (const string &port, + unsigned long baudrate, + bytesize_t bytesize, + parity_t parity, + stopbits_t stopbits, + flowcontrol_t flowcontrol); + + virtual ~SerialImpl (); + + bool open (); + + void close (); + + bool isOpen () const; + + size_t available (); + + bool waitReadable (uint32_t timeout); + + void waitByteTimes (size_t count); + + size_t waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size); + + size_t read (uint8_t *buf, size_t size = 1); + + size_t write (const uint8_t *data, size_t length); + + + void flush (); + + void flushInput (); + + void flushOutput (); + + void sendBreak (int duration); + + bool setBreak (bool level); + + bool setRTS (bool level); + + bool setDTR (bool level); + + bool waitForChange (); + + bool getCTS (); + + bool getDSR (); + + bool getRI (); + + bool getCD (); + + void setPort (const string &port); + + string getPort () const; + + void setTimeout (Timeout &timeout); + + Timeout getTimeout () const; + + bool setBaudrate (unsigned long baudrate); + + bool setStandardBaudRate(speed_t baudrate); + + bool setCustomBaudRate(unsigned long baudrate); + + unsigned long getBaudrate () const; + + bool setBytesize (bytesize_t bytesize); + + bytesize_t getBytesize () const; + + bool setParity (parity_t parity); + + parity_t getParity () const; + + bool setStopbits (stopbits_t stopbits); + + stopbits_t getStopbits () const; + + bool setFlowcontrol (flowcontrol_t flowcontrol); + + flowcontrol_t getFlowcontrol () const; + + bool setTermios(const termios *tio); + + bool getTermios(termios *tio); + + int readLock (); + + int readUnlock (); + + int writeLock (); + + int writeUnlock (); + + + private: + string port_; // Path to the file descriptor + int fd_; // The current file descriptor + + bool is_open_; + bool xonxoff_; + bool rtscts_; + + Timeout timeout_; // Timeout for read operations + unsigned long baudrate_; // Baudrate + uint32_t byte_time_ns_; // Nanoseconds to transmit/receive a single byte + + parity_t parity_; // Parity + bytesize_t bytesize_; // Size of the bytes + stopbits_t stopbits_; // Stop Bits + flowcontrol_t flowcontrol_; // Flow Control + + // Mutex used to lock the read functions + pthread_mutex_t read_mutex; + // Mutex used to lock the write functions + pthread_mutex_t write_mutex; + }; + +} + +#endif // SERIAL_IMPL_UNIX_H + +#endif // !defined(_WIN32) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp new file mode 100644 index 0000000..1c78d83 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp @@ -0,0 +1,18 @@ +#if !defined(_WIN32) +#include "unix_timer.h" + +namespace impl{ + uint64_t f_getus() { + struct timespec t; + t.tv_sec = t.tv_nsec = 0; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec*1000000LL + t.tv_nsec/1000; + } + uint32_t f_getms() { + struct timespec t; + t.tv_sec = t.tv_nsec = 0; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec*1000L + t.tv_nsec/1000000L; + } +} +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.h new file mode 100644 index 0000000..4d47394 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.h @@ -0,0 +1,23 @@ +#pragma once +#include "v8stdint.h" +#include +#include +#include + +static inline void delay(uint32_t ms){ + while (ms>=1000){ + usleep(1000*1000); + ms-=1000; + }; + if (ms!=0){ + usleep(ms*1000); + } +} + + +namespace impl{ + uint64_t f_getus(); + uint32_t f_getms(); +} + +#define getms() impl::f_getms() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h new file mode 100644 index 0000000..6e5d8a8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h @@ -0,0 +1,11 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "win_timer.h" + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp new file mode 100644 index 0000000..737631a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp @@ -0,0 +1,747 @@ +#if defined(_WIN32) + +#include "win_serial.h" + +namespace serial { + + static inline void set_common_props(DCB *dcb) { + dcb->fBinary = TRUE; + dcb->fAbortOnError = FALSE; + dcb->fNull = FALSE; + dcb->fErrorChar = FALSE; + + if (dcb->fDtrControl == DTR_CONTROL_HANDSHAKE){ + dcb->fDtrControl = DTR_CONTROL_DISABLE; + } + + if (dcb->fRtsControl != RTS_CONTROL_HANDSHAKE){ + dcb->fRtsControl = RTS_CONTROL_DISABLE; + } + } + + static inline void set_baudrate(DCB *dcb, unsigned long baudrate) { + // setup baud rate + switch (baudrate) { +#ifdef CBR_0 + case 0: dcb->BaudRate = CBR_0; break; +#endif +#ifdef CBR_50 + case 50: dcb->BaudRate = CBR_50; break; +#endif +#ifdef CBR_75 + case 75: dcb->BaudRate = CBR_75; break; +#endif +#ifdef CBR_110 + case 110: dcb->BaudRate = CBR_110; break; +#endif +#ifdef CBR_134 + case 134: dcb->BaudRate = CBR_134; break; +#endif +#ifdef CBR_150 + case 150: dcb->BaudRate = CBR_150; break; +#endif +#ifdef CBR_200 + case 200: dcb->BaudRate = CBR_200; break; +#endif +#ifdef CBR_300 + case 300: dcb->BaudRate = CBR_300; break; +#endif +#ifdef CBR_600 + case 600: dcb->BaudRate = CBR_600; break; +#endif +#ifdef CBR_1200 + case 1200: dcb->BaudRate = CBR_1200; break; +#endif +#ifdef CBR_1800 + case 1800: dcb->BaudRate = CBR_1800; break; +#endif +#ifdef CBR_2400 + case 2400: dcb->BaudRate = CBR_2400; break; +#endif +#ifdef CBR_4800 + case 4800: dcb->BaudRate = CBR_4800; break; +#endif +#ifdef CBR_7200 + case 7200: dcb->BaudRate = CBR_7200; break; +#endif +#ifdef CBR_9600 + case 9600: dcb->BaudRate = CBR_9600; break; +#endif +#ifdef CBR_14400 + case 14400: dcb->BaudRate = CBR_14400; break; +#endif +#ifdef CBR_19200 + case 19200: dcb->BaudRate = CBR_19200; break; +#endif +#ifdef CBR_28800 + case 28800: dcb->BaudRate = CBR_28800; break; +#endif +#ifdef CBR_57600 + case 57600: dcb->BaudRate = CBR_57600; break; +#endif +#ifdef CBR_76800 + case 76800: dcb->BaudRate = CBR_76800; break; +#endif +#ifdef CBR_38400 + case 38400: dcb->BaudRate = CBR_38400; break; +#endif +#ifdef CBR_115200 + case 115200: dcb->BaudRate = CBR_115200; break; +#endif +#ifdef CBR_128000 + case 128000: dcb->BaudRate = CBR_128000; break; +#endif +#ifdef CBR_153600 + case 153600: dcb->BaudRate = CBR_153600; break; +#endif +#ifdef CBR_230400 + case 230400: dcb->BaudRate = CBR_230400; break; +#endif +#ifdef CBR_256000 + case 256000: dcb->BaudRate = CBR_256000; break; +#endif +#ifdef CBR_460800 + case 460800: dcb->BaudRate = CBR_460800; break; +#endif +#ifdef CBR_921600 + case 921600: dcb->BaudRate = CBR_921600; break; +#endif + default: + // Try to blindly assign it + dcb->BaudRate = baudrate; + } + } + + static inline void set_databits(DCB *dcb, serial::bytesize_t bytesize) { + switch (bytesize) { + case serial::fivebits: + dcb->ByteSize = 5; + break; + case serial::sixbits: + dcb->ByteSize = 6; + break; + case serial::sevenbits: + dcb->ByteSize = 7; + break; + case serial::eightbits: + dcb->ByteSize = 8; + break; + default: + dcb->ByteSize = 8; + break; + } + } + + static inline void set_parity(DCB *dcb, serial::parity_t parity) { + dcb->fParity = TRUE; + switch (parity) { + case serial::parity_none: + dcb->Parity = NOPARITY; + dcb->fParity = FALSE; + break; + case serial::parity_odd: + dcb->Parity = ODDPARITY; + break; + case serial::parity_even: + dcb->Parity = EVENPARITY; + break; + case serial::parity_mark: + dcb->Parity = MARKPARITY; + break; + case serial::parity_space: + dcb->Parity = SPACEPARITY; + break; + default: + dcb->Parity = NOPARITY; + dcb->fParity = FALSE; + break; + } + } + + static inline void set_stopbits(DCB *dcb, serial::stopbits_t stopbits) { + switch (stopbits) { + case serial::stopbits_one: + dcb->StopBits = ONESTOPBIT; + break; + case serial::stopbits_one_point_five: + dcb->StopBits = ONE5STOPBITS; + break; + case serial::stopbits_two: + dcb->StopBits = TWOSTOPBITS; + break; + default: + dcb->StopBits = ONESTOPBIT; + break; + } + } + + static inline void set_flowcontrol(DCB *dcb, serial::flowcontrol_t flowcontrol) { + dcb->fInX = FALSE; + dcb->fOutX = FALSE; + dcb->fOutxCtsFlow = FALSE; + if (dcb->fRtsControl == RTS_CONTROL_HANDSHAKE){ + dcb->fRtsControl = RTS_CONTROL_DISABLE; + } + switch (flowcontrol) { + case serial::flowcontrol_none: + break; + case serial::flowcontrol_software: + dcb->fInX = TRUE; + dcb->fOutX = TRUE; + break; + case serial::flowcontrol_hardware: + dcb->fOutxCtsFlow = TRUE; + dcb->fRtsControl = RTS_CONTROL_HANDSHAKE; + break; + default: + break; + } + } + + inline wstring _prefix_port_if_needed(const wstring &input){ + static wstring windows_com_port_prefix = L"\\\\.\\"; + if (input.compare(windows_com_port_prefix) != 0) { + return windows_com_port_prefix + input; + } + return input; + } + + Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, + bytesize_t bytesize, + parity_t parity, stopbits_t stopbits, + flowcontrol_t flowcontrol) + : port_ (port.begin(), port.end()), fd_ (INVALID_HANDLE_VALUE), is_open_ (false), + baudrate_ (baudrate), parity_ (parity), + bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol) + { + if (port_.empty () == false){ + open (); + } + read_mutex = CreateMutex(NULL, false, NULL); + write_mutex = CreateMutex(NULL, false, NULL); + memset(&_wait_o, 0, sizeof(_wait_o)); + + _wait_o.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + } + + Serial::SerialImpl::~SerialImpl () { + this->close(); + CloseHandle(_wait_o.hEvent); + CloseHandle(read_mutex); + CloseHandle(write_mutex); + } + + bool Serial::SerialImpl::open () { + if (port_.empty ()) { + return false; + } + if (is_open_ == true) { + return true; + } + + wstring port_with_prefix = _prefix_port_if_needed(port_); + LPCWSTR lp_port = port_with_prefix.c_str(); + fd_ = CreateFileW(lp_port, + GENERIC_READ | GENERIC_WRITE, + 0, + 0, + OPEN_EXISTING, + FILE_ATTRIBUTE_NORMAL, + 0); + + if (fd_ == INVALID_HANDLE_VALUE) { + DWORD errno_ = GetLastError(); + switch (errno_) { + case ERROR_FILE_NOT_FOUND: + default: + return false; + + } + } + + + + if(reconfigurePort()) + { + is_open_ = true; + return true; + } + ::CloseHandle(fd_); + return false; + + } + + bool Serial::SerialImpl::reconfigurePort () { + if (fd_ == INVALID_HANDLE_VALUE) { + // Can only operate on a valid file descriptor + return false; + } + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + + set_common_props(&dcb); + set_baudrate(&dcb, baudrate_); + set_databits(&dcb, bytesize_); + set_parity(&dcb, parity_); + set_stopbits(&dcb, stopbits_); + set_flowcontrol(&dcb, flowcontrol_); + + if (!setDcb(&dcb)){ + return false; + } + + setTimeout(timeout_); + + return true; + + } + + void Serial::SerialImpl::close () { + ResetEvent(_wait_o.hEvent); + if (is_open_ == true) { + if (fd_ != INVALID_HANDLE_VALUE) { + ::CancelIo(fd_); + int ret; + ret = CloseHandle(fd_); + } + fd_ = INVALID_HANDLE_VALUE; + is_open_ = false; + } + } + + bool Serial::SerialImpl::isOpen () const{ + return is_open_; + } + + size_t Serial::SerialImpl::available () { + if (!is_open_) { + return 0; + } + COMSTAT cs; + DWORD error; + if (ClearCommError(fd_, &error, &cs) && error >0) { + PurgeComm(fd_, PURGE_RXABORT | PURGE_RXCLEAR); + return 0; + } + return static_cast(cs.cbInQue); + } + + bool Serial::SerialImpl::waitReadable (uint32_t /*timeout*/) { + return false; + } + + void Serial::SerialImpl::waitByteTimes (size_t /*count*/) { + return ; + } + + size_t Serial::SerialImpl::waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size) { + if (!is_open_) { + return 0; + } + size_t length = 0; + if (returned_size==NULL) returned_size=(size_t *)&length; + *returned_size = 0; + + if ( is_open_) { + size_t queue_remaining = available(); + if (queue_remaining >= data_count) { + *returned_size = queue_remaining; + return 0; + } + } + + COMSTAT stat; + DWORD error; + DWORD msk,lengths; + while ( is_open_ ) + { + msk = 0; + SetCommMask(fd_, EV_RXCHAR | EV_ERR ); + if(!WaitCommEvent(fd_, &msk, &_wait_o)) + { + if(GetLastError() == ERROR_IO_PENDING) + { + if (WaitForSingleObject(_wait_o.hEvent, timeout) == WAIT_TIMEOUT) { + *returned_size =0; + return -1; + } + + GetOverlappedResult(fd_, &_wait_o, &lengths, TRUE); + + ::ResetEvent(_wait_o.hEvent); + }else{ + ClearCommError(fd_, &error, &stat); + *returned_size = stat.cbInQue; + return -2; + } + } + + if(msk & EV_ERR){ + // FIXME: may cause problem here + ClearCommError(fd_, &error, &stat); + } + + if(msk & EV_RXCHAR){ + ClearCommError(fd_, &error, &stat); + if(stat.cbInQue >= data_count){ + *returned_size = stat.cbInQue; + return 0; + } + } + } + *returned_size=0; + return -2; + } + + + size_t Serial::SerialImpl::read (uint8_t *buf, size_t size){ + if (!is_open_) { + return 0; + } + DWORD bytes_read; + if (!ReadFile(fd_, buf, static_cast(size), &bytes_read, NULL)) { + if(GetLastError() == ERROR_IO_PENDING) { + if(!GetOverlappedResult(fd_, NULL, &bytes_read, FALSE)){ + if(GetLastError() != ERROR_IO_INCOMPLETE){ + return 0; + } + } + } + return 0; + } + return (size_t) (bytes_read); + } + + size_t Serial::SerialImpl::write (const uint8_t *data, size_t length) { + if (is_open_ == false) { + return 0; + } + if (data == NULL || length ==0) return 0; + DWORD error; + if(ClearCommError(fd_, &error, NULL) && error > 0){ + PurgeComm(fd_, PURGE_TXABORT | PURGE_TXCLEAR); + } + DWORD bytes_written; + if (!WriteFile(fd_, data, static_cast(length), &bytes_written, NULL)) { + return 0; + } + return (size_t) (bytes_written); + } + + void Serial::SerialImpl::setPort (const string &port) { + port_ = wstring(port.begin(), port.end()); + } + + string Serial::SerialImpl::getPort () const { + return string(port_.begin(), port_.end()); + } + + void Serial::SerialImpl::setTimeout (serial::Timeout &timeout) { + timeout_ = timeout; + if(fd_ == INVALID_HANDLE_VALUE){ + return; + } + // Setup timeouts + COMMTIMEOUTS timeouts = {0}; + timeouts.ReadIntervalTimeout = timeout_.inter_byte_timeout; + timeouts.ReadTotalTimeoutConstant = timeout_.read_timeout_constant; + timeouts.ReadTotalTimeoutMultiplier = timeout_.read_timeout_multiplier; + timeouts.WriteTotalTimeoutConstant = timeout_.write_timeout_constant; + timeouts.WriteTotalTimeoutMultiplier = timeout_.write_timeout_multiplier; + if (!SetCommTimeouts(fd_, &timeouts)) { + return; + } + + } + + serial::Timeout Serial::SerialImpl::getTimeout () const { + return timeout_; + } + + + bool Serial::SerialImpl::setDcb(DCB *dcb) { + if (!::SetCommState(fd_, dcb)) { + return false; + } + return true; + } + + bool Serial::SerialImpl::getDcb(DCB *dcb) { + ::ZeroMemory(dcb, sizeof(DCB)); + dcb->DCBlength = sizeof(DCB); + + if (!::GetCommState(fd_, dcb)) { + return false; + } + return true; + } + + + + bool Serial::SerialImpl::setBaudrate (unsigned long baudrate){ + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + baudrate_ = baudrate; + set_baudrate(&dcb, baudrate); + + return setDcb(&dcb); + } + + unsigned long Serial::SerialImpl::getBaudrate () const { + return baudrate_; + } + + bool Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) { + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + bytesize_ = bytesize; + set_databits(&dcb, bytesize); + + return setDcb(&dcb); + } + + serial::bytesize_t Serial::SerialImpl::getBytesize () const { + return bytesize_; + } + + bool Serial::SerialImpl::setParity (serial::parity_t parity) { + + DCB dcb; + if(!getDcb(&dcb)){ + return false; + } + parity_ = parity; + set_parity(&dcb, parity); + + return setDcb(&dcb); + } + + serial::parity_t Serial::SerialImpl::getParity () const { + return parity_; + } + + bool Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) { + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + stopbits_ = stopbits; + set_stopbits(&dcb, stopbits); + + return setDcb(&dcb); + } + + serial::stopbits_t Serial::SerialImpl::getStopbits () const { + return stopbits_; + } + + bool Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) { + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + flowcontrol_ = flowcontrol; + set_flowcontrol(&dcb, flowcontrol); + + return setDcb(&dcb); + } + + serial::flowcontrol_t Serial::SerialImpl::getFlowcontrol () const { + return flowcontrol_; + } + + void Serial::SerialImpl::flush () { + if (is_open_ == false) { + return; + } + //FlushFileBuffers (fd_); + PurgeComm(fd_, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR ); + } + + void Serial::SerialImpl::flushInput () { + return; + } + + void Serial::SerialImpl::flushOutput () { + return; + } + + void Serial::SerialImpl::sendBreak (int duration) { + if (!setBreak(true)){ + return ; + } + + ::Sleep(duration); + + if (!setBreak(false)){ + return ; + } + + } + + bool Serial::SerialImpl::setBreak (bool level) { + if (is_open_ == false) { + return false; + } + if (level) { + //EscapeCommFunction (fd_, SETBREAK); + //::SetCommBreak(fd_); + if(::SetCommBreak(fd_) == FALSE){ + return false; + } + } else { + //::ClearCommBreak(fd_); + //EscapeCommFunction (fd_, CLRBREAK); + if(::ClearCommBreak(fd_) == FALSE){ + return false; + } + } + return true; + } + + bool Serial::SerialImpl::setRTS (bool level) { + if (is_open_ == false) { + return false; + } + if (level) { + //EscapeCommFunction (fd_, SETRTS); + if(EscapeCommFunction (fd_, SETRTS) == FALSE){ + return false; + } + } else { + //EscapeCommFunction (fd_, CLRRTS); + if(EscapeCommFunction (fd_, CLRRTS) == FALSE){ + return false; + } + } + return true; + } + + bool Serial::SerialImpl::setDTR (bool level) { + if (is_open_ == false) { + return false; + } + if (level) { + //EscapeCommFunction (fd_, SETDTR); + if(EscapeCommFunction (fd_, SETDTR) == FALSE){ + return false; + } + } else { + //EscapeCommFunction (fd_, CLRDTR); + if(EscapeCommFunction (fd_, CLRDTR) == FALSE){ + return false; + } + } + return true; + } + + bool Serial::SerialImpl::waitForChange () { + if (is_open_ == false) { + return false; + } + DWORD dwCommEvent; + + if (!SetCommMask(fd_, EV_CTS | EV_DSR | EV_RING | EV_RLSD)) { + // Error setting communications mask + return false; + } + + if (!WaitCommEvent(fd_, &dwCommEvent, NULL)) { + // An error occurred waiting for the event. + return false; + } else { + // Event has occurred. + return true; + } + } + + bool Serial::SerialImpl::getCTS () { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + return false; + } + + return (MS_CTS_ON & dwModemStatus) != 0; + } + + bool Serial::SerialImpl::getDSR () { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + return false; + } + + return (MS_DSR_ON & dwModemStatus) != 0; + } + + bool Serial::SerialImpl::getRI() { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + return false; + } + + return (MS_RING_ON & dwModemStatus) != 0; + } + + bool Serial::SerialImpl::getCD() + { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + // Error in GetCommModemStatus; + return false; + } + + return (MS_RLSD_ON & dwModemStatus) != 0; + } + + int Serial::SerialImpl::readLock() { + if (WaitForSingleObject(read_mutex, INFINITE) != WAIT_OBJECT_0) { + return 1; + } + return 0; + } + + int Serial::SerialImpl::readUnlock() { + if (!ReleaseMutex(read_mutex)) { + return 1; + } + return 0; + } + + int Serial::SerialImpl::writeLock() { + if (WaitForSingleObject(write_mutex, INFINITE) != WAIT_OBJECT_0) { + return 1; + } + return 0; + } + + int Serial::SerialImpl::writeUnlock() { + if (!ReleaseMutex(write_mutex)) { + return 1; + } + return 0; + } +} +#endif // #if defined(_WIN32) + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.h new file mode 100644 index 0000000..e2a4706 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.h @@ -0,0 +1,140 @@ +#if defined(_WIN32) + +#ifndef SERIAL_IMPL_WINDOWS_H +#define SERIAL_IMPL_WINDOWS_H + +#include "serial.h" +#include "time.h" +#include "windows.h" + +namespace serial { + + using std::string; + using std::wstring; + using std::invalid_argument; + + + class serial::Serial::SerialImpl { + public: + SerialImpl (const string &port, + unsigned long baudrate, + bytesize_t bytesize, + parity_t parity, + stopbits_t stopbits, + flowcontrol_t flowcontrol); + + virtual ~SerialImpl (); + + bool open (); + + void close (); + + bool isOpen () const; + + size_t available (); + + bool waitReadable (uint32_t timeout); + + void waitByteTimes (size_t count); + + size_t waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size); + + size_t read (uint8_t *buf, size_t size = 1); + + size_t write (const uint8_t *data, size_t length); + + void flush (); + + void flushInput (); + + void flushOutput (); + + void sendBreak (int duration); + + bool setBreak (bool level); + + bool setRTS (bool level); + + bool setDTR (bool level); + + bool waitForChange (); + + bool getCTS (); + + bool getDSR (); + + bool getRI (); + + bool getCD (); + + void setPort (const string &port); + + string getPort () const; + + void setTimeout (Timeout &timeout); + + Timeout getTimeout () const; + + bool setBaudrate (unsigned long baudrate); + + unsigned long getBaudrate () const; + + bool setBytesize (bytesize_t bytesize); + + bytesize_t getBytesize () const; + + bool setParity (parity_t parity); + + parity_t getParity () const; + + bool setStopbits (stopbits_t stopbits); + + stopbits_t getStopbits () const; + + bool setFlowcontrol (flowcontrol_t flowcontrol); + + flowcontrol_t getFlowcontrol () const; + + + bool setDcb(DCB *dcb); + + + bool getDcb(DCB *dcb); + + int readLock (); + + int readUnlock (); + + int writeLock (); + + int writeUnlock (); + + protected: + bool reconfigurePort (); + + private: + wstring port_; // Path to the file descriptor + HANDLE fd_; + OVERLAPPED _wait_o; + + bool is_open_; + + Timeout timeout_; // Timeout for read operations + unsigned long baudrate_; // Baudrate + + parity_t parity_; // Parity + bytesize_t bytesize_; // Size of the bytes + stopbits_t stopbits_; // Stop Bits + flowcontrol_t flowcontrol_; // Flow Control + + // Mutex used to lock the read functions + HANDLE read_mutex; + // Mutex used to lock the write functions + HANDLE write_mutex; + }; + +} + +#endif // SERIAL_IMPL_WINDOWS_H + +#endif // if defined(_WIN32) diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp new file mode 100644 index 0000000..5a38e9a --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp @@ -0,0 +1,27 @@ +#if defined(_WIN32) +#include "win_timer.h" +#include +#pragma comment(lib, "Winmm.lib") + +namespace impl{ + + static LARGE_INTEGER _current_freq; + + void HPtimer_reset() { + BOOL ans=QueryPerformanceFrequency(&_current_freq); + _current_freq.QuadPart/=1000; + } + + uint32_t getHDTimer() { + LARGE_INTEGER current; + QueryPerformanceCounter(¤t); + + return (uint32_t)(current.QuadPart/_current_freq.QuadPart); + } + + BEGIN_STATIC_CODE(timer_cailb) { + HPtimer_reset(); + }END_STATIC_CODE(timer_cailb) + +} +#endif \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.h new file mode 100644 index 0000000..759a8c1 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.h @@ -0,0 +1,22 @@ +#pragma once +#include +#include "v8stdint.h" + +#define BEGIN_STATIC_CODE( _blockname_ ) \ + static class _static_code_##_blockname_ { \ + public: \ + _static_code_##_blockname_ () + + +#define END_STATIC_CODE( _blockname_ ) \ + } _instance_##_blockname_; + +#define delay(x) ::Sleep(x) + +namespace impl{ + void HPtimer_reset(); + uint32_t getHDTimer(); +} + +#define getms() impl::getHDTimer() + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/serial.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/serial.cpp new file mode 100644 index 0000000..7b00e55 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/serial.cpp @@ -0,0 +1,324 @@ +#include + +#if !defined(_WIN32) && !defined(__OpenBSD__) && !defined(__FreeBSD__) +# include +#endif + +#if defined (__MINGW32__) +# define alloca __builtin_alloca +#endif + +#include "serial.h" +#include "common.h" + +namespace serial { + + using std::min; + using std::numeric_limits; + using std::vector; + using std::size_t; + using std::string; + + using serial::Serial; + using serial::bytesize_t; + using serial::parity_t; + using serial::stopbits_t; + using serial::flowcontrol_t; + + class Serial::ScopedReadLock { + public: + ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl) { + this->pimpl_->readLock(); + } + ~ScopedReadLock() { + this->pimpl_->readUnlock(); + } + private: + // Disable copy constructors + ScopedReadLock(const ScopedReadLock&); + const ScopedReadLock& operator=(ScopedReadLock); + + SerialImpl *pimpl_; + }; + + class Serial::ScopedWriteLock { + public: + ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl) { + this->pimpl_->writeLock(); + } + ~ScopedWriteLock() { + this->pimpl_->writeUnlock(); + } + private: + // Disable copy constructors + ScopedWriteLock(const ScopedWriteLock&); + const ScopedWriteLock& operator=(ScopedWriteLock); + SerialImpl *pimpl_; + }; + + Serial::Serial (const string &port, uint32_t baudrate, serial::Timeout timeout, + bytesize_t bytesize, parity_t parity, stopbits_t stopbits, + flowcontrol_t flowcontrol) + : pimpl_(new SerialImpl (port, baudrate, bytesize, parity, + stopbits, flowcontrol)) { + pimpl_->setTimeout(timeout); + } + + Serial::~Serial () { + delete pimpl_; + } + + bool Serial::open () { + return pimpl_->open (); + } + + void Serial::close () { + pimpl_->close (); + } + + bool Serial::isOpen () const { + return pimpl_->isOpen (); + } + + size_t Serial::available () { + return pimpl_->available (); + } + + bool Serial::waitReadable () { + serial::Timeout timeout(pimpl_->getTimeout ()); + return pimpl_->waitReadable(timeout.read_timeout_constant); + } + + void Serial::waitByteTimes (size_t count) { + pimpl_->waitByteTimes(count); + } + + int Serial::waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size) { + return pimpl_->waitfordata(data_count, timeout, returned_size); + } + + size_t Serial::read_ (uint8_t *buffer, size_t size) { + return this->pimpl_->read (buffer, size); + } + + size_t Serial::read (uint8_t *buffer, size_t size) { + ScopedReadLock lock(this->pimpl_); + return this->pimpl_->read (buffer, size); + } + + size_t Serial::read (std::vector &buffer, size_t size) { + ScopedReadLock lock(this->pimpl_); + uint8_t *buffer_ = new uint8_t[size]; + size_t bytes_read = this->pimpl_->read (buffer_, size); + buffer.insert (buffer.end (), buffer_, buffer_+bytes_read); + delete[] buffer_; + return bytes_read; + } + + size_t Serial::read (std::string &buffer, size_t size) { + ScopedReadLock lock(this->pimpl_); + uint8_t *buffer_ = new uint8_t[size]; + size_t bytes_read = this->pimpl_->read (buffer_, size); + buffer.append (reinterpret_cast(buffer_), bytes_read); + delete[] buffer_; + return bytes_read; + } + + string Serial::read (size_t size) { + std::string buffer; + this->read (buffer, size); + return buffer; + } + + size_t Serial::readline (string &buffer, size_t size, string eol) { + ScopedReadLock lock(this->pimpl_); + size_t eol_len = eol.length (); + uint8_t *buffer_ = static_cast (alloca (size * sizeof (uint8_t))); + size_t read_so_far = 0; + while (true) { + size_t bytes_read = this->read_ (buffer_ + read_so_far, 1); + read_so_far += bytes_read; + if (bytes_read == 0) { + break; // Timeout occured on reading 1 byte + } + if (string (reinterpret_cast (buffer_ + read_so_far - eol_len), eol_len) == eol) { + break; // EOL found + } + if (read_so_far == size) { + break; // Reached the maximum read length + } + } + buffer.append(reinterpret_cast (buffer_), read_so_far); + return read_so_far; + } + + string Serial::readline (size_t size, string eol) { + std::string buffer; + this->readline (buffer, size, eol); + return buffer; + } + + vector Serial::readlines (size_t size, string eol) { + ScopedReadLock lock(this->pimpl_); + std::vector lines; + size_t eol_len = eol.length (); + uint8_t *buffer_ = static_cast (alloca (size * sizeof (uint8_t))); + size_t read_so_far = 0; + size_t start_of_line = 0; + while (read_so_far < size) { + size_t bytes_read = this->read_ (buffer_+read_so_far, 1); + read_so_far += bytes_read; + if (bytes_read == 0) { + if (start_of_line != read_so_far) { + lines.push_back ( string (reinterpret_cast (buffer_ + start_of_line), read_so_far - start_of_line)); + } + break; // Timeout occured on reading 1 byte + } + if (string (reinterpret_cast + (buffer_ + read_so_far - eol_len), eol_len) == eol) { + // EOL found + lines.push_back( string(reinterpret_cast (buffer_ + start_of_line), read_so_far - start_of_line)); + start_of_line = read_so_far; + } + if (read_so_far == size) { + if (start_of_line != read_so_far) { + lines.push_back( string(reinterpret_cast (buffer_ + start_of_line), read_so_far - start_of_line)); + } + break; // Reached the maximum read length + } + } + return lines; + } + + size_t Serial::write (const string &data) { + ScopedWriteLock lock(this->pimpl_); + return this->write_ (reinterpret_cast(data.c_str()), data.length()); + } + + size_t Serial::write (const std::vector &data) { + ScopedWriteLock lock(this->pimpl_); + return this->write_ (&data[0], data.size()); + } + + size_t Serial::write (const uint8_t *data, size_t size) { + ScopedWriteLock lock(this->pimpl_); + return this->write_(data, size); + } + + size_t Serial::write_ (const uint8_t *data, size_t length) { + return pimpl_->write (data, length); + } + + void Serial::setPort (const string &port) { + ScopedReadLock rlock(this->pimpl_); + ScopedWriteLock wlock(this->pimpl_); + bool was_open = pimpl_->isOpen (); + if (was_open) close(); + pimpl_->setPort (port); + if (was_open) open (); + } + + string Serial::getPort () const { + return pimpl_->getPort (); + } + + void Serial::setTimeout (serial::Timeout &timeout) { + pimpl_->setTimeout (timeout); + } + + serial::Timeout Serial::getTimeout () const { + return pimpl_->getTimeout (); + } + + bool Serial::setBaudrate (uint32_t baudrate) { + return pimpl_->setBaudrate (baudrate); + } + + uint32_t Serial::getBaudrate () const { + return uint32_t(pimpl_->getBaudrate ()); + } + + bool Serial::setBytesize (bytesize_t bytesize){ + return pimpl_->setBytesize (bytesize); + } + + bytesize_t Serial::getBytesize () const{ + return pimpl_->getBytesize (); + } + + bool Serial::setParity (parity_t parity){ + return pimpl_->setParity (parity); + } + + parity_t Serial::getParity () const{ + return pimpl_->getParity (); + } + + bool Serial::setStopbits (stopbits_t stopbits){ + return pimpl_->setStopbits (stopbits); + } + + stopbits_t Serial::getStopbits () const{ + return pimpl_->getStopbits (); + } + + bool Serial::setFlowcontrol (flowcontrol_t flowcontrol){ + return pimpl_->setFlowcontrol (flowcontrol); + } + + flowcontrol_t Serial::getFlowcontrol () const{ + return pimpl_->getFlowcontrol (); + } + + void Serial::flush (){ + ScopedReadLock rlock(this->pimpl_); + ScopedWriteLock wlock(this->pimpl_); + pimpl_->flush (); + } + + void Serial::flushInput (){ + ScopedReadLock lock(this->pimpl_); + pimpl_->flushInput (); + } + + void Serial::flushOutput (){ + ScopedWriteLock lock(this->pimpl_); + pimpl_->flushOutput (); + } + + void Serial::sendBreak (int duration){ + pimpl_->sendBreak (duration); + } + + bool Serial::setBreak (bool level){ + return pimpl_->setBreak (level); + } + + bool Serial::setRTS (bool level){ + return pimpl_->setRTS (level); + } + + bool Serial::setDTR (bool level){ + return pimpl_->setDTR (level); + } + + bool Serial::waitForChange(){ + return pimpl_->waitForChange(); + } + + bool Serial::getCTS (){ + return pimpl_->getCTS (); + } + + bool Serial::getDSR (){ + return pimpl_->getDSR (); + } + + bool Serial::getRI (){ + return pimpl_->getRI (); + } + + bool Serial::getCD (){ + return pimpl_->getCD (); + } +} \ No newline at end of file diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp new file mode 100644 index 0000000..d49c093 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp @@ -0,0 +1,1153 @@ +/* +* YDLIDAR SYSTEM +* YDLIDAR DRIVER +* +* Copyright 2015 - 2018 EAI TEAM +* http://www.eaibot.com +* +*/ +#include "common.h" +#include "ydlidar_driver.h" +using namespace impl; + +namespace ydlidar{ + + YDlidarDriver* YDlidarDriver::_impl = NULL; + int YDlidarDriver::PackageSampleBytes = 2; + + YDlidarDriver::YDlidarDriver(): + _serial(0) { + isConnected = false; + isScanning = false; + m_intensities = false; + _baudrate = 115200; + isSupportMotorCtrl=true; + _sampling_rate=2; + } + + YDlidarDriver::~YDlidarDriver(){ + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + + _thread.join(); + + if(_serial){ + if(_serial->isOpen()){ + _serial->close(); + } + } + if(_serial){ + delete _serial; + _serial = NULL; + } + } + + result_t YDlidarDriver::connect(const char * port_path, uint32_t baudrate) { + _baudrate = baudrate; + if(!_serial){ + _serial = new serial::Serial(port_path, _baudrate, serial::Timeout::simpleTimeout(DEFAULT_TIMEOUT)); + } + + { + ScopedLocker l(_lock); + if(!_serial->open()){ + return RESULT_FAIL; + } + } + + isConnected = true; + + clearDTR(); + + return RESULT_OK; + } + + + void YDlidarDriver::setDTR() { + if (!isConnected){ + return ; + } + + if(_serial){ + _serial->setDTR(1); + } + + } + + void YDlidarDriver::clearDTR() { + if (!isConnected){ + return ; + } + + if(_serial){ + _serial->setDTR(0); + } + } + + result_t YDlidarDriver::startMotor() { + ScopedLocker l(_lock); + if(isSupportMotorCtrl){ + setDTR(); + delay(500); + }else{ + clearDTR(); + delay(500); + } + return RESULT_OK; + } + + result_t YDlidarDriver::stopMotor() { + ScopedLocker l(_lock); + if(isSupportMotorCtrl){ + clearDTR(); + delay(500); + }else{ + setDTR(); + delay(500); + } + return RESULT_OK; + } + + void YDlidarDriver::disconnect() { + if (!isConnected){ + return ; + } + stop(); + + if(_serial){ + if(_serial->isOpen()){ + _serial->close(); + } + } + isConnected = false; + } + + + void YDlidarDriver::disableDataGrabbing() { + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + _thread.join(); + } + + + result_t YDlidarDriver::sendCommand(uint8_t cmd, const void * payload, size_t payloadsize) { + uint8_t pkt_header[10]; + cmd_packet * header = reinterpret_cast(pkt_header); + uint8_t checksum = 0; + + if (!isConnected) { + return RESULT_FAIL; + } + if (payloadsize && payload) { + cmd |= LIDAR_CMDFLAG_HAS_PAYLOAD; + } + + header->syncByte = LIDAR_CMD_SYNC_BYTE; + header->cmd_flag = cmd; + sendData(pkt_header, 2) ; + + if (cmd & LIDAR_CMDFLAG_HAS_PAYLOAD) { + checksum ^= LIDAR_CMD_SYNC_BYTE; + checksum ^= cmd; + checksum ^= (payloadsize & 0xFF); + + for (size_t pos = 0; pos < payloadsize; ++pos) { + checksum ^= ((uint8_t *)payload)[pos]; + } + + uint8_t sizebyte = payloadsize; + sendData(&sizebyte, 1); + + sendData((const uint8_t *)payload, sizebyte); + + sendData(&checksum, 1); + } + return RESULT_OK; + } + + result_t YDlidarDriver::sendData(const uint8_t * data, size_t size) { + if (!isConnected) { + return RESULT_FAIL; + } + + if (data == NULL || size ==0) { + return RESULT_FAIL; + } + return _serial->write(data, size); + } + + result_t YDlidarDriver::getData(uint8_t * data, size_t size) { + if (!isConnected) { + return RESULT_FAIL; + } + result_t ans = _serial->read(data, size); + return ans; + } + + result_t YDlidarDriver::waitResponseHeader(lidar_ans_header * header, uint32_t timeout) { + int recvPos = 0; + uint32_t startTs = getms(); + uint8_t recvBuffer[sizeof(lidar_ans_header)]; + uint8_t *headerBuffer = reinterpret_cast(header); + uint32_t waitTime; + + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = sizeof(lidar_ans_header) - recvPos; + size_t recvSize; + + result_t ans = waitForData(remainSize, timeout - waitTime, &recvSize); + if (ans != RESULT_OK){ + return ans; + } + + if(recvSize > remainSize) recvSize = remainSize; + + ans = getData(recvBuffer, recvSize); + if (ans == RESULT_FAIL){ + return RESULT_FAIL; + } + + for (size_t pos = 0; pos < recvSize; ++pos) { + uint8_t currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: + if (currentByte != LIDAR_ANS_SYNC_BYTE1) { + continue; + } + break; + case 1: + if (currentByte != LIDAR_ANS_SYNC_BYTE2) { + recvPos = 0; + continue; + } + break; + } + headerBuffer[recvPos++] = currentByte; + + if (recvPos == sizeof(lidar_ans_header)) { + return RESULT_OK; + } + } + } + return RESULT_FAIL; + } + + result_t YDlidarDriver::waitForData(size_t data_count, uint32_t timeout, size_t * returned_size) { + size_t length = 0; + if (returned_size==NULL) { + returned_size=(size_t *)&length; + } + return _serial->waitfordata(data_count, timeout, returned_size); + } + + result_t YDlidarDriver::getHealth(device_health & health, uint32_t timeout) { + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_DEVICE_HEALTH)) != RESULT_OK) { + return ans; + } + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVHEALTH) { + return RESULT_FAIL; + } + + if (response_header.size < sizeof(device_health)) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&health), sizeof(health)); + } + return RESULT_OK; + } + + + result_t YDlidarDriver::getDeviceInfo(device_info & info, uint32_t timeout) { + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_DEVICE_INFO)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size < sizeof(lidar_ans_header)) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&info), sizeof(info)); + } + + return RESULT_OK; + } + + + void YDlidarDriver::setIntensities(const bool isintensities){ + m_intensities = isintensities; + if(m_intensities){ + PackageSampleBytes = 3; + }else{ + PackageSampleBytes = 2; + } + } + + result_t YDlidarDriver::startScan(bool force, uint32_t timeout ) { + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + if (isScanning) { + return RESULT_OK; + } + + stop(); + startMotor(); + + { + ScopedLocker l(_lock); + if ((ans = sendCommand(force?LIDAR_CMD_FORCE_SCAN:LIDAR_CMD_SCAN)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_MEASUREMENT) { + return RESULT_FAIL; + } + + if (response_header.size < sizeof(node_info)) { + return RESULT_FAIL; + } + isScanning = true; + ans = this->createThread(); + return ans; + } + return RESULT_OK; + } + + result_t YDlidarDriver::createThread() { + _thread = CLASS_THREAD(YDlidarDriver, cacheScanData); + if (_thread.getHandle() == 0) { + return RESULT_FAIL; + } + + return RESULT_OK; + } + + result_t YDlidarDriver::stop() { + disableDataGrabbing(); + { + ScopedLocker l(_lock); + sendCommand(LIDAR_CMD_FORCE_STOP); + } + + stopMotor(); + + return RESULT_OK; + } + + int YDlidarDriver::cacheScanData() { + node_info local_buf[128]; + size_t count = 128; + node_info local_scan[MAX_SCAN_NODES]; + size_t scan_count = 0; + result_t ans; + memset(local_scan, 0, sizeof(local_scan)); + waitScanData(local_buf, count); + + while(isScanning) { + if ((ans=waitScanData(local_buf, count)) != RESULT_OK) { + if (ans != RESULT_TIMEOUT) { + fprintf(stderr, "exit scanning thread!!\n"); + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + return RESULT_FAIL; + + } + } + for (size_t pos = 0; pos < count; ++pos) { + if (local_buf[pos].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT) { + if ((local_scan[0].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT)) { + _lock.lock();//timeout lock, wait resource copy + memcpy(scan_node_buf, local_scan, scan_count*sizeof(node_info)); + scan_node_count = scan_count; + _dataEvent.set(); + _lock.unlock(); + } + scan_count = 0; + } + local_scan[scan_count++] = local_buf[pos]; + if (scan_count == _countof(local_scan)){ + scan_count-=1; + } + } + } + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + return RESULT_OK; + } + + result_t YDlidarDriver::waitPackage(node_info * node, uint32_t timeout) { + int recvPos = 0; + uint32_t startTs = getms(); + uint32_t size = (m_intensities)?sizeof(node_package):sizeof(node_packages); + uint8_t* recvBuffer = new uint8_t[size]; + + uint32_t waitTime; + + static node_package package; + static node_packages packages; + + static uint16_t package_Sample_Index = 0; + static uint16_t IntervalSampleAngle = 0; + static uint16_t IntervalSampleAngle_LastPackage = 0; + static uint16_t FirstSampleAngle = 0; + static uint16_t LastSampleAngle = 0; + static uint16_t CheckSun = 0; + + static uint16_t CheckSunCal = 0; + static uint16_t SampleNumlAndCTCal = 0; + static uint16_t LastSampleAngleCal = 0; + static bool CheckSunResult = true; + static uint16_t Valu8Tou16 = 0; + + uint8_t *packageBuffer = (m_intensities)?(uint8_t*)&package.package_Head:(uint8_t*)&packages.package_Head; + uint8_t package_Sample_Num = 0; + + int32_t AngleCorrectForDistance; + + int package_recvPos = 0; + + if(package_Sample_Index == 0) { + recvPos = 0; + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = PackagePaidBytes - recvPos; + size_t recvSize; + result_t ans = waitForData(remainSize, timeout-waitTime, &recvSize); + if (ans != RESULT_OK){ + delete[] recvBuffer; + return ans; + } + + if (recvSize > remainSize){ + recvSize = remainSize; + } + + getData(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + uint8_t currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: + if(currentByte==(PH&0xFF)){ + + }else{ + continue; + } + break; + case 1: + CheckSunCal = PH; + if(currentByte==(PH>>8)){ + + }else{ + recvPos = 0; + continue; + } + break; + case 2: + SampleNumlAndCTCal = currentByte; + if ((currentByte == CT_Normal) || (currentByte == CT_RingStart)){ + + } else { + recvPos = 0; + continue; + } + break; + case 3: + SampleNumlAndCTCal += (currentByte*0x100); + package_Sample_Num = currentByte; + break; + case 4: + if (currentByte & LIDAR_RESP_MEASUREMENT_CHECKBIT) { + FirstSampleAngle = currentByte; + } else { + recvPos = 0; + continue; + } + break; + case 5: + FirstSampleAngle += currentByte*0x100; + CheckSunCal ^= FirstSampleAngle; + FirstSampleAngle = FirstSampleAngle>>1; + break; + case 6: + if (currentByte & LIDAR_RESP_MEASUREMENT_CHECKBIT) { + LastSampleAngle = currentByte; + } else { + recvPos = 0; + continue; + } + break; + case 7: + LastSampleAngle = currentByte*0x100 + LastSampleAngle; + LastSampleAngleCal = LastSampleAngle; + LastSampleAngle = LastSampleAngle>>1; + if(package_Sample_Num == 1){ + IntervalSampleAngle = 0; + }else{ + if(LastSampleAngle < FirstSampleAngle){ + if((FirstSampleAngle > 270*64) && (LastSampleAngle < 90*64)){ + IntervalSampleAngle = (360*64 + LastSampleAngle - FirstSampleAngle)/(package_Sample_Num-1); + IntervalSampleAngle_LastPackage = IntervalSampleAngle; + } else{ + IntervalSampleAngle = IntervalSampleAngle_LastPackage; + } + } else{ + IntervalSampleAngle = (LastSampleAngle -FirstSampleAngle)/(package_Sample_Num-1); + IntervalSampleAngle_LastPackage = IntervalSampleAngle; + } + } + break; + case 8: + CheckSun = currentByte; + break; + case 9: + CheckSun += (currentByte*0x100); + break; + } + packageBuffer[recvPos++] = currentByte; + } + + if (recvPos == PackagePaidBytes ){ + package_recvPos = recvPos; + break; + } + } + + if(PackagePaidBytes == recvPos){ + startTs = getms(); + recvPos = 0; + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = package_Sample_Num*PackageSampleBytes - recvPos; + size_t recvSize; + result_t ans =waitForData(remainSize, timeout-waitTime, &recvSize); + if (ans != RESULT_OK){ + delete[] recvBuffer; + return ans; + } + + if (recvSize > remainSize){ + recvSize = remainSize; + } + + getData(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + if(m_intensities){ + if(recvPos%3 == 2){ + Valu8Tou16 += recvBuffer[pos]*0x100; + CheckSunCal ^= Valu8Tou16; + }else if(recvPos%3 == 1){ + Valu8Tou16 = recvBuffer[pos]; + }else{ + CheckSunCal ^= recvBuffer[pos]; + } + }else{ + if(recvPos%2 == 1){ + Valu8Tou16 += recvBuffer[pos]*0x100; + CheckSunCal ^= Valu8Tou16; + }else{ + Valu8Tou16 = recvBuffer[pos]; + } + } + + packageBuffer[package_recvPos+recvPos] = recvBuffer[pos]; + recvPos++; + } + + if(package_Sample_Num*PackageSampleBytes == recvPos){ + package_recvPos += recvPos; + break; + } + } + if(package_Sample_Num*PackageSampleBytes != recvPos){ + delete[] recvBuffer; + return RESULT_FAIL; + } + } else { + delete[] recvBuffer; + return RESULT_FAIL; + } + CheckSunCal ^= SampleNumlAndCTCal; + CheckSunCal ^= LastSampleAngleCal; + + if(CheckSunCal != CheckSun){ + CheckSunResult = false; + }else{ + CheckSunResult = true; + } + + } + uint8_t package_CT; + if(m_intensities){ + package_CT = package.package_CT; + }else{ + package_CT = packages.package_CT; + } + + if(package_CT == CT_Normal){ + (*node).sync_quality = Node_Default_Quality + Node_NotSync; + } else{ + (*node).sync_quality = Node_Default_Quality + Node_Sync; + } + + if(CheckSunResult == true){ + if(m_intensities){ + (*node).sync_quality = package.packageSample[package_Sample_Index].PakageSampleQuality; + (*node).distance_q2 = package.packageSample[package_Sample_Index].PakageSampleDistance; + }else{ + (*node).distance_q2 = packages.packageSampleDistance[package_Sample_Index]; + } + if((*node).distance_q2/4 != 0){ + AngleCorrectForDistance = (int32_t)(((atan(((21.8*(155.3 - ((*node).distance_q2/4)) )/155.3)/((*node).distance_q2/4)))*180.0/3.1415) * 64.0); + }else{ + AngleCorrectForDistance = 0; + } + if((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance) < 0){ + (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance + 360*64)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; + }else{ + if((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance) > 360*64){ + (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance - 360*64)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; + }else{ + (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; + } + } + }else{ + (*node).sync_quality = Node_Default_Quality + Node_NotSync; + (*node).angle_q6_checkbit = LIDAR_RESP_MEASUREMENT_CHECKBIT; + (*node).distance_q2 = 0; + } + + package_Sample_Index++; + uint8_t nowPackageNum; + if(m_intensities){ + nowPackageNum = package.nowPackageNum; + }else{ + nowPackageNum = packages.nowPackageNum; + } + if(package_Sample_Index >= nowPackageNum){ + package_Sample_Index = 0; + } + delete[] recvBuffer; + return RESULT_OK; + } + + result_t YDlidarDriver::waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout) { + if (!isConnected) { + count = 0; + return RESULT_FAIL; + } + + size_t recvNodeCount = 0; + uint32_t startTs = getms(); + uint32_t waitTime; + result_t ans; + + while ((waitTime = getms() - startTs) <= timeout && recvNodeCount < count) { + node_info node; + if ((ans = this->waitPackage(&node, timeout - waitTime)) != RESULT_OK) { + return ans; + } + nodebuffer[recvNodeCount++] = node; + + if (recvNodeCount == count) { + return RESULT_OK; + } + } + count = recvNodeCount; + return RESULT_FAIL; + } + + + result_t YDlidarDriver::grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout) { + switch (_dataEvent.wait(timeout)) { + case Event::EVENT_TIMEOUT: + count = 0; + return RESULT_TIMEOUT; + case Event::EVENT_OK: + { + if(scan_node_count == 0) { + return RESULT_FAIL; + } + size_t size_to_copy = min(count, scan_node_count); + ScopedLocker l(_lock); + memcpy(nodebuffer, scan_node_buf, size_to_copy*sizeof(node_info)); + count = size_to_copy; + scan_node_count = 0; + } + return RESULT_OK; + default: + count = 0; + return RESULT_FAIL; + } + + } + + void YDlidarDriver::simpleScanData(std::vector *scan_data , node_info *buffer, size_t count) { + scan_data->clear(); + for (int pos = 0; pos < (int)count; ++pos) { + scanDot dot; + if (!buffer[pos].distance_q2) continue; + dot.quality = (buffer[pos].sync_quality>>LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT); + dot.angle = (buffer[pos].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + dot.dist = buffer[pos].distance_q2/4.0f; + scan_data->push_back(dot); + } + } + + result_t YDlidarDriver::ascendScanData(node_info * nodebuffer, size_t count) { + float inc_origin_angle = (float)360.0/count; + node_info *tmpbuffer = new node_info[count]; + int i = 0; + + for (i = 0; i < (int)count; i++) { + if(nodebuffer[i].distance_q2 == 0) { + continue; + } else { + while(i != 0) { + i--; + float expect_angle = (nodebuffer[i+1].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f - inc_origin_angle; + if (expect_angle < 0.0f) expect_angle = 0.0f; + uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; + nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; + } + break; + } + } + + if (i == (int)count){ + return RESULT_FAIL; + } + + for (i = (int)count - 1; i >= 0; i--) { + if(nodebuffer[i].distance_q2 == 0) { + continue; + } else { + while(i != ((int)count - 1)) { + i++; + float expect_angle = (nodebuffer[i-1].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f + inc_origin_angle; + if (expect_angle > 360.0f) expect_angle -= 360.0f; + uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; + nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; + } + break; + } + } + + float frontAngle = (nodebuffer[0].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + for (i = 1; i < (int)count; i++) { + if(nodebuffer[i].distance_q2 == 0) { + float expect_angle = frontAngle + i * inc_origin_angle; + if (expect_angle > 360.0f) expect_angle -= 360.0f; + uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; + nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; + } + } + + size_t zero_pos = 0; + float pre_degree = (nodebuffer[0].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + + for (i = 1; i < (int)count ; ++i) { + float degree = (nodebuffer[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + if (zero_pos == 0 && (pre_degree - degree > 180)) { + zero_pos = i; + break; + } + pre_degree = degree; + } + + for (i = (int)zero_pos; i < (int)count; i++) { + tmpbuffer[i-zero_pos] = nodebuffer[i]; + } + for (i = 0; i < (int)zero_pos; i++) { + tmpbuffer[i+(int)count-zero_pos] = nodebuffer[i]; + } + + memcpy(nodebuffer, tmpbuffer, count*sizeof(node_info)); + delete[] tmpbuffer; + + return RESULT_OK; + } + + + result_t YDlidarDriver::reset(uint32_t timeout) { + UNUSED(timeout); + result_t ans; + if (!isConnected){ + return RESULT_FAIL; + } + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_RESET))!= RESULT_OK) { + return ans; + } + return RESULT_OK; + } + + result_t YDlidarDriver::getScanFrequency(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_AIMSPEED)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_ADD)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_DIS)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_ADDMIC)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_DISMIC)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::getSamplingRate(sampling_rate & rate, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_SAMPLING_RATE)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&rate), sizeof(rate)); + _sampling_rate=rate.rate; + } + return RESULT_OK; + } + + + result_t YDlidarDriver::setSamplingRate(sampling_rate & rate, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_SAMPLING_RATE)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&rate), sizeof(rate)); + _sampling_rate=rate.rate; + } + return RESULT_OK; + } + + const std::string YDlidarDriver::getSDKVersion(){ + return SDKVerision; + } + + result_t YDlidarDriver::setRotationPositive(scan_rotation & roation, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_RUN_POSITIVE)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&roation), sizeof(roation)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setRotationInversion(scan_rotation & roation, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_RUN_INVERSION)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&roation), sizeof(roation)); + } + return RESULT_OK; + } + + +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_client.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_client.cpp new file mode 100644 index 0000000..f8e55a8 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_client.cpp @@ -0,0 +1,35 @@ +/* + * YDLIDAR SYSTEM + * YDLIDAR ROS Node Client + * + * Copyright 2015 - 2017 EAI TEAM + * http://www.eaibot.com + * + */ + +#include "ros/ros.h" +#include "sensor_msgs/LaserScan.h" + +#define RAD2DEG(x) ((x)*180./M_PI) + +void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan) +{ + int count = scan->scan_time / scan->time_increment; + printf("[YDLIDAR INFO]: I heard a laser scan %s[%d]:\n", scan->header.frame_id.c_str(), count); + printf("[YDLIDAR INFO]: angle_range : [%f, %f]\n", RAD2DEG(scan->angle_min), RAD2DEG(scan->angle_max)); + + for(int i = 0; i < count; i++) { + float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i); + printf("[YDLIDAR INFO]: angle-distance : [%f, %f]", degree, scan->ranges[i]); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "ydlidar_client"); + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("/scan", 1000, scanCallback); + ros::spin(); + + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_node.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_node.cpp new file mode 100644 index 0000000..ff36b45 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_node.cpp @@ -0,0 +1,395 @@ +/* + * YDLIDAR SYSTEM + * YDLIDAR ROS Node Client + * + * Copyright 2015 - 2017 EAI TEAM + * http://www.eaibot.com + * + */ + +#include "ros/ros.h" +#include "sensor_msgs/LaserScan.h" +#include "ydlidar_driver.h" +#include +#include +#include +#include + +#define DELAY_SECONDS 26 +#define DEG2RAD(x) ((x)*M_PI/180.) + +using namespace ydlidar; + +static bool flag = true; +static int nodes_count = 720; +static float each_angle = 0.5; + +void publish_scan(ros::Publisher *pub, node_info *nodes, size_t node_count, ros::Time start, double scan_time, float angle_min, float angle_max, std::string frame_id, std::vector ignore_array, double min_range , double max_range) +{ + sensor_msgs::LaserScan scan_msg; + + int counts = node_count*((angle_max-angle_min)/360.0f); + int angle_start = 180+angle_min; + int node_start = node_count*(angle_start/360.0f); + + scan_msg.ranges.resize(counts); + scan_msg.intensities.resize(counts); + + float nodes_array[node_count]; + float quality_array[node_count]; + float range = 0.0; + float intensity = 0.0; + int index = 0; + for (size_t i = 0; i < node_count; i++) { + range = (float)nodes[i].distance_q2/4.0f/1000; + intensity = (float)(nodes[i].sync_quality >> 2); + + if(i> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f); + if(angle>180){ + angle=360-angle; + }else{ + angle=-angle; + } + for(uint16_t j = 0; j < ignore_array.size();j = j+2){ + if((ignore_array[j] < angle) && (angle <= ignore_array[j+1])){ + range = 0.0; + break; + } + } + } + + if(range > max_range){ + range = 0.0; + } + + if(range < min_range){ + range = 0.0; + } + + int pos = index - node_start ; + if(0<= pos && pos < counts){ + scan_msg.ranges[pos] = range; + scan_msg.intensities[pos] = intensity; + } + + } + + scan_msg.header.stamp = start; + scan_msg.header.frame_id = frame_id; + float radian_min = DEG2RAD(angle_min); + float radian_max = DEG2RAD(angle_max); + scan_msg.angle_min = radian_min; + scan_msg.angle_max = radian_max; + scan_msg.angle_increment = (scan_msg.angle_max - scan_msg.angle_min) / (double)counts; + scan_msg.scan_time = scan_time; + scan_msg.time_increment = scan_time / (double)counts; + scan_msg.range_min = min_range; + scan_msg.range_max = max_range; + + pub->publish(scan_msg); +} + + +std::vector split(const std::string &s, char delim) { + std::vector elems; + std::stringstream ss(s); + std::string number; + while(std::getline(ss, number, delim)) { + elems.push_back(atoi(number.c_str())); + } + return elems; +} + +bool getDeviceInfo(std::string port) +{ + if (!YDlidarDriver::singleton()){ + return false; + } + + device_info devinfo; + if (YDlidarDriver::singleton()->getDeviceInfo(devinfo) !=RESULT_OK){ + ROS_ERROR("YDLIDAR get DeviceInfo Error\n" ); + return false; + } + int _samp_rate=4; + std::string model; + float freq = 7.0f; + switch(devinfo.model){ + case 1: + model="F4"; + _samp_rate=4; + freq = 7.0; + break; + case 4: + model="S4"; + _samp_rate=4; + freq = 7.0; + break; + case 5: + model="G4"; + _samp_rate=9; + nodes_count = 1440; + each_angle = 0.25; + freq = 7.0; + break; + case 6: + model="X4"; + _samp_rate=5; + freq = 7.0; + break; + default: + model = "Unknown"; + } + + uint16_t maxv = (uint16_t)(devinfo.firmware_version>>8); + uint16_t midv = (uint16_t)(devinfo.firmware_version&0xff)/10; + uint16_t minv = (uint16_t)(devinfo.firmware_version&0xff)%10; + if(midv==0){ + midv = minv; + minv = 0; + } + + printf("[YDLIDAR INFO] Connection established in %s:\n" + "Firmware version: %u.%u.%u\n" + "Hardware version: %u\n" + "Model: %s\n" + "Serial: ", + port.c_str(), + maxv, + midv, + minv, + (uint16_t)devinfo.hardware_version, + model.c_str()); + + for (int i=0;i<16;i++){ + printf("%01X",devinfo.serialnum[i]&0xff); + } + printf("\n"); + + printf("[YDLIDAR INFO] Current Sampling Rate : %dK\n" , _samp_rate); + printf("[YDLIDAR INFO] Current Scan Frequency : %fHz\n" , freq); + + return true; + +} + + +bool getDeviceHealth() +{ + if (!YDlidarDriver::singleton()){ + return false; + } + + result_t op_result; + device_health healthinfo; + + op_result = YDlidarDriver::singleton()->getHealth(healthinfo); + if (op_result == RESULT_OK) { + printf("[YDLIDAR INFO] YDLIDAR running correctly! The health status: %s\n", healthinfo.status==0?"well":"bad"); + + if (healthinfo.status == 2) { + ROS_ERROR("Error, YDLIDAR internal error detected. Please reboot the device to retry."); + return false; + } else { + return true; + } + + } else { + ROS_ERROR("Error, cannot retrieve YDLIDAR health code: %x", op_result); + return false; + } + +} + + +static void Stop(int signo) +{ + flag = false; + signal(signo, SIG_DFL); + YDlidarDriver::singleton()->disconnect(); + printf("[YDLIDAR INFO] Now YDLIDAR is stopping .......\n"); + YDlidarDriver::done(); + exit(0); + +} + +int main(int argc, char * argv[]) { + ros::init(argc, argv, "ydlidar_node"); + + std::string port; + int baudrate; + std::string frame_id; + bool angle_fixed, intensities_; + double angle_max,angle_min; + result_t op_result; + std::string list; + std::vector ignore_array; + double max_range , min_range; + + ros::NodeHandle nh; + ros::Publisher scan_pub = nh.advertise("scan", 1000); + ros::NodeHandle nh_private("~"); + nh_private.param("port", port, "/dev/ydlidar"); + nh_private.param("baudrate", baudrate, 115200); + nh_private.param("frame_id", frame_id, "laser_frame"); + nh_private.param("angle_fixed", angle_fixed, "true"); + nh_private.param("intensities", intensities_, "false"); + nh_private.param("angle_max", angle_max , 180); + nh_private.param("angle_min", angle_min , -180); + nh_private.param("range_max", max_range , 16.0); + nh_private.param("range_min", min_range , 0.08); + nh_private.param("ignore_array",list,""); + ignore_array = split(list ,','); + + if(ignore_array.size()%2){ + ROS_ERROR_STREAM("ignore array is odd need be even"); + } + + for(uint16_t i =0 ; i < ignore_array.size();i++){ + if(ignore_array[i] < -180 && ignore_array[i] > 180){ + ROS_ERROR_STREAM("ignore array should be between -180 and 180"); + } + } + + YDlidarDriver::initDriver(); + if (!YDlidarDriver::singleton()) { + ROS_ERROR("YDLIDAR Create Driver fail, exit\n"); + return -2; + } + + signal(SIGINT, Stop); + signal(SIGTERM, Stop); + + printf("[YDLIDAR INFO] Current SDK Version: %s\n",YDlidarDriver::singleton()->getSDKVersion().c_str()); + + op_result = YDlidarDriver::singleton()->connect(port.c_str(), (uint32_t)baudrate); + if (op_result != RESULT_OK) { + int seconds=0; + while(seconds <= DELAY_SECONDS&&flag){ + sleep(2); + seconds = seconds + 2; + YDlidarDriver::singleton()->disconnect(); + op_result = YDlidarDriver::singleton()->connect(port.c_str(), (uint32_t)baudrate); + printf("[YDLIDAR INFO] Try to connect the port %s again after %d s .\n", port.c_str() , seconds); + if(op_result==RESULT_OK){ + break; + } + } + + if(seconds > DELAY_SECONDS){ + ROS_ERROR("YDLIDAR Cannot bind to the specified serial port %s" , port.c_str()); + YDlidarDriver::singleton()->disconnect(); + YDlidarDriver::done(); + return -1; + } + } + + printf("[YDLIDAR INFO] Connected to YDLIDAR on port %s at %d \n" , port.c_str(), baudrate); + if(!getDeviceHealth()||!getDeviceInfo(port)){ + YDlidarDriver::singleton()->disconnect(); + YDlidarDriver::done(); + return -1; + } + YDlidarDriver::singleton()->setIntensities(intensities_); + + result_t ans=YDlidarDriver::singleton()->startScan(); + if(ans != RESULT_OK){ + ans = YDlidarDriver::singleton()->startScan(); + if(ans != RESULT_OK){ + ROS_ERROR("start YDLIDAR is failed! Exit!! ......"); + YDlidarDriver::singleton()->disconnect(); + YDlidarDriver::done(); + return 0; + } + } + + printf("[YDLIDAR INFO] Now YDLIDAR is scanning ......\n"); + flag = false; + ros::Time start_scan_time; + ros::Time end_scan_time; + double scan_duration; + ros::Rate rate(30); + + node_info all_nodes[nodes_count]; + memset(all_nodes, 0, nodes_count*sizeof(node_info)); + + while (ros::ok()) { + try{ + node_info nodes[nodes_count]; + size_t count = _countof(nodes); + + start_scan_time = ros::Time::now(); + op_result = YDlidarDriver::singleton()->grabScanData(nodes, count); + end_scan_time = ros::Time::now(); + scan_duration = (end_scan_time - start_scan_time).toSec(); + + if (op_result == RESULT_OK) { + op_result = YDlidarDriver::singleton()->ascendScanData(nodes, count); + + if (op_result == RESULT_OK) { + if (angle_fixed) { + memset(all_nodes, 0, nodes_count*sizeof(node_info)); + + for(size_t i = 0; i < count; i++) { + if (nodes[i].distance_q2 != 0) { + float angle = (float)((nodes[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f); + int inter =(int)( angle / each_angle ); + float angle_pre = angle - inter * each_angle; + float angle_next = (inter+1) * each_angle - angle; + if(angle_pre < angle_next){ + if(inter < nodes_count){ + all_nodes[inter]=nodes[i]; + } + }else{ + if(inter < nodes_count-1){ + all_nodes[inter+1]=nodes[i]; + } + } + } + } + publish_scan(&scan_pub, all_nodes, nodes_count, start_scan_time, scan_duration, angle_min, angle_max, frame_id, ignore_array, min_range , max_range); + } else { + int start_node = 0, end_node = 0; + int i = 0; + while (nodes[i++].distance_q2 == 0&&i=0); + end_node = i+1; + + angle_min = (float)(nodes[start_node].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + angle_max = (float)(nodes[end_node].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + + publish_scan(&scan_pub, &nodes[start_node], end_node-start_node +1, start_scan_time, scan_duration, angle_min, angle_max, frame_id, ignore_array, min_range , max_range); + } + } + } + rate.sleep(); + ros::spinOnce(); + }catch(std::exception &e){// + ROS_ERROR_STREAM("Unhandled Exception: " << e.what() ); + YDlidarDriver::singleton()->disconnect(); + printf("[YDLIDAR INFO] Now YDLIDAR is stopping .......\n"); + YDlidarDriver::done(); + return 0; + }catch(...){//anthor exception + ROS_ERROR("Unhandled Exception:Unknown "); + YDlidarDriver::singleton()->disconnect(); + printf("[YDLIDAR INFO] Now YDLIDAR is stopping .......\n"); + YDlidarDriver::done(); + return 0; + } + } + + YDlidarDriver::singleton()->disconnect(); + printf("[YDLIDAR INFO] Now YDLIDAR is stopping .......\n"); + YDlidarDriver::done(); + return 0; +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/startup/initenv.sh b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/startup/initenv.sh new file mode 100644 index 0000000..9b5c1d0 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/startup/initenv.sh @@ -0,0 +1,11 @@ +#!/bin/bash +echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout", SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar.rules + +echo 'KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0666", GROUP:="dialout", SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-V2.rules + +echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE:="0666", GROUP:="dialout", SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-2303.rules + +service udev reload +sleep 2 +service udev restart + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/CMakeLists.txt b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/CMakeLists.txt new file mode 100644 index 0000000..c987e6b --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 2.8) +project(laser_test) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + +ADD_DEFINITIONS(-std=c++11) + + +set(SDK_PATH "../sdk/") + +IF (WIN32) +FILE(GLOB SDK_SRC + "${SDK_PATH}/src/impl/windows/*.cpp" + "${SDK_PATH}/src/*.cpp" +) + +ELSE() + +FILE(GLOB SDK_SRC + "${SDK_PATH}/src/impl/unix/*.cpp" + "${SDK_PATH}/src/*.cpp" +) + +ENDIF() + +include_directories( + ${catkin_INCLUDE_DIRS} + ${SDK_PATH}//include + ${SDK_PATH}/src +) + +set(MODULE_FILES + laser_test.h + laser_test.cpp + ) + +add_executable(laser_test main.cpp ${MODULE_FILES} ${SDK_SRC}) + +IF (WIN32) +ELSE() +target_link_libraries(laser_test rt pthread) +ENDIF() diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.cpp new file mode 100644 index 0000000..b238b41 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.cpp @@ -0,0 +1,343 @@ +// +// Created by lhx on 15-12-23. +// + +#include "laser_test.h" + +using namespace serial; +using namespace ydlidar; + +Lasertest::DEVICE_STATE Lasertest::device_state_ = CLOSED; + +Lasertest::Lasertest() + :publish_freq_(40), + scan_no_(0) { + port_ = "/dev/ttyACM0"; + baudrate_ = 115200; + angle_min_ = -180; + angle_max_ = 180; + intensities_ = false; + +} + +Lasertest::~Lasertest() { +} + +void Lasertest::setPort(std::string port) +{ + port_ = port; +} + +void Lasertest::setBaudrate(int baud) +{ + baudrate_ = baud; +} + +void Lasertest::setIntensities(bool intensities) +{ + intensities_ = intensities; +} + + +void Lasertest::run() { + Open(); + Start(); +} + +void Lasertest::closeApp(int signo){ + device_state_ = CLOSED; + signal(signo, SIG_DFL); + YDlidarDriver::singleton()->disconnect(); + printf("Now YDLIDAR is stopping .......\n"); + YDlidarDriver::done(); + exit(0); +} + +/** Returns true if the device is connected & operative */ +bool Lasertest::getDeviceInfo() +{ + if (!YDlidarDriver::singleton()) return false; + + device_info devinfo; + if (YDlidarDriver::singleton()->getDeviceInfo(devinfo) !=RESULT_OK){ + fprintf(stderr,"[YDLIDAR] get DeviceInfo Error\n" ); + return false; + } + + std::string model; + switch(devinfo.model){ + case 1: + model="F4"; + break; + case 2: + model="T1"; + break; + case 3: + model="F2"; + break; + case 4: + model="S4"; + break; + case 5: + model="G4"; + break; + case 6: + model="X4"; + break; + default: + model = "Unknown"; + } + + unsigned int maxv = (unsigned int)(devinfo.firmware_version>>8); + unsigned int midv = (unsigned int)(devinfo.firmware_version&0xff)/10; + unsigned int minv = (unsigned int)(devinfo.firmware_version&0xff)%10; + if(midv==0){ + midv = minv; + minv = 0; + } + + printf("[YDLIDAR] Connection established in [%s]:\n" + "Firmware version: %u.%u.%u\n" + "Hardware version: %u\n" + "Model: %s\n" + "Serial: ", + port_.c_str(), + maxv, + midv, + minv, + (unsigned int)devinfo.hardware_version, + model.c_str()); + + for (int i=0;i<16;i++) + printf("%01X",devinfo.serialnum[i]&0xff); + printf("\n"); + return true; + +} + +/** Returns true if the device is connected & operative */ +bool Lasertest::getDeviceHealth() +{ + if (!YDlidarDriver::singleton()) return false; + + result_t op_result; + device_health healthinfo; + + op_result = YDlidarDriver::singleton()->getHealth(healthinfo); + if (op_result == RESULT_OK) { + fprintf(stdout,"[YDLIDAR] running correctly ! The health status:%s\n" ,healthinfo.status==0? "good":"bad"); + + if (healthinfo.status == 2) { + fprintf(stderr, "Error, [YDLIDAR] internal error detected. Please reboot the device to retry.\n"); + return false; + } else { + return true; + } + + } else { + fprintf(stderr, "Error, cannot retrieve YDLIDAR health code: %x\n", op_result); + return false; + } + +} + +void Lasertest::Open() { + try { + if(!YDlidarDriver::singleton()) + YDlidarDriver::initDriver(); + result_t op_result = YDlidarDriver::singleton()->connect(port_.c_str(), (uint32_t)baudrate_); + if (op_result != RESULT_OK) { + fprintf(stdout,"open Lidar is failed! Exit!! ......\n"); + return; + } + + signal(SIGINT, closeApp); + signal(SIGTERM, closeApp); + + if(!getDeviceHealth()||!getDeviceInfo()){ + YDlidarDriver::singleton()->disconnect(); + YDlidarDriver::done(); + return; + } + + result_t ans=YDlidarDriver::singleton()->startScan(); + if(ans != RESULT_OK){ + fprintf(stdout,"start Lidar is failed! Exit!! ......\n"); + YDlidarDriver::singleton()->disconnect(); + YDlidarDriver::done(); + return; + } + + YDlidarDriver::singleton()->setIntensities(intensities_); + fprintf(stdout,"Device opened successfully.\n"); + device_state_ = OPENED; + + + + } catch (std::exception &e) { + Close(); + fprintf(stdout,"can't open laser\n "); + } +} + +void Lasertest::Start() { + + if(device_state_ !=OPENED|| !YDlidarDriver::singleton()) + return; + node_info all_nodes[NODE_COUNTS]; + memset(all_nodes, 0, NODE_COUNTS*sizeof(node_info)); + fprintf(stdout,"Now YDLIDAR is scanning.\n"); + device_state_ = RUNNING; + + double scan_duration; + result_t op_result; + + while (device_state_ == RUNNING) { + try { + node_info nodes[360*2]; + size_t count = _countof(nodes); + uint64_t start_scan_time = getms(); + op_result = YDlidarDriver::singleton()->grabScanData(nodes, count); + uint64_t end_scan_time = getms(); + scan_duration = (end_scan_time - start_scan_time); + + if (op_result == RESULT_OK) { + op_result = YDlidarDriver::singleton()->ascendScanData(nodes, count); + if (op_result == RESULT_OK) { + memset(all_nodes, 0, NODE_COUNTS*sizeof(node_info)); + for(size_t i =0 ; i < count; i++) { + if (nodes[i].distance_q2 != 0) { + float angle = (float)((nodes[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f); + int inter =(int)( angle / EACH_ANGLE ); + float angle_pre = angle - inter * EACH_ANGLE; + float angle_next = (inter+1) * EACH_ANGLE - angle; + if(angle_pre < angle_next){ + if(inter < NODE_COUNTS) + all_nodes[inter]=nodes[i]; + }else{ + if(inter < NODE_COUNTS-1) + all_nodes[inter+1]=nodes[i]; + } + } + } + + publicScanData(all_nodes,start_scan_time,scan_duration,NODE_COUNTS,angle_min_,angle_max_,ignore_array_); + + } + + + }else if(op_result == RESULT_FAIL){ + } + + } catch (std::exception& e) { + Close(); + fprintf(stderr,"Exception thrown while starting YDLIDAR.\n "); + return; + } catch (...) { + fprintf(stderr,"Exception thrown while trying to get scan: \n"); + Close(); + return; + } + + } + + +} + +void Lasertest::Stop() { + device_state_ = OPENED; +} + +void Lasertest::Close() { + try { + YDlidarDriver::singleton()->disconnect(); + YDlidarDriver::done(); + device_state_ = CLOSED; + exit(0); + } catch (std::exception &e) { + return; + } +} + +std::vector Lasertest::split(const std::string &s, char delim) { + std::vector elems; + std::stringstream ss(s); + std::string number; + while(std::getline(ss, number, delim)) { + elems.push_back(atoi(number.c_str())); + } + return elems; +} + +void Lasertest::publicScanData(node_info *nodes, uint64_t start,double scan_time, size_t node_count, float angle_min, float angle_max,std::vector ignore_array) { + fprintf(stdout,"publicScanData: %lud , %i\n",start, (int)node_count); + + float nodes_array[node_count]; + float quality_array[node_count]; + for (size_t i = 0; i < node_count; i++) { + if(i> 2); + }else{ + nodes_array[node_count-1-(i-node_count/2)] = (float)nodes[i].distance_q2/4.0f/1000; + quality_array[node_count-1-(i-node_count/2)] = (float)(nodes[i].sync_quality >> 2); + } + + if(ignore_array.size() != 0){ + float angle = (float)((nodes[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f); + if(angle>180){ + angle=360-angle; + }else{ + angle=-angle; + } + for(unsigned int j = 0; j < ignore_array.size();j = j+2){ + if((ignore_array[j] < angle) && (angle <= ignore_array[j+1])){ + if(iscan.config.min_angle) + printf(": [%f, %f]", degree, scan.ranges[i]); + } + + + scan_no_++; + +} diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.h b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.h new file mode 100644 index 0000000..6a4bf47 --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.h @@ -0,0 +1,63 @@ +#pragma once + + +#include "../sdk/include/ydlidar_driver.h" +#include "../sdk/src/common.h" +#include +#include +#include +#include + +#define DEG2RAD(x) ((x)*M_PI/180.) + +#define RAD2DEG(x) ((x)*180./M_PI) +#define NODE_COUNTS 720 +#define EACH_ANGLE 0.5 + +const double PI = 3.1415926; + +class Lasertest { +public: + Lasertest(); + + virtual ~Lasertest(); + + void run(); + + void setPort(std::string port); + void setBaudrate(int baud); + void setIntensities(bool intensities); +private: + void Open(); + void Start(); + void Stop(); + void Close(); + static void closeApp(int signo); + + bool getDeviceHealth(); + bool getDeviceInfo(); + + std::vector split(const std::string &s, char delim); + + void publicScanData(node_info *nodes, uint64_t start,double scan_time, size_t node_count, float angle_min, float angle_max,std::vector ignore_array); + + + enum DEVICE_STATE { + OPENED, + RUNNING, + CLOSED, + }; + + static DEVICE_STATE device_state_; + + int scan_no_; + + std::string port_; + int baudrate_; + bool intensities_; + int publish_freq_; + double angle_min_, angle_max_; + std::vector ignore_array_; +}; + + diff --git a/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/main.cpp b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/main.cpp new file mode 100644 index 0000000..1727b5d --- /dev/null +++ b/Code/RK3588/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/main.cpp @@ -0,0 +1,41 @@ + +#include "laser_test.h" +#include +#include +#include +using namespace std; + +int main(int argc, char * argv[]) +{ + + bool showHelp = argc>1 && !strcmp(argv[1],"--help"); + printf(" YDLIDAR C++ TEST\n"); + // Process arguments: + if (argc<4 || showHelp ) + { + + printf("Usage: %s \n\n",argv[0]); + printf("Example:%s /dev/ttyUSB0 115200 0\n\n",argv[0]); + if (!showHelp) + { + return -1; + } + else return 0; + } + + const std::string port = string(argv[1]); + const int baud = atoi(argv[2]); + const int intensities = atoi(argv[3]); + + Lasertest laser; + + laser.setPort(port); + laser.setBaudrate(baud); + laser.setIntensities(intensities); + + laser.run(); + + return 0; + + +} diff --git a/Code/RK3588/README.md b/Code/RK3588/README.md new file mode 100644 index 0000000..e69de29 diff --git a/Code/RK3588/Robot_ROS_Driver/.catkin_workspace b/Code/RK3588/Robot_ROS_Driver/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Code/RK3588/Robot_ROS_Driver/.gitignore b/Code/RK3588/Robot_ROS_Driver/.gitignore new file mode 100644 index 0000000..26560cc --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/.gitignore @@ -0,0 +1,2 @@ +/build/ +/cmake-build-debug/ \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/README.md b/Code/RK3588/Robot_ROS_Driver/README.md new file mode 100644 index 0000000..b5c4d27 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/README.md @@ -0,0 +1,6 @@ +# Robot ROS Driver + +1.如何编译 & 运行 + + + diff --git a/Code/RK3588/Robot_ROS_Driver/dataset/data1.txt 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0.50053517 848.786 967.168 +imu_odom_: 1691062595.38631179 0.428562 -0.234632 9.90721 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00217027 -0.000845842-0.0386972 0.999248 uwb: 0.0 848.786 967.168 +imu_odom_: 1691062595.53634841 0.426168 -0.205901 9.90721 -0.0575243 -0.00426106 0.04048 0 0 pose: 0.42996301 0.221503 0.00433448 0 -0.000905798-0.00143427 -0.0387063 0.999249 uwb: 0.0 848.786 967.168 +imu_odom_: 1691062595.68690999 0.430956 -0.244209 9.89763 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000905798-0.00143427 -0.0387063 0.999249 uwb: 0.50062271 848.872 966.773 +imu_odom_: 1691062595.82643573 0.428562 -0.213084 9.91439 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000905798-0.00143427 -0.0387063 0.999249 uwb: 0.0 848.872 966.773 +imu_odom_: 1691062595.97634694 0.462081 -0.232238 9.91918 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.44008894 0.221503 0.00433448 0 -0.000233384-0.00127567 -0.038701 0.99925 uwb: 0.0 848.872 966.773 +imu_odom_: 1691062595.111639472 0.411803 -0.234632 9.89763 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000233384-0.00127567 -0.038701 0.99925 uwb: 0.0 848.872 966.773 +imu_odom_: 1691062595.125635793 0.42138 -0.237026 9.88087 -0.0585895 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000233384-0.00127567 -0.038701 0.99925 uwb: 0.49875327 848.864 967.599 +imu_odom_: 1691062595.140638580 0.438139 -0.260968 9.91199 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.42993095 0.221503 0.00433448 0 -0.00137705 -0.000775448-0.0386943 0.99925 uwb: 0.0 848.864 967.599 +imu_odom_: 1691062595.155700570 0.440533 -0.253785 9.87129 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00137705 -0.000775448-0.0386943 0.99925 uwb: 0.0 848.864 967.599 +imu_odom_: 1691062595.169684350 0.440533 -0.234632 9.90002 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00137705 -0.000775448-0.0386943 0.99925 uwb: 0.50184470 848.789 967.721 +imu_odom_: 1691062595.184630850 0.426168 -0.23942 9.89763 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.44057890 0.221503 0.00433448 0 -0.0015101 -0.00168593 -0.0386891 0.999249 uwb: 0.0 848.789 967.721 +imu_odom_: 1691062595.198627462 0.445322 -0.258574 9.9096 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0015101 -0.00168593 -0.0386891 0.999249 uwb: 0.0 848.789 967.721 +imu_odom_: 1691062595.213690036 0.418985 -0.244209 9.87608 -0.056459 -0.00532632 0.0426106 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0015101 -0.00168593 -0.0386891 0.999249 uwb: 0.0 848.789 967.721 +imu_odom_: 1691062595.228738028 0.426168 -0.220267 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.36927177 0.221503 0.00433448 0 -0.00194447 -0.00180531 -0.0387064 0.999247 uwb: 0.49946197 848.705 968.117 +imu_odom_: 1691062595.243732648 0.433351 -0.217872 9.83538 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00194447 -0.00180531 -0.0387064 0.999247 uwb: 0.0 848.705 968.117 +imu_odom_: 1691062595.257635643 0.45011 -0.258574 9.87848 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.6045503 0.221503 0.00433448 0 -0.00173401 -0.00124216 -0.0386966 0.999249 uwb: 0.0 848.705 968.117 diff --git a/Code/RK3588/Robot_ROS_Driver/devel/.built_by b/Code/RK3588/Robot_ROS_Driver/devel/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/devel/.catkin b/Code/RK3588/Robot_ROS_Driver/devel/.catkin new file mode 100644 index 0000000..780709a --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/.catkin @@ -0,0 +1 @@ +/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/devel/.rosinstall b/Code/RK3588/Robot_ROS_Driver/devel/.rosinstall new file mode 100644 index 0000000..eaa4d0d --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel/setup.sh diff --git a/Code/RK3588/Robot_ROS_Driver/devel/_setup_util.py b/Code/RK3588/Robot_ROS_Driver/devel/_setup_util.py new file mode 100644 index 0000000..f613583 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Code/RK3588/Robot_ROS_Driver/devel/cmake.lock b/Code/RK3588/Robot_ROS_Driver/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/Code/RK3588/Robot_ROS_Driver/devel/env.sh b/Code/RK3588/Robot_ROS_Driver/devel/env.sh new file mode 100644 index 0000000..8aa9d24 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Code/RK3588/Robot_ROS_Driver/devel/local_setup.bash b/Code/RK3588/Robot_ROS_Driver/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Code/RK3588/Robot_ROS_Driver/devel/local_setup.sh b/Code/RK3588/Robot_ROS_Driver/devel/local_setup.sh new file mode 100644 index 0000000..c58f94e --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Code/RK3588/Robot_ROS_Driver/devel/local_setup.zsh b/Code/RK3588/Robot_ROS_Driver/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Code/RK3588/Robot_ROS_Driver/devel/setup.bash b/Code/RK3588/Robot_ROS_Driver/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Code/RK3588/Robot_ROS_Driver/devel/setup.sh b/Code/RK3588/Robot_ROS_Driver/devel/setup.sh new file mode 100644 index 0000000..8690e57 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Code/RK3588/Robot_ROS_Driver/devel/setup.zsh b/Code/RK3588/Robot_ROS_Driver/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Code/RK3588/Robot_ROS_Driver/src/.idea/.gitignore b/Code/RK3588/Robot_ROS_Driver/src/.idea/.gitignore new file mode 100644 index 0000000..13566b8 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Editor-based HTTP Client requests +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/Code/RK3588/Robot_ROS_Driver/src/.idea/deployment.xml b/Code/RK3588/Robot_ROS_Driver/src/.idea/deployment.xml new file mode 100644 index 0000000..538ef7e --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/.idea/deployment.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/.idea/misc.xml b/Code/RK3588/Robot_ROS_Driver/src/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/.idea/modules.xml b/Code/RK3588/Robot_ROS_Driver/src/.idea/modules.xml new file mode 100644 index 0000000..f669a0e --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/.idea/src.iml b/Code/RK3588/Robot_ROS_Driver/src/.idea/src.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/.idea/src.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/.idea/vcs.xml b/Code/RK3588/Robot_ROS_Driver/src/.idea/vcs.xml new file mode 100644 index 0000000..6c0b863 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/CMakeLists.txt b/Code/RK3588/Robot_ROS_Driver/src/CMakeLists.txt new file mode 100644 index 0000000..2016816 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/CMakeLists.txt b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/CMakeLists.txt new file mode 100644 index 0000000..f131752 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/CMakeLists.txt @@ -0,0 +1,56 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ros_merge_test) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation + geometry_msgs +) + +# 寻找OpenCV库 +find_package(OpenCV REQUIRED) +# 查找 Boost 库 +find_package(Boost REQUIRED) + +# catkin_package( +# # INCLUDE_DIRS include +# # LIBRARIES ros_merge_test +# # CATKIN_DEPENDS roscpp rospy std_msgs +# # DEPENDS system_lib +# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs +# ) + + +include_directories( +# include + ${OpenCV_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + include +) + +add_library(${PROJECT_NAME} SHARED + src/system.cpp + src/uwb.cpp + src/mapping.cpp + src/align.cpp + # src/read_sensor_data.cpp + include/senddata.h src/senddata.cpp) + + +add_message_files( + DIRECTORY msg + FILES + RawImu.msg + +) +generate_messages(DEPENDENCIES std_msgs geometry_msgs) + +catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs) +add_executable(${PROJECT_NAME}_node src/main.cpp) + + +target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME}) + + diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/01.png b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/01.png new file mode 100644 index 0000000..03cb282 Binary files /dev/null and b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/01.png differ diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/02.png b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/02.png new file mode 100644 index 0000000..b12fc6e Binary files /dev/null and b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/02.png differ diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/03.png b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/03.png new file mode 100644 index 0000000..d631b20 Binary files /dev/null and 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b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/output_image.png new file mode 100644 index 0000000..2a5e92e Binary files /dev/null and b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/Map/output_image.png differ diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/align.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/align.h new file mode 100644 index 0000000..860f32f --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/align.h @@ -0,0 +1,41 @@ +#include +#include +#include +#include +#include +#include +#include "ros_merge_test/RawImu.h" +#include "type.h" +#include "uwb.h" +#include + +#ifndef ALIGN_H +#define AlIGN_H +namespace uwb_slam{ + class Align + { + public: + Align(){}; + void Run(); + void wheel_odomCB(const nav_msgs::Odometry& wheel_odom); + void imuCB(const ros_merge_test::RawImu& imu); + void odomCB(const nav_msgs::Odometry& odom); + + public: + ros::NodeHandle nh_; + ros::Subscriber wheel_odom_sub_; + ros::Subscriber imu_sub_; + ros::Subscriber odom_sub_; + Imu_odom_pose_data imu_odom_; + Uwb_data uwb_data_; + ros::Time tmp ; + + ros::Time odom_tmp_ ; + bool write_data_ = false; + cv::Mat img1; + std::queue> data_queue; + std::shared_ptr uwb_; + + }; +}; +#endif diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/avoid.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/avoid.h new file mode 100644 index 0000000..e69de29 diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/mapping.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/mapping.h new file mode 100644 index 0000000..e4bccc4 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/mapping.h @@ -0,0 +1,34 @@ +#include +#include +#include +#include "uwb.h" + +#ifndef MAPPING_H +#define MAPPING_H + + +namespace uwb_slam{ + class Mapping + { + public: + const double PIXEL_SCALE = 5.0; + const int AREA_SIZE = 2000; + Mapping() {}; + void Run(); + bool check_uwb_point(); + void feed_uwb_data(const cv::Point2d & data); + void process(); + std::mutex mMutexMap; + std::shared_ptr uwb_; + + private: + std::queue mv_uwb_point_; + bool read_uwb_ = false; + cv::Mat img; + cv::Point2d cur_point = {-1,-1}; + + }; + +} + +#endif diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/read_sensor_data.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/read_sensor_data.h new file mode 100644 index 0000000..61a7df3 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/read_sensor_data.h @@ -0,0 +1,34 @@ +#include +#include "nav_msgs/Odometry.h" +#include "geometry_msgs/Twist.h" +#include "sensor_msgs/Imu.h" +#include "geometry_msgs/PoseStamped.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include +#include "type.h" +#include "uwb.h" + + +#ifndef READ_SENSOR_DATA_H +#define READ_SENSOR_DATA_H + +namespace uwb_slam{ + typedef boost::shared_ptr OdomConstPtr; + typedef boost::shared_ptr ImuConstPtr; + class Read_sensor_data + { + public: + Read_sensor_data(); + + void Run(int argc, char* argv[]); + //void set_uwb(Uwb * uwb); + void imu_call_back(const ImuConstPtr& imu); + void odom_call_back(const OdomConstPtr& odom); + + private: + ros::Subscriber imu_sub_; + ros::Subscriber odom_sub_; + + }; +} +#endif \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/senddata.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/senddata.h new file mode 100644 index 0000000..efef283 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/senddata.h @@ -0,0 +1,37 @@ +#include +#include +#include +#include +#include +#include +#include "uwb.h" +#ifndef SENDDATA_H +#define SENDDATA_H + + +namespace uwb_slam{ + + class Senddata + { + public: + Senddata(){}; + void publishOdometry( std::shared_ptruwb); + void Run(std::shared_ptruwb); + void odomCB(const nav_msgs::Odometry& odom); + + + std::mutex mMutexSend; + private: + ros::Publisher position_pub_; + ros::Subscriber odom_sub_; + ros::NodeHandle nh_; + nav_msgs::Odometry odom_;//odom的消息类型 + nav_msgs::Odometry sub_odom_;//odom的消息类型 + + + + }; + +} + +#endif \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/system.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/system.h new file mode 100644 index 0000000..9495710 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/system.h @@ -0,0 +1,31 @@ +#ifndef SYSTEM_H +#define SYSTEM_H + +#include +#include +#include "mapping.h" +#include "uwb.h" +#include "senddata.h" +#include "align.h" +#include + +namespace uwb_slam{ + class System{ + + public: + System() { + } + void Run(); + public: + + std::shared_ptrMapping_; + std::shared_ptrUwb_; + std::shared_ptrSender_; + std::shared_ptrAlign_; + + // Uwb* Uwb_ ; + // Senddata* Sender_; + // Mapping* Mapping_; + }; +} +#endif diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/type.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/type.h new file mode 100644 index 0000000..8d28092 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/type.h @@ -0,0 +1,62 @@ +#include +#include +#ifndef TYPE_H +#define TYPE_H + +namespace uwb_slam{ +struct Imu_data +{ + ros::Time imu_t_; + double a_[3]; + double w_[3]; + Imu_data(){}; + Imu_data(double ax,double ay,double az, double wx, double wy, double wz) + :a_{ax,ay,az},w_{wz,wy,wz}{}; +}; + + + +struct Imu_odom_pose_data +{ + Imu_data imu_data_; + double pose_[3]; + double quat_[4]; + double vxy_; + double angle_v_; + Imu_odom_pose_data(){}; + Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){}; +}; + +/*struct Odom_data +{ + Imu_data imu_data_; + ros::Time odom_t_; + double pose_[3]; + double quat_[4]; + double vxy_,; + double angle_v_; + + Odom_data(double x,double y,double z, + double qw, double qx, double qy,double qz, + ros::Time odom_t,double vxy, double angle_v) + :pose_{x,y,z},quat_{qw,qx,qy,qz},odom_t_(odom_t),vxy_(vxy),angle_v_(angle_v){}; +}; +*/ + +struct Uwb_data +{ + float x_,y_; + ros::Time uwb_t_; + Uwb_data(){}; + Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){}; +}; + +/*struct Imu_odom_pose_data +{ + Imu_data imu_data_; + Odom_data odom_data; + Imu_odom_pose_data(Imu_data i_data, Odom_data o_data):imu_data_(i_data),odom_data(o_data){}; +}; +*/ +} +#endif \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/uwb.h b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/uwb.h new file mode 100644 index 0000000..911b97e --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/include/uwb.h @@ -0,0 +1,54 @@ +#include +#include +#include +#include +#include +#include +#include "type.h" +#include +#include +#ifndef UWB_H +#define UWB_H + + +namespace uwb_slam{ + + class Uwb + { + public: + Uwb(); + void Run(); + bool checknewdata(); + void feed_imu_odom_pose_data(); + void Serread(); + + + + public: + int pre_seq = -1; + int cur_seq = -1; + uint8_t tmpdata[13]; + float x, y, theta, distance; + + // std::queue v_buffer_imu_odom_pose_data_; + + + Uwb_data uwb_data_; + // ros_merge_test::RawImu sub_imu_; + // std::queue imu_odom_queue_; + // std::queue uwb_data_queue_; + std::mutex mMutexUwb; + //boost::asio::io_service io; + //boost::asio::serial_port s_port; + + // Imu_odom_pose_data imu_odom_pose_data_; + }; + +}; + + + + + + +#endif diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/msg/RawImu.msg b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/msg/RawImu.msg new file mode 100644 index 0000000..3c5ad41 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/msg/RawImu.msg @@ -0,0 +1,7 @@ +Header header +bool accelerometer +bool gyroscope +bool magnetometer +geometry_msgs/Vector3 raw_linear_acceleration +geometry_msgs/Vector3 raw_angular_velocity +geometry_msgs/Vector3 raw_magnetic_field diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/package.xml b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/package.xml new file mode 100644 index 0000000..dee5884 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/package.xml @@ -0,0 +1,73 @@ + + + ros_merge_test + 0.0.0 + The ros_merge_test package + + + + + luoruidi + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + geometry_msgs + message_generation + + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + message_runtime + geometry_msgs + + + + + + + + diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/align.cpp b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/align.cpp new file mode 100644 index 0000000..a370d59 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/align.cpp @@ -0,0 +1,137 @@ +#include "align.h" + +namespace uwb_slam{ + void Align::Run() + { + tmp = ros::Time::now(); + ros::Time tmp1 = ros::Time::now(); + ros::Time tmp2 = ros::Time::now(); + wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this); + imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this); + odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this); + + std::ofstream outfile("data.txt",std::ofstream::out); + if(outfile.is_open()) + { + img1 = cv::Mat(200, 200, CV_8UC1, cv::Scalar(255,255,255)); + cv::imshow("Image1",img1); + int key2 = cv::waitKey(0); + // if(key2 =='w'){ + // bool write_data_ = true; + // } + + // int count=0; + // while(write_data_){ + while(1){ + + int key3 = cv::waitKey(1); + if(key3 == 'w'){ + break; + } + if(tmp!=imu_odom_.imu_data_.imu_t_){ + // outfile <<"imu_odom_: "<< "imu_timestamp "<<"imu_linear_acc_x_y_z "<<"imu_angular_x_y_z "<< + // "odom_vxy "<<"odom_angle_v_ "<<"\n"; + // if(tmp1!=uwb_->uwb_data_.uwb_t_&& tmp2!=odom_tmp_){ + outfile << std::left << std::setw(12)<<"imu_odom_: "<< std::setw(10)<< imu_odom_.imu_data_.imu_t_.sec << '.' <uwb_data_.uwb_t_-tmp1).sec<<'.'<uwb_data_.uwb_t_-tmp1).nsec << std::setw(9) + <uwb_data_.x_ << std::setw(9)<uwb_data_.y_<<"\n"; + tmp1 = uwb_->uwb_data_.uwb_t_; + tmp2 = odom_tmp_; + // } + // else if(tmp1!=uwb_->uwb_data_.uwb_t_){ + // outfile <<"imu_odom_: "<< imu_odom_.imu_data_.imu_t_ <<"*" + // <uwb_data_.uwb_t_<<"*"<uwb_data_.x_<<"*"<uwb_data_.y_<<"\n"; + // tmp1 = uwb_->uwb_data_.uwb_t_; + // } + // else if(tmp2!=odom_tmp_){ + // outfile <<"imu_odom_: "<< imu_odom_.imu_data_.imu_t_ <<"*" + // <uwb_data_.uwb_t_; + + // if(count>300) + // break; + } + + } + + outfile.close(); + std::cout<< "Data written to file." << std::endl; + } + else{ + std::cout<<"file can not open"< +#include +#include +#include "senddata.h" + + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node + + std::shared_ptrsystem = std::make_shared(); + std::shared_ptrmp = std::make_shared(); + std::shared_ptruwb = std::make_shared(); + std::shared_ptrsender = std::make_shared(); + std::shared_ptralign = std::make_shared(); + + // uwb_slam::System* system = new uwb_slam::System(); + // uwb_slam::Mapping* mp = new uwb_slam::Mapping(); + // uwb_slam::Uwb* uwb = new uwb_slam::Uwb(); + // uwb_slam::Senddata* sender = new uwb_slam::Senddata(); + + + system->Mapping_ = mp; + system->Mapping_->uwb_ = uwb; + system->Uwb_ = uwb; + system->Sender_ = sender; + system->Align_ = align; + + + mp->uwb_ = system->Uwb_; + align->uwb_=system->Uwb_; + + + // control data fllow in system + std::thread rose_trd ([&system]() { + system->Run(); + }); + // uwb serried read + std::thread uwb_trd([&uwb]() { + uwb->Run(); + }); + // build map + /*std::thread map_trd ([&mp]() { + mp->Run(); + });*/ + + std::thread sender_trd ([&sender, uwb]() { + sender->Run(uwb); + }); + + std::thread align_trd ([&align]() { + align->Run(); + }); + + ros::spin(); // Start the ROS node's main loop + //System->run() +} diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/mapping.cpp b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/mapping.cpp new file mode 100644 index 0000000..af74e6f --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/mapping.cpp @@ -0,0 +1,120 @@ +#include "mapping.h" +#include +#include // 包含 usleep() 函数所在的头文件 +#include +#include + +namespace uwb_slam +{ + bool Mapping::check_uwb_point() + { + //std::unique_lock lock(mMutexMap); + return !mv_uwb_point_.empty(); + } + + void Mapping::feed_uwb_data(const cv::Point2d & data) + { + //std::unique_lock lock(mMutexMap); + mv_uwb_point_.push(data); + + } + + + void Mapping::process() + { + { + //std::unique_lock lock(mMutexMap); + //std::cout << "SIZE: " <(pix_y,pix_x)= 0; + + //cv::imshow("Image",img); + } + + + void Mapping::Run() + { + + //int key = cv::waitKey(0);//等待用户按下按键 + //std::cout << key << std::endl; + int realWidth = AREA_SIZE / PIXEL_SCALE; + int realHeight = AREA_SIZE / PIXEL_SCALE; + + img = cv::Mat(realHeight, realWidth, CV_8UC1, cv::Scalar(255,255,255)); + + for (int j=0;j(j,i)= 128; + + for (int j=199+8;j<210;j+=1) + for (int i=199+8;i<210;i+=1) + img.at(j,i)= 0; + + + + cv::imshow("Image",img); + + /* + std::cout << "waiting" <feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y)); + read_uwb_ = true; + std::cout << "non" << key << std::endl; + cv::destroyAllWindows(); + } + */ + while(1){ + int key = cv::waitKey(0); + if (key == 'q' ) { + read_uwb_ = true; + std::cout << "non" << key << std::endl; + //cv::destroyAllWindows(); + } + while( read_uwb_ )//按下空格键 + { + int key2 = cv::waitKey(1); + if (key2 == 'q' ) { + //TODO: save + // std::cout << << std::endl; + std::string pngimage="/home/firefly/Project_Ros/src/ros_merge_test/Map/output_image.png";//保存的图片文件路径 + cv::imwrite(pngimage,img); + read_uwb_ = false; + break; + } + + this->feed_uwb_data(cv::Point2d(uwb_->x ,uwb_->y)); + + + //uwb xieru + //std::cout << "cur_SEQ: " <cur_seq << std::endl; + + if(check_uwb_point()) + { + //std::cout << " start process" << std::endl; + process(); + //std::cout << " end process" << std::endl; + + } + } + // std::cout << "out" << key << std::endl; + + } + + + + //std::string pngimage="../Map/pngimage.png";//保存的图片文件路径 + //cv::imwrite(pngimage,img); + + /*ros 发送图片给导航 */ + } +} // namespace uwb_slam + diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/read_sensor_data.cpp b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/read_sensor_data.cpp new file mode 100644 index 0000000..e74d0cd --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/read_sensor_data.cpp @@ -0,0 +1,30 @@ +#include + +namespace uwb_slam { + + + //void Read_sensor_data::set_uwb(){} + + + void Read_sensor_data::imu_call_back(const ImuConstPtr& imu){ + Imu_data d1= Imu_data(imu->linear_acceleration.x,imu->linear_acceleration.y,imu->linear_acceleration.z, + imu->angular_velocity.x,imu->angular_velocity.y,imu->angular_velocity.z); + + } + void Read_sensor_data::odom_call_back(const OdomConstPtr& odom){ + Odom_data d1 = Odom_data(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z, + odom->pose.pose.orientation.w,odom->pose.pose.orientation.x, odom->pose.pose.orientation.y, odom->pose.pose.orientation.z, + odom->header.stamp,odom->twist.twist.linear.x,odom->twist.twist.linear.y,odom->twist.twist.angular.z); + + } + void Read_sensor_data::Run(int argc, char* argv[]){ + + ros::init(argc, argv, "imu_odom"); + // 创建一个节点句柄 + ros::NodeHandle nh; + //imu_sub_ = nh.subscribe("imu/data_raw", 1000, this->imu_call_back); + //odom_sub_ =nh.subscribe("odom", 1000,odom_call_back); + ros::spin(); + } + +} diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/senddata.cpp b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/senddata.cpp new file mode 100644 index 0000000..a98fe71 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/senddata.cpp @@ -0,0 +1,63 @@ +#include "senddata.h" + +namespace uwb_slam +{ + void Senddata::Run(std::shared_ptruwb){ + + ros::Rate loop_rate(10); + position_pub_=nh_.advertise("uwb_odom",50); + odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this); + while(ros::ok()){ + publishOdometry(uwb); + ros::spinOnce(); + loop_rate.sleep(); + } + + + } + void Senddata::odomCB(const nav_msgs::Odometry& odom){ + sub_odom_ = odom; + return; + } + + void Senddata::publishOdometry(std::shared_ptruwb) + { + + std::mutex mMutexSend; + ros::Time current_time = ros::Time::now(); + + // 设置 Odometry 消息的头部信息 + odom_.header.stamp = current_time; + odom_.header.frame_id = "odom"; // 设置坐标系为 "map" + odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link" + + // 填充 Odometry 消息的位置信息 + odom_.pose.pose.position.x = uwb->x; + odom_.pose.pose.position.y = uwb->y; + odom_.pose.pose.position.z = 0.0; + + + // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态） + // tf2::Quaternion quat; + // quat.setRPY(0, 0, uwb->theta); // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0 + // odom.pose.pose.orientation.x = quat.x(); + // odom.pose.pose.orientation.y = quat.y(); + // odom.pose.pose.orientation.z = quat.z(); + // odom.pose.pose.orientation.w = quat.w(); + + odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x; + odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y; + odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z; + odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w; + + // 发布 Odometry 消息 + position_pub_.publish(odom_); + + + } + + + + + +} // namespace uwb_slam \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/system.cpp b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/system.cpp new file mode 100644 index 0000000..1787a24 --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/system.cpp @@ -0,0 +1,13 @@ +#include "../include/system.h" + +namespace uwb_slam{ + + void System::Run() + { + while(1){ + + } + + } + +} \ No newline at end of file diff --git a/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/uwb.cpp b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/uwb.cpp new file mode 100644 index 0000000..81ce00e --- /dev/null +++ b/Code/RK3588/Robot_ROS_Driver/src/ros_merge_test/src/uwb.cpp @@ -0,0 +1,116 @@ +#include "uwb.h" +#include + +#define PI acos(-1) + +namespace uwb_slam{ + + // + Uwb::Uwb(){ + //int pre_seq = -1; + } + + void Uwb::Run() { + + while(1){ + this->Serread(); + // std::cout<<"s"<x<(tmpdata[i]) ; + // } + memcpy(&this->distance, &tmpdata[3], sizeof(distance)); + memcpy(&this->theta, &tmpdata[7], sizeof(theta)); + /*this->x = cosf(theta/180*PI)*distance+1000; + this->y = sinf(theta/180*PI)*distance+1000; + this->theta = theta;*/ + this->uwb_data_.x_ = cosf(theta/180*PI)*distance+1000; + this->uwb_data_.y_ = sinf(theta/180*PI)*distance+1000; + this->uwb_data_.uwb_t_ = ros::Time::now(); + + // uwb_data_queue_.push(uwb_data_); + + //std::cout << "uwb_data_: " << uwb_data_.uwb_t_<< std::endl; + // cur_seq = static_cast(tmpdata[3]); + //std::cout << "****** cur _ sequence: " << cur_seq << "x: " << x << " y: " << y <(tmpdata[3]); + + std::cout << "theta: " << theta << " distance: " << distance << std::endl; + //std::cout std::endl; + } catch (const std::exception& ex) { + std::cerr << "Exception: " << ex.what() << std::endl; + } + } + + + void fusion() + { + + } + + + + +}; + +// bool Uwb::checknewdata() +// { +// std::unique_lock lock(mMutexUwb); +// return !v_buffer_imu_odom_pose_data_.empty(); +// } + +// void Uwb::Run() { +// while(1) +// { +// if(checknewdata()) +// { +// { +// std::unique_lock lock(mMutexUwb); +// Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front(); +// v_buffer_imu_odom_pose_data_.pop(); +// } + + + +// } +// } + + + +// } + +// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){ +// std::unique_lock lock(mMutexUwb); +// v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data); +// } +