├── LICENSE
├── README-ZH.md
├── README.md
├── bunker_base
    ├── CMakeLists.txt
    ├── include
    │   └── bunker_base
    │   │   ├── bunker_messenger.hpp
    │   │   └── bunker_params.hpp
    ├── launch
    │   └── bunker_base.launch
    ├── package.xml
    ├── rviz
    │   └── model_display.rviz
    └── src
    │   ├── bunker_base_node.cpp
    │   └── bunker_messenger.cpp
├── bunker_bringup
    ├── CMakeLists.txt
    ├── launch
    │   ├── bunker_robot_base.launch
    │   └── bunker_teleop_keyboard.launch
    ├── package.xml
    └── scripts
    │   ├── bringup_can2usb.bash
    │   └── setup_can2usb.bash
└── bunker_msgs
    ├── CHANGELOG.md
    ├── CMakeLists.txt
    ├── msg
        ├── BunkerMotorState.msg
        ├── BunkerRsStatus.msg
        └── BunkerStatus.msg
    └── package.xml


/LICENSE:
--------------------------------------------------------------------------------
 1 | BSD 3-Clause License
 2 | 
 3 | Copyright (c) 2020, WestonRobot
 4 | All rights reserved.
 5 | 
 6 | Redistribution and use in source and binary forms, with or without
 7 | modification, are permitted provided that the following conditions are met:
 8 | 
 9 | 1. Redistributions of source code must retain the above copyright notice, this
10 |    list of conditions and the following disclaimer.
11 | 
12 | 2. Redistributions in binary form must reproduce the above copyright notice,
13 |    this list of conditions and the following disclaimer in the documentation
14 |    and/or other materials provided with the distribution.
15 | 
16 | 3. Neither the name of the copyright holder nor the names of its
17 |    contributors may be used to endorse or promote products derived from
18 |    this software without specific prior written permission.
19 | 
20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30 | 


--------------------------------------------------------------------------------
/README-ZH.md:
--------------------------------------------------------------------------------
  1 | # 松灵机器人产品BUNKER 的ROS package
  2 | 
  3 | ## ROS Packages 说明
  4 | 
  5 | * bunker_bringup: launch and configuration files to start ROS nodes
  6 | * bunker_base: a ROS wrapper around Bunker SDK to monitor and control the robot
  7 | * bunker_msgs: bunker related message definitions
  8 | * (bunker_ros: meta package for the Bunker robot ROS packages)
  9 | 
 10 | 
 11 | 下图是是整个ros package的一个基本框架说明，或许它可以帮助你理解你理解整个ros package内部是如何工作的，他们之间的是相互联系的。
 12 | 其中最底层的是移动机器人底盘，它通过can或者usart实现运行在计算平台的sdk进行基本信息的获取，具体可以根据wrp_sdk了解更多信息。 仿真部分是基于Webots，构建起的仿真环境。
 13 | 
 14 | <img src="./docs/diagram.png" height="135" >
 15 | 
 16 | 其中上图中紫色部分是包含在这个ros-package中的部分。
 17 | 
 18 | ## 通讯接口设置
 19 | 
 20 | ### 设置串口
 21 | 
 22 | 通常来说，usb转串口设备在Linux或者Ubuntu系统中会被自动识别为“/dev/ttyUSB0” 或者看起来类似的设备，这个可以通过指令查询
 23 | ```
 24 | $ ls -l /dev/ttyUSB*
 25 | ```
 26 | 如果在打开设备的操作过程中出现了"... permission denied ..."的错误，有可能因为权限的原因造成的，您需要向您的用户帐户授予端口访问权限，可以通过如下指令：
 27 | 
 28 | ```
 29 | $ sudo usermod -a -G dialout $USER
 30 | ```
 31 | 
 32 | 需要重新登录账户才能使刚刚的操作生效。
 33 | ### 配置 CAN-TO-USB适配器
 34 | 
 35 | 1.  设置CAN转USB适配器，启用gs_usb内核模块（本指令需要搭配相应的硬件设备才可以使用，需要Linux内部版本>4.5）
 36 |    
 37 |     ```
 38 |     $ sudo modprobe gs_usb
 39 |     ```
 40 | 
 41 | 2. 设置can设备参数
 42 |    
 43 |    ```
 44 |    $ sudo ip link set can0 up type can bitrate 500000
 45 |    ```
 46 | 
 47 | 3. 如果在前面的步骤中没有发生错误，您可以使用以下指令查看can设备
 48 |    
 49 |    ```
 50 |    $ ifconfig -a
 51 |    ```
 52 | 
 53 | 4. 安装和使用can-utils来测试硬件
 54 |    
 55 |     ```
 56 |     $ sudo apt install can-utils
 57 |     ```
 58 | 
 59 | 5. 测试指令
 60 |    
 61 |     ```
 62 |     # receiving data from can0
 63 |     $ candump can0
 64 |     # send data to can0
 65 |     $ cansend can0 001#1122334455667788
 66 |     ```
 67 | 
 68 | 文件中提供了 "./scripts"文件夹里的两个脚本以便于设置。您可以在首次安装时运行“ ./setup_can2usb.bash”，并在每次拔出和重新插入适配器时运行“ ./bringup_can2usb.bash”以启动设备。
 69 | 
 70 | ##  ROS package 的基础使用
 71 | 
 72 | 1. 安装 ROS packages 依赖
 73 | 
 74 |     ```
 75 |     $ sudo apt install ros-melodic-teleop-twist-keyboard
 76 |     ```
 77 | 
 78 |     如果你使用是 Kinetic版本，把上述指令中的“melodic” 改成 “kinetic” 即可
 79 | 
 80 | 2. 将bunker ros package 下载至的您的catkin 工作空间，并编译
 81 | 
 82 |     (下面的操作是假定你的catkin编译工作空间在: ~/catkin_ws/src 目录下）
 83 | 
 84 |     ```
 85 |     $ cd ~/catkin_ws/src
 86 |     $ git clone --recursive https://github.com/agilexrobotics/ugv_sdk.git
 87 |     $ git clone https://github.com/agilexrobotics/bunker_ros.git
 88 |     $ cd ..
 89 |     $ catkin_make
 90 |     ```
 91 | 
 92 | 3. 启动 ROS nodes
 93 |  
 94 | * 开始 the base node 
 95 | 
 96 |     ```
 97 |     $ roslaunch bunker_bringup bunker_minimal.launch
 98 |     ```
 99 | 
100 | * Start the keyboard tele-op node
101 | 
102 |     ```
103 |     $ roslaunch bunker_bringup bunker_teleop_keyboard.launch
104 |     ```
105 | 
106 |     **SAFETY PRECAUSION**: 
107 | 
108 |     The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary. 
109 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
  1 | # ROS Packages for Bunker Mobile Robot
  2 | 
  3 | ## Packages
  4 | 
  5 | This repository contains minimal packages to control the bunker robot using ROS.
  6 | 
  7 | * bunker_bringup: launch and configuration files to start ROS nodes
  8 | * bunker_base: a ROS wrapper around [ugv_sdk](https://github.com/agilexrobotics/ugv_sdk) to monitor and control the bunker robot
  9 | * bunker_msgs: bunker related message definitions
 10 | 
 11 | ## Supported Hardware
 12 | 
 13 | * bunker
 14 | * bunker_mini
 15 | * bunker pro
 16 | 
 17 | ### Update the packages for your customized robot
 18 | 
 19 | **Additional sensors**
 20 | 
 21 | It's likely that you may want to add additional sensors to the bunker mobile platform, such as a Lidar for navigation. In such cases, a new ".xacro" file needs to be created to describe the relative pose of the new sensor with respect to the robot base, so that the sensor frame can be reflected in the robot tf tree.
 22 | 
 23 | A [sample](bunker_description/sample/bunker_v2_nav.xacro) ".xacro" file is present in this repository, in which the base ".xacro" file of an empty bunker platform is first included, and then additional links are defined.
 24 | 
 25 | The nodes in this ROS package are made to handle only the control of the bunker base and publishing of the status. Additional nodes may need to be created by the user to handle the sensors.
 26 | 
 27 | **Alternative odometry calculation**
 28 | 
 29 | By default the bunker_base package will publish odometry message to topic "/odom". In case you want to use a different approach to calculate the odometry, for example estimating the position together with an IMU, you could rename the default odometry topic to be something else.
 30 | 
 31 | ```
 32 | $ bunker_bringup bunker_minimal.launch odom_topic_name:="<custom_name>"
 33 | ```
 34 | 
 35 | ## Communication interface setup
 36 | 
 37 | Please refer to the [README](https://github.com/agilexrobotics/ugv_sdk_sdk#hardware-interface) of "ugv_sdk" package for setup of communication interfaces.
 38 | 
 39 | #### Note on CAN interface on Nvidia Jetson Platforms
 40 | 
 41 | Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication. 
 42 | 
 43 | ## Basic usage of the ROS packages
 44 | 
 45 | 1. Install dependent libraries
 46 | 
 47 |     ```
 48 |     $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
 49 |     ```
 50 | 
 51 | 2. Clone the packages into your catkin workspace and compile
 52 | 
 53 |     (the following instructions assume your catkin workspace is at: ~/catkin_ws/src)
 54 | 
 55 |     ```
 56 |     $ cd ~/catkin_ws/src
 57 |     $ git clone  https://github.com/agilexrobotics/ugv_sdk.git
 58 |     $ git clone https://github.com/agilexrobotics/bunker_ros.git
 59 |     $ cd ..
 60 |     $ catkin_make
 61 |     ```
 62 | 
 63 | 3. Setup CAN-To-USB adapter
 64 | 
 65 | * Enable gs_usb kernel module(If you have already added this module, you do not need to add it)
 66 |     ```
 67 |     $ sudo modprobe gs_usb
 68 |     ```
 69 |     
 70 | * first time use bunker-ros package
 71 |    ```
 72 |    $ rosrun bunker_bringup setup_can2usb.bash
 73 |    ```
 74 |    
 75 | * if not the first time use bunker-ros package(Run this command every time you turn off the power) 
 76 |    ```
 77 |    $ rosrun bunker_bringup bringup_can2usb.bash
 78 |    ```
 79 |    
 80 | * Testing command
 81 |     ```
 82 |     # receiving data from can0
 83 |     $ candump can0
 84 |     ```
 85 | 
 86 | 4. Launch ROS nodes
 87 | 
 88 | * Start the base node for the real robot
 89 | 
 90 |     ```
 91 |     $ roslaunch bunker_bringup bunker_robot_base.launch
 92 |     ```
 93 | 
 94 |     The [bunker_bringup/bunker_robot_base.launch](bunker_bringup/launch/bunker_robot_base.launch) has 4 parameters:
 95 | 
 96 |     - port_name: specifies the port used to communicate with the robot, default = "can0"
 97 | 
 98 |     - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
 99 | 
100 | 
101 | 
102 | * Start the keyboard tele-op node
103 | 
104 |     ```
105 |     $ roslaunch bunker_bringup bunker_teleop_keyboard.launch
106 |     ```
107 | 
108 |     **SAFETY PRECAUSION**: 
109 | 
110 |     The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary. 
111 | 


--------------------------------------------------------------------------------
/bunker_base/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(bunker_base)
 3 | 
 4 | ## Compile as C++11, supported in ROS Kinetic and newer
 5 | add_compile_options(-std=c++11)
 6 | 
 7 | find_package(catkin REQUIRED COMPONENTS    
 8 |     roslaunch 
 9 |     roscpp 
10 |     sensor_msgs
11 |     std_msgs
12 |     geometry_msgs
13 |     tf2 
14 |     tf2_ros
15 |     ugv_sdk
16 |     bunker_msgs
17 | )
18 |     
19 | # find_package(Boost REQUIRED COMPONENTS chrono)
20 | 
21 | ###################################
22 | ## catkin specific configuration ##
23 | ###################################
24 | 
25 | catkin_package(
26 |   INCLUDE_DIRS include
27 |   LIBRARIES bunker_messenger
28 |   CATKIN_DEPENDS ugv_sdk bunker_msgs
29 | #   DEPENDS Boost
30 | )
31 | 
32 | ###########
33 | ## Build ##
34 | ###########
35 | 
36 | ## Specify additional locations of header files
37 | ## Your package locations should be listed before other locations
38 | include_directories(
39 |     include
40 |     ${catkin_INCLUDE_DIRS}
41 | )
42 | 
43 | add_library(bunker_messenger STATIC src/bunker_messenger.cpp)
44 | target_link_libraries(bunker_messenger ${catkin_LIBRARIES})
45 | add_dependencies(bunker_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
46 | 
47 | add_executable(bunker_base_node src/bunker_base_node.cpp)
48 | target_link_libraries(bunker_base_node bunker_messenger ${catkin_LIBRARIES})
49 | 
50 | #############
51 | ## Install ##
52 | #############
53 | 
54 | install(TARGETS bunker_messenger bunker_base_node
55 |   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
56 |   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
57 |   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
58 | 
59 | install(DIRECTORY include/${PROJECT_NAME}/
60 |   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
61 | 
62 | install(DIRECTORY launch
63 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
64 | 


--------------------------------------------------------------------------------
/bunker_base/include/bunker_base/bunker_messenger.hpp:
--------------------------------------------------------------------------------
 1 | /*
 2 |  * bunker_messenger.hpp
 3 |  * 
 4 |  * Created on: Jun 14, 2019 10:24
 5 |  * Description: 
 6 |  * 
 7 |  * Copyright (c) 2019 Ruixiang Du (rdu)
 8 |  */
 9 | 
10 | #ifndef BUNKER_MESSENGER_HPP
11 | #define BUNKER_MESSENGER_HPP
12 | 
13 | #include <string>
14 | 
15 | #include <ros/ros.h>
16 | #include <nav_msgs/Odometry.h>
17 | // #include <tf/transform_broadcaster.h>
18 | #include <tf2_ros/transform_broadcaster.h>
19 | 
20 | #include "ugv_sdk/mobile_robot/bunker_robot.hpp"
21 | #include <mutex>
22 | 
23 | namespace westonrobot
24 | {
25 | class BunkerROSMessenger
26 | {
27 | public:
28 |     explicit BunkerROSMessenger(ros::NodeHandle *nh);
29 |     BunkerROSMessenger(BunkerRobot *bunker, ros::NodeHandle *nh);
30 | 
31 |     std::string odom_frame_;
32 |     std::string base_frame_;
33 |     std::string odom_topic_name_;
34 |     bool pub_tf_;
35 | 
36 |     bool simulated_robot_ = false;
37 |     int sim_control_rate_ = 50;
38 | 
39 |     void SetupSubscription();
40 | 
41 |     void PublishStateToROS();
42 |     void PublishSimStateToROS(double linear, double angular);
43 | 
44 |     void GetCurrentMotionCmdForSim(double &linear, double &angular);
45 | 
46 | private:
47 |     BunkerRobot *bunker_;
48 |     ros::NodeHandle *nh_;
49 |     
50 |     std::mutex twist_mutex_;
51 |     geometry_msgs::Twist current_twist_;
52 | 
53 |     ros::Publisher odom_publisher_;
54 |     ros::Publisher status_publisher_;
55 |     ros::Publisher rs_status_publisher_;
56 |     ros::Subscriber motion_cmd_subscriber_;
57 |     tf2_ros::TransformBroadcaster tf_broadcaster_;
58 | 
59 |     // speed variables
60 |     double linear_speed_ = 0.0;
61 |     double angular_speed_ = 0.0;
62 |     double position_x_ = 0.0;
63 |     double position_y_ = 0.0;
64 |     double theta_ = 0.0;
65 | 
66 |     ros::Time last_time_;
67 |     ros::Time current_time_;
68 | 
69 |     void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg);
70 |     void PublishOdometryToROS(double linear, double angular, double dt);
71 | };
72 | } // namespace westonrobot
73 | 
74 | #endif /* BUNKER_MESSENGER_HPP */
75 | 


--------------------------------------------------------------------------------
/bunker_base/include/bunker_base/bunker_params.hpp:
--------------------------------------------------------------------------------
 1 | /* 
 2 |  * scout_params.hpp
 3 |  * 
 4 |  * Created on: Sep 27, 2019 15:08
 5 |  * Description: 
 6 |  * 
 7 |  * Copyright (c) 2020 Ruixiang Du (rdu)
 8 |  */
 9 | 
10 | #ifndef BUNKER_PARAMS_HPP
11 | #define BUNKER_PARAMS_HPP
12 | 
13 | namespace westonrobot
14 | {
15 |     struct BunkerParams
16 |     {
17 |         /* Scout Parameters */
18 |         static constexpr double max_steer_angle = 30.0; // in degree
19 | 
20 |         static constexpr double track = 0.58306;      // in meter (left & right wheel distance)
21 |         static constexpr double wheelbase = 0.498;    // in meter (front & rear wheel distance)
22 |         static constexpr double wheel_radius = 0.165; // in meter
23 | 
24 |         // from user manual v1.2.8 P18
25 |         // max linear velocity: 1.5 m/s
26 |         // max angular velocity: 0.7853 rad/s
27 |         static constexpr double max_linear_speed = 1.5;     // in m/s
28 |         static constexpr double max_angular_speed = 0.7853; // in rad/s
29 |         static constexpr double max_speed_cmd = 10.0;       // in rad/s
30 |     };
31 | } // namespace westonrobot
32 | 
33 | #endif /* BUNKER_PARAMS_HPP */
34 | 


--------------------------------------------------------------------------------
/bunker_base/launch/bunker_base.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |     <!-- 
 3 |         The robot can be controlled either through CAN bus or UART port. Make sure the hardware
 4 |         interface is set up correctly before attempting to connect to the robot.
 5 |         
 6 |         You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should 
 7 |         operate with the following configuration:
 8 |         
 9 |         * CAN bus: 500k
10 |         * UART: 115200, Parity None, 8-bit Data, 1 Stop Bit 
11 |     -->
12 |     <arg name="port_name" default="can0" />
13 |     <arg name="is_bunker_mini" default="false" />
14 |     <arg name="simulated_robot" default="false" />
15 |     <arg name="odom_topic_name" default="odom" />
16 |     <arg name="pub_tf" default="$(arg pub_tf)" />
17 | 
18 |     <node name="bunker_base_node" pkg="bunker_base" type="bunker_base_node" output="screen">
19 |         <remap from="/cmd_vel" to="/smoother_cmd_vel"/>
20 |         <param name="is_bunker_mini" type="bool" value="$(arg is_bunker_mini)" />
21 |         <param name="port_name" type="string" value="$(arg port_name)" />
22 |         <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
23 |         <param name="odom_frame" type="string" value="odom" />
24 |         <param name="base_frame" type="string" value="base_link" />
25 |         <param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />
26 |         <param name="pub_tf" type="bool" value="$(arg pub_tf)" />
27 |     </node>
28 | 
29 | </launch>
30 | 


--------------------------------------------------------------------------------
/bunker_base/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>bunker_base</name>
 4 |   <version>0.3.3</version>
 5 |   <description>AgileX Bunker robot driver</description>
 6 | 
 7 |   <author email="ruixiang.du@westonrobot.com">Ruixiang Du</author>
 8 |   <maintainer email="info@westonrobot.com">WestonRobot</maintainer>
 9 | 
10 |   <license>BSD</license>
11 | 
12 |   <url type="website">TODO</url>
13 |   <url type="bugtracker">TODO</url>
14 |   <url type="repository">TODO</url>
15 | 
16 |   <buildtool_depend>catkin</buildtool_depend>
17 |   <build_depend>bunker_msgs</build_depend>
18 |   <build_depend>roscpp</build_depend>
19 |   <build_depend>roslaunch</build_depend>
20 |   <build_depend>sensor_msgs</build_depend>
21 |   <build_depend>ugv_sdk</build_depend>
22 |   <run_depend>controller_manager</run_depend>
23 |   <run_depend>geometry_msgs</run_depend>
24 |   <run_depend>bunker_msgs</run_depend>
25 |   <run_depend>roscpp</run_depend>
26 |   <run_depend>sensor_msgs</run_depend>
27 |   <run_depend>topic_tools</run_depend>
28 |   <run_depend>ugv_sdk</run_depend>
29 |   <export></export>
30 | </package>
31 | 


--------------------------------------------------------------------------------
/bunker_base/rviz/model_display.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |         - /RobotModel1
 10 |       Splitter Ratio: 0.5
 11 |     Tree Height: 732
 12 |   - Class: rviz/Selection
 13 |     Name: Selection
 14 |   - Class: rviz/Tool Properties
 15 |     Expanded:
 16 |       - /2D Pose Estimate1
 17 |       - /2D Nav Goal1
 18 |       - /Publish Point1
 19 |     Name: Tool Properties
 20 |     Splitter Ratio: 0.5886790156364441
 21 |   - Class: rviz/Views
 22 |     Expanded:
 23 |       - /Current View1
 24 |     Name: Views
 25 |     Splitter Ratio: 0.5
 26 |   - Class: rviz/Time
 27 |     Experimental: false
 28 |     Name: Time
 29 |     SyncMode: 0
 30 |     SyncSource: ""
 31 | Preferences:
 32 |   PromptSaveOnExit: true
 33 | Toolbars:
 34 |   toolButtonStyle: 2
 35 | Visualization Manager:
 36 |   Class: ""
 37 |   Displays:
 38 |     - Alpha: 0.5
 39 |       Cell Size: 1
 40 |       Class: rviz/Grid
 41 |       Color: 160; 160; 164
 42 |       Enabled: true
 43 |       Line Style:
 44 |         Line Width: 0.029999999329447746
 45 |         Value: Lines
 46 |       Name: Grid
 47 |       Normal Cell Count: 0
 48 |       Offset:
 49 |         X: 0
 50 |         Y: 0
 51 |         Z: 0
 52 |       Plane: XY
 53 |       Plane Cell Count: 10
 54 |       Reference Frame: <Fixed Frame>
 55 |       Value: true
 56 |     - Alpha: 1
 57 |       Class: rviz/RobotModel
 58 |       Collision Enabled: false
 59 |       Enabled: true
 60 |       Links:
 61 |         All Links Enabled: true
 62 |         Expand Joint Details: false
 63 |         Expand Link Details: false
 64 |         Expand Tree: false
 65 |         Link Tree Style: Links in Alphabetic Order
 66 |         base_link:
 67 |           Alpha: 1
 68 |           Show Axes: false
 69 |           Show Trail: false
 70 |         chassis_link:
 71 |           Alpha: 1
 72 |           Show Axes: false
 73 |           Show Trail: false
 74 |           Value: true
 75 |         front_left_wheel_link:
 76 |           Alpha: 1
 77 |           Show Axes: false
 78 |           Show Trail: false
 79 |           Value: true
 80 |         front_right_wheel_link:
 81 |           Alpha: 1
 82 |           Show Axes: false
 83 |           Show Trail: false
 84 |           Value: true
 85 |         inertial_link:
 86 |           Alpha: 1
 87 |           Show Axes: false
 88 |           Show Trail: false
 89 |         rear_left_wheel_link:
 90 |           Alpha: 1
 91 |           Show Axes: false
 92 |           Show Trail: false
 93 |           Value: true
 94 |         rear_right_wheel_link:
 95 |           Alpha: 1
 96 |           Show Axes: false
 97 |           Show Trail: false
 98 |           Value: true
 99 |       Name: RobotModel
100 |       Robot Description: robot_description
101 |       TF Prefix: ""
102 |       Update Interval: 0
103 |       Value: true
104 |       Visual Enabled: true
105 |     - Class: rviz/TF
106 |       Enabled: true
107 |       Frame Timeout: 15
108 |       Frames:
109 |         All Enabled: true
110 |         base_link:
111 |           Value: true
112 |         chassis_link:
113 |           Value: true
114 |         front_left_wheel_link:
115 |           Value: true
116 |         front_right_wheel_link:
117 |           Value: true
118 |         inertial_link:
119 |           Value: true
120 |         rear_left_wheel_link:
121 |           Value: true
122 |         rear_right_wheel_link:
123 |           Value: true
124 |       Marker Scale: 1
125 |       Name: TF
126 |       Show Arrows: true
127 |       Show Axes: true
128 |       Show Names: true
129 |       Tree:
130 |         base_link:
131 |           chassis_link:
132 |             front_left_wheel_link:
133 |               {}
134 |             front_right_wheel_link:
135 |               {}
136 |             rear_left_wheel_link:
137 |               {}
138 |             rear_right_wheel_link:
139 |               {}
140 |           inertial_link:
141 |             {}
142 |       Update Interval: 0
143 |       Value: true
144 |   Enabled: true
145 |   Global Options:
146 |     Background Color: 48; 48; 48
147 |     Default Light: true
148 |     Fixed Frame: base_link
149 |     Frame Rate: 30
150 |   Name: root
151 |   Tools:
152 |     - Class: rviz/Interact
153 |       Hide Inactive Objects: true
154 |     - Class: rviz/MoveCamera
155 |     - Class: rviz/Select
156 |     - Class: rviz/FocusCamera
157 |     - Class: rviz/Measure
158 |     - Class: rviz/SetInitialPose
159 |       Theta std deviation: 0.2617993950843811
160 |       Topic: /initialpose
161 |       X std deviation: 0.5
162 |       Y std deviation: 0.5
163 |     - Class: rviz/SetGoal
164 |       Topic: /move_base_simple/goal
165 |     - Class: rviz/PublishPoint
166 |       Single click: true
167 |       Topic: /clicked_point
168 |   Value: true
169 |   Views:
170 |     Current:
171 |       Class: rviz/Orbit
172 |       Distance: 2.9432930946350098
173 |       Enable Stereo Rendering:
174 |         Stereo Eye Separation: 0.05999999865889549
175 |         Stereo Focal Distance: 1
176 |         Swap Stereo Eyes: false
177 |         Value: false
178 |       Focal Point:
179 |         X: 0.027046792209148407
180 |         Y: -0.03490818291902542
181 |         Z: -0.09952529519796371
182 |       Focal Shape Fixed Size: true
183 |       Focal Shape Size: 0.05000000074505806
184 |       Invert Z Axis: false
185 |       Name: Current View
186 |       Near Clip Distance: 0.009999999776482582
187 |       Pitch: 0.5447957515716553
188 |       Target Frame: <Fixed Frame>
189 |       Value: Orbit (rviz)
190 |       Yaw: 4.27542781829834
191 |     Saved: ~
192 | Window Geometry:
193 |   Displays:
194 |     collapsed: false
195 |   Height: 1029
196 |   Hide Left Dock: false
197 |   Hide Right Dock: true
198 |   QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
199 |   Selection:
200 |     collapsed: false
201 |   Time:
202 |     collapsed: false
203 |   Tool Properties:
204 |     collapsed: false
205 |   Views:
206 |     collapsed: true
207 |   Width: 1869
208 |   X: 632
209 |   Y: 291
210 | 


--------------------------------------------------------------------------------
/bunker_base/src/bunker_base_node.cpp:
--------------------------------------------------------------------------------
  1 | #include <memory>
  2 | 
  3 | #include <ros/ros.h>
  4 | #include <nav_msgs/Odometry.h>
  5 | #include <sensor_msgs/JointState.h>
  6 | #include <tf/transform_broadcaster.h>
  7 | 
  8 | #include "ugv_sdk/utilities/protocol_detector.hpp"
  9 | #include "ugv_sdk/mobile_robot/bunker_robot.hpp"
 10 | //#include "ugv_sdk/bunker/bunker_base.hpp"
 11 | #include "bunker_base/bunker_messenger.hpp"
 12 | 
 13 | using namespace westonrobot;
 14 | 
 15 | std::shared_ptr<BunkerRobot> robot;
 16 | 
 17 | void DetachRobot(int signal) {
 18 |   // robot->Disconnect();
 19 |   // robot->Terminate();
 20 |   // robot->DisableLightControl();
 21 | }
 22 | 
 23 | int main(int argc, char **argv) {
 24 |   // setup ROS node
 25 |   ros::init(argc, argv, "bunker_odom");
 26 |   ros::NodeHandle node(""), private_node("~");
 27 | 
 28 |   std::signal(SIGINT, DetachRobot);
 29 | 
 30 |   // check wether controlling bunker mini
 31 |   bool is_bunker_mini = false;
 32 |   private_node.param<bool>("is_bunker_mini", is_bunker_mini, false);
 33 |   std::cout << "Working as bunker mini: " << is_bunker_mini << std::endl;
 34 |   
 35 |   // instantiate a robot object
 36 |   std::unique_ptr<BunkerRobot> bunker;
 37 |   //robot = std::make_shared<BunkerBase>(is_bunker_mini);
 38 |   ProtocolDetector detector;
 39 |   try
 40 |   {
 41 |       detector.Connect("can0");
 42 |       auto proto = detector.DetectProtocolVersion(5);
 43 |       if (proto == ProtocolVersion::AGX_V1) {
 44 |         std::cout << "Detected protocol: AGX_V1" << std::endl;
 45 |         bunker = std::unique_ptr<BunkerRobot>(
 46 |         new BunkerRobot(ProtocolVersion::AGX_V1));
 47 |       }
 48 |       else if (proto == ProtocolVersion::AGX_V2)
 49 |       {
 50 |         std::cout << "Detected protocol: AGX_V2" << std::endl;
 51 |         bunker = std::unique_ptr<BunkerRobot>(
 52 |         new BunkerRobot(ProtocolVersion::AGX_V2));
 53 |       }
 54 |        else
 55 |        {
 56 |         std::cout << "Detected protocol: UNKONWN" << std::endl;
 57 |         return -1;
 58 |       }
 59 |       if (bunker == nullptr)
 60 |         std::cout << "Failed to create robot object" << std::endl;
 61 |   }
 62 |   catch (std::exception error)
 63 |   {
 64 |       ROS_ERROR("please bringup up can or make sure can port exist");
 65 |       ros::shutdown();
 66 |   }
 67 | 
 68 |     
 69 |   BunkerROSMessenger messenger(bunker.get(), &node);
 70 | 
 71 |   // fetch parameters before connecting to robot
 72 |   std::string port_name;
 73 |   private_node.param<std::string>("port_name", port_name, std::string("can0"));
 74 |   private_node.param<std::string>("odom_frame", messenger.odom_frame_,
 75 |                                   std::string("odom"));
 76 |   private_node.param<std::string>("base_frame", messenger.base_frame_,
 77 |                                   std::string("base_link"));
 78 |   private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
 79 |                            false);
 80 |   private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
 81 |   private_node.param<std::string>("odom_topic_name", messenger.odom_topic_name_,
 82 |                                   std::string("odom"));
 83 |   private_node.param<bool>("pub_tf", messenger.pub_tf_,
 84 |                                   true);
 85 | 
 86 |   if (!messenger.simulated_robot_) {
 87 |     // connect to robot and setup ROS subscription
 88 |     if (port_name.find("can") != std::string::npos) {
 89 |       bunker->Connect(port_name);
 90 |       bunker->EnableCommandedMode();
 91 |       ROS_INFO("Using CAN bus to talk with the robot");
 92 |     } else {
 93 |       ROS_INFO("Using UART to talk with the robot");
 94 |     }
 95 |   }
 96 |   messenger.SetupSubscription();
 97 | 
 98 |   // publish robot state at 50Hz while listening to twist commands
 99 |   ros::Rate rate(50);
100 |   while (true) {
101 |     if (!messenger.simulated_robot_) {
102 |       messenger.PublishStateToROS();
103 |     } else {
104 |       double linear, angular;
105 |       messenger.GetCurrentMotionCmdForSim(linear, angular);
106 |       messenger.PublishSimStateToROS(linear, angular);
107 |     }
108 |     ros::spinOnce();
109 |     rate.sleep();
110 |   }
111 | 
112 |   return 0;
113 | }
114 | 


--------------------------------------------------------------------------------
/bunker_base/src/bunker_messenger.cpp:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * bunker_messenger.cpp
  3 |  *
  4 |  * Created on: Apr 26, 2019 22:14
  5 |  * Description:
  6 |  *
  7 |  * Copyright (c) 2019 Ruixiang Du (rdu)
  8 |  */
  9 | 
 10 | #include "bunker_base/bunker_messenger.hpp"
 11 | 
 12 | #include <tf/transform_broadcaster.h>
 13 | 
 14 | #include "bunker_msgs/BunkerStatus.h"
 15 | //#include "bunker_msgs/BunkerLightCmd.h"
 16 | #include "bunker_msgs/BunkerRsStatus.h"
 17 | 
 18 | namespace westonrobot
 19 | {
 20 |   BunkerROSMessenger::BunkerROSMessenger(ros::NodeHandle *nh)
 21 |       : bunker_(nullptr), nh_(nh) {}
 22 | 
 23 |   BunkerROSMessenger::BunkerROSMessenger(BunkerRobot *bunker, ros::NodeHandle *nh)
 24 |       : bunker_(bunker), nh_(nh) {}
 25 | 
 26 |   void BunkerROSMessenger::SetupSubscription()
 27 |   {
 28 |     // odometry publisher
 29 |     odom_publisher_ = nh_->advertise<nav_msgs::Odometry>(odom_topic_name_, 50);
 30 |     status_publisher_ = nh_->advertise<bunker_msgs::BunkerStatus>("/bunker_status", 10);
 31 |     rs_status_publisher_ = nh_->advertise<bunker_msgs::BunkerRsStatus>("/rs_status",10);
 32 | 
 33 |     // cmd subscriber
 34 |     motion_cmd_subscriber_ = nh_->subscribe<geometry_msgs::Twist>(
 35 |         "/cmd_vel", 5, &BunkerROSMessenger::TwistCmdCallback, this);
 36 | 
 37 |   }
 38 | 
 39 |   void BunkerROSMessenger::TwistCmdCallback(
 40 |       const geometry_msgs::Twist::ConstPtr &msg)
 41 |   {
 42 |     if (!simulated_robot_)
 43 |     {
 44 |       bunker_->SetMotionCommand(msg->linear.x, msg->angular.z);
 45 |     }
 46 |     else
 47 |     {
 48 |       std::lock_guard<std::mutex> guard(twist_mutex_);
 49 |       current_twist_ = *msg.get();
 50 |     }
 51 |     // ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
 52 |   }
 53 | 
 54 |   void BunkerROSMessenger::GetCurrentMotionCmdForSim(double &linear,
 55 |                                                     double &angular)
 56 |   {
 57 |     std::lock_guard<std::mutex> guard(twist_mutex_);
 58 |     linear = current_twist_.linear.x;
 59 |     angular = current_twist_.angular.z;
 60 |   }
 61 | 
 62 | 
 63 | 
 64 |   void BunkerROSMessenger::PublishStateToROS()
 65 |   {
 66 |     current_time_ = ros::Time::now();
 67 |     double dt = (current_time_ - last_time_).toSec();
 68 | 
 69 |     static bool init_run = true;
 70 |     if (init_run)
 71 |     {
 72 |       last_time_ = current_time_;
 73 |       init_run = false;
 74 |       return;
 75 |     }
 76 |    
 77 |     //auto state = bunker_->GetBunkerState();
 78 |     auto robot_state = bunker_->GetRobotState();
 79 |     auto actuator_state = bunker_->GetActuatorState();
 80 |     // publish bunker state message
 81 |     bunker_msgs::BunkerStatus status_msg;
 82 |     bunker_msgs::BunkerRsStatus rs_status_msg;
 83 | 
 84 |     status_msg.header.stamp = current_time_;
 85 | 
 86 |     status_msg.linear_velocity = robot_state.motion_state.linear_velocity;
 87 |     status_msg.angular_velocity = robot_state.motion_state.angular_velocity;
 88 |     status_msg.base_state = robot_state.system_state.vehicle_state;
 89 |     status_msg.control_mode = robot_state.system_state.control_mode;
 90 |     status_msg.fault_code = robot_state.system_state.error_code;
 91 |     status_msg.battery_voltage = robot_state.system_state.battery_voltage;
 92 | 
 93 |     rs_status_msg.header.stamp = current_time_;
 94 |     rs_status_msg.stick_left_h = robot_state.rc_state.stick_left_h;
 95 |     rs_status_msg.stick_left_v = robot_state.rc_state.stick_left_v;
 96 |     rs_status_msg.stick_right_h = robot_state.rc_state.stick_right_h;
 97 |     rs_status_msg.stick_right_v = robot_state.rc_state.stick_right_v;
 98 | 
 99 |     rs_status_msg.swa = robot_state.rc_state.swa;
100 |     rs_status_msg.swb = robot_state.rc_state.swb;
101 |     rs_status_msg.swc = robot_state.rc_state.swc;
102 |     rs_status_msg.swd = robot_state.rc_state.swd;
103 | 
104 |     rs_status_msg.var_a = robot_state.rc_state.var_a;
105 | 
106 |     if(bunker_->GetParserProtocolVersion() == ProtocolVersion::AGX_V1)
107 |     {
108 |         for (int i = 0; i < 2; ++i)
109 |         {
110 |             status_msg.motor_states[i].current = actuator_state.actuator_state[i].current;
111 |             status_msg.motor_states[i].rpm = actuator_state.actuator_state[i].rpm;
112 |             status_msg.motor_states[i].temperature = actuator_state.actuator_state[i].motor_temp;
113 |         }
114 |     }
115 |     else
116 |     {
117 |         for (int i = 0; i < 2; ++i)
118 |         {
119 |             status_msg.motor_states[i].current = actuator_state.actuator_hs_state[i].current;
120 |             status_msg.motor_states[i].rpm = actuator_state.actuator_hs_state[i].rpm;
121 |             status_msg.motor_states[i].temperature = actuator_state.actuator_ls_state[i].motor_temp;
122 |         }
123 | 
124 | 
125 |     }
126 |     status_publisher_.publish(status_msg);
127 |     rs_status_publisher_.publish(rs_status_msg);
128 | 
129 | 
130 |     // publish odometry and tf
131 |     PublishOdometryToROS(robot_state.motion_state.linear_velocity, robot_state.motion_state.angular_velocity, dt);
132 | 
133 |     // record time for next integration
134 |     last_time_ = current_time_;
135 |   }
136 | 
137 |   void BunkerROSMessenger::PublishSimStateToROS(double linear, double angular)
138 |   {
139 |     current_time_ = ros::Time::now();
140 | 
141 |     double dt = (current_time_ - last_time_).toSec();
142 | 
143 |     static bool init_run = true;
144 |     if (init_run)
145 |     {
146 |       last_time_ = current_time_;
147 |       init_run = false;
148 |       return;
149 |     }
150 | 
151 |     // publish bunker state message
152 |     bunker_msgs::BunkerStatus status_msg;
153 |     status_msg.header.stamp = current_time_;
154 |     status_msg.linear_velocity = linear;
155 |     status_msg.angular_velocity = angular;
156 |     status_msg.base_state = 0x00;
157 |     status_msg.control_mode = 0x01;
158 |     status_msg.fault_code = 0x00;
159 |     status_msg.battery_voltage = 29.5;
160 |     status_publisher_.publish(status_msg);
161 | 
162 |     // publish odometry and tf
163 |     PublishOdometryToROS(linear, angular, dt);
164 | 
165 |     // record time for next integration
166 |     last_time_ = current_time_;
167 |   }
168 | 
169 |   void BunkerROSMessenger::PublishOdometryToROS(double linear, double angular,
170 |                                                double dt)
171 |   {
172 |     // perform numerical integration to get an estimation of pose
173 |     linear_speed_ = linear;
174 |     angular_speed_ = angular;
175 | 
176 |     double d_x = linear_speed_ * std::cos(theta_) * dt;
177 |     double d_y = linear_speed_ * std::sin(theta_) * dt;
178 |     double d_theta = angular_speed_ * dt;
179 | 
180 |     position_x_ += d_x;
181 |     position_y_ += d_y;
182 |     theta_ += d_theta;
183 | 
184 |     geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(theta_);
185 | 
186 |     // publish tf transformation
187 |     geometry_msgs::TransformStamped tf_msg;
188 |     tf_msg.header.stamp = current_time_;
189 |     tf_msg.header.frame_id = odom_frame_;
190 |     tf_msg.child_frame_id = base_frame_;
191 | 
192 |     tf_msg.transform.translation.x = position_x_;
193 |     tf_msg.transform.translation.y = position_y_;
194 |     tf_msg.transform.translation.z = 0.0;
195 |     tf_msg.transform.rotation = odom_quat;
196 | 
197 |     if(pub_tf_)tf_broadcaster_.sendTransform(tf_msg);
198 | 
199 |     // publish odometry and tf messages
200 |     nav_msgs::Odometry odom_msg;
201 |     odom_msg.header.stamp = current_time_;
202 |     odom_msg.header.frame_id = odom_frame_;
203 |     odom_msg.child_frame_id = base_frame_;
204 | 
205 |     odom_msg.pose.pose.position.x = position_x_;
206 |     odom_msg.pose.pose.position.y = position_y_;
207 |     odom_msg.pose.pose.position.z = 0.0;
208 |     odom_msg.pose.pose.orientation = odom_quat;
209 | 
210 |     odom_msg.twist.twist.linear.x = linear_speed_;
211 |     odom_msg.twist.twist.linear.y = 0.0;
212 |     odom_msg.twist.twist.angular.z = angular_speed_;
213 | 
214 |     odom_publisher_.publish(odom_msg);
215 |   }
216 | } // namespace westonrobot
217 | 


--------------------------------------------------------------------------------
/bunker_bringup/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(bunker_bringup)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   roscpp
 12 |   rospy
 13 |   std_msgs
 14 | )
 15 | 
 16 | ## System dependencies are found with CMake's conventions
 17 | # find_package(Boost REQUIRED COMPONENTS system)
 18 | 
 19 | 
 20 | ## Uncomment this if the package has a setup.py. This macro ensures
 21 | ## modules and global scripts declared therein get installed
 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 23 | # catkin_python_setup()
 24 | 
 25 | ################################################
 26 | ## Declare ROS messages, services and actions ##
 27 | ################################################
 28 | 
 29 | ## To declare and build messages, services or actions from within this
 30 | ## package, follow these steps:
 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 32 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 33 | ## * In the file package.xml:
 34 | ##   * add a build_depend tag for "message_generation"
 35 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 36 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 37 | ##     but can be declared for certainty nonetheless:
 38 | ##     * add a exec_depend tag for "message_runtime"
 39 | ## * In this file (CMakeLists.txt):
 40 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 41 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 42 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 43 | ##     catkin_package(CATKIN_DEPENDS ...)
 44 | ##   * uncomment the add_*_files sections below as needed
 45 | ##     and list every .msg/.srv/.action file to be processed
 46 | ##   * uncomment the generate_messages entry below
 47 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 48 | 
 49 | ## Generate messages in the 'msg' folder
 50 | # add_message_files(
 51 | #   FILES
 52 | #   Message1.msg
 53 | #   Message2.msg
 54 | # )
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 | # generate_messages(
 72 | #   DEPENDENCIES
 73 | #   std_msgs
 74 | # )
 75 | 
 76 | ################################################
 77 | ## Declare ROS dynamic reconfigure parameters ##
 78 | ################################################
 79 | 
 80 | ## To declare and build dynamic reconfigure parameters within this
 81 | ## package, follow these steps:
 82 | ## * In the file package.xml:
 83 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 84 | ## * In this file (CMakeLists.txt):
 85 | ##   * add "dynamic_reconfigure" to
 86 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 87 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 88 | ##     and list every .cfg file to be processed
 89 | 
 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 91 | # generate_dynamic_reconfigure_options(
 92 | #   cfg/DynReconf1.cfg
 93 | #   cfg/DynReconf2.cfg
 94 | # )
 95 | 
 96 | ###################################
 97 | ## catkin specific configuration ##
 98 | ###################################
 99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | #  INCLUDE_DIRS include
107 | #  LIBRARIES bunker_bringup
108 | #  CATKIN_DEPENDS roscpp rospy std_msgs
109 | #  DEPENDS system_lib
110 | )
111 | 
112 | ###########
113 | ## Build ##
114 | ###########
115 | 
116 | ## Specify additional locations of header files
117 | ## Your package locations should be listed before other locations
118 | include_directories(
119 | # include
120 |   ${catkin_INCLUDE_DIRS}
121 | )
122 | 
123 | ## Declare a C++ library
124 | # add_library(${PROJECT_NAME}
125 | #   src/${PROJECT_NAME}/bunker_bringup.cpp
126 | # )
127 | 
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
132 | 
133 | ## Declare a C++ executable
134 | ## With catkin_make all packages are built within a single CMake context
135 | ## The recommended prefix ensures that target names across packages don't collide
136 | # add_executable(${PROJECT_NAME}_node src/bunker_bringup_node.cpp)
137 | 
138 | ## Rename C++ executable without prefix
139 | ## The above recommended prefix causes long target names, the following renames the
140 | ## target back to the shorter version for ease of user use
141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
143 | 
144 | ## Add cmake target dependencies of the executable
145 | ## same as for the library above
146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
147 | 
148 | ## Specify libraries to link a library or executable target against
149 | # target_link_libraries(${PROJECT_NAME}_node
150 | #   ${catkin_LIBRARIES}
151 | # )
152 | 
153 | #############
154 | ## Install ##
155 | #############
156 | 
157 | install(DIRECTORY launch scripts
158 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
159 | 
160 | 
161 | # all install targets should use catkin DESTINATION variables
162 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
163 | 
164 | ## Mark executable scripts (Python etc.) for installation
165 | ## in contrast to setup.py, you can choose the destination
166 | # install(PROGRAMS
167 | #   scripts/my_python_script
168 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
169 | # )
170 | 
171 | ## Mark executables and/or libraries for installation
172 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
173 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
174 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
175 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
176 | # )
177 | 
178 | ## Mark cpp header files for installation
179 | # install(DIRECTORY include/${PROJECT_NAME}/
180 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
181 | #   FILES_MATCHING PATTERN "*.h"
182 | #   PATTERN ".svn" EXCLUDE
183 | # )
184 | 
185 | ## Mark other files for installation (e.g. launch and bag files, etc.)
186 | # install(FILES
187 | #   # myfile1
188 | #   # myfile2
189 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
190 | # )
191 | 
192 | #############
193 | ## Testing ##
194 | #############
195 | 
196 | ## Add gtest based cpp test target and link libraries
197 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_bunker_bringup.cpp)
198 | # if(TARGET ${PROJECT_NAME}-test)
199 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
200 | # endif()
201 | 
202 | ## Add folders to be run by python nosetests
203 | # catkin_add_nosetests(test)
204 | 


--------------------------------------------------------------------------------
/bunker_bringup/launch/bunker_robot_base.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 | 
 4 |     <arg name="port_name" value="can0" />
 5 |     <arg name="simulated_robot" value="false" />
 6 |     <!--<arg name="model_xacro" default="$(find bunker_description)/urdf/bunker_v2.xacro" />-->
 7 |     <arg name="odom_topic_name" default="odom" />
 8 |     <arg name="is_bunker_mini" default="false" />
 9 |     <arg name="pub_tf" default="true" />
10 | 
11 |     <include file="$(find bunker_base)/launch/bunker_base.launch">
12 |         <arg name="port_name" default="$(arg port_name)" />
13 |         <arg name="simulated_robot" default="$(arg simulated_robot)" />
14 |         <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
15 |         <arg name="pub_tf" default="$(arg pub_tf)" />
16 |     </include>
17 | 
18 | <!--    <include file="$(find bunker_description)/launch/description.launch">
19 |         <arg name="model_xacro" default="$(arg model_xacro)" />
20 |     </include>-->
21 | 
22 | </launch>
23 | 


--------------------------------------------------------------------------------
/bunker_bringup/launch/bunker_teleop_keyboard.launch:
--------------------------------------------------------------------------------
1 | <launch>
2 |     <arg name="repeat_rate" value="50.0" />
3 | 
4 |     <node name="teleop_keybord" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen">
5 |         <param name="repeat_rate" value="$(arg repeat_rate)" />
6 |         <remap from="/cmd_vel" to="/smoother_cmd_vel"/>
7 |     </node>
8 | </launch>
9 | 


--------------------------------------------------------------------------------
/bunker_bringup/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>bunker_bringup</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The bunker_bringup package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="rdu@todo.todo">rdu</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/bunker_bringup</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>roscpp</build_depend>
53 |   <build_depend>rospy</build_depend>
54 |   <build_depend>std_msgs</build_depend>
55 |   <build_export_depend>roscpp</build_export_depend>
56 |   <build_export_depend>rospy</build_export_depend>
57 |   <build_export_depend>std_msgs</build_export_depend>
58 |   <exec_depend>roscpp</exec_depend>
59 |   <exec_depend>rospy</exec_depend>
60 |   <exec_depend>std_msgs</exec_depend>
61 | 
62 | 
63 |   <!-- The export tag contains other, unspecified, tags -->
64 |   <export>
65 |     <!-- Other tools can request additional information be placed here -->
66 | 
67 |   </export>
68 | </package>
69 | 


--------------------------------------------------------------------------------
/bunker_bringup/scripts/bringup_can2usb.bash:
--------------------------------------------------------------------------------
1 | #!/bin/bash
2 | 
3 | # bring up can interface
4 | sudo ip link set can0 up type can bitrate 500000


--------------------------------------------------------------------------------
/bunker_bringup/scripts/setup_can2usb.bash:
--------------------------------------------------------------------------------
 1 | #!/bin/bash
 2 | 
 3 | # enable kernel module: gs_usb
 4 | sudo modprobe gs_usb
 5 | 
 6 | # bring up can interface
 7 | sudo ip link set can0 up type can bitrate 500000
 8 | 
 9 | # install can utils
10 | sudo apt install -y can-utils


--------------------------------------------------------------------------------
/bunker_msgs/CHANGELOG.md:
--------------------------------------------------------------------------------
1 | # Changelog for package scout_msgs
2 | 
3 | ## 0.0.1 (2019-06-14)
4 | ------------------
5 | * Initial development of scout_msgs for Scout
6 | * Contributors: Ruixiang Du
7 | 


--------------------------------------------------------------------------------
/bunker_msgs/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | 
  2 | 
  3 | cmake_minimum_required(VERSION 2.8.3)
  4 | project(bunker_msgs)
  5 | 
  6 | ## Compile as C++11, supported in ROS Kinetic and newer
  7 | # add_compile_options(-std=c++11)
  8 | 
  9 | ## Find catkin macros and libraries
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   std_msgs
 12 |   message_generation
 13 | )
 14 | 
 15 | ## System dependencies are found with CMake's conventions
 16 | # find_package(Boost REQUIRED COMPONENTS system)
 17 | 
 18 | ## Uncomment this if the package has a setup.py. This macro ensures
 19 | ## modules and global scripts declared therein get installed
 20 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 21 | # catkin_python_setup()
 22 | 
 23 | ################################################
 24 | ## Declare ROS messages, services and actions ##
 25 | ################################################
 26 | 
 27 | ## To declare and build messages, services or actions from within this
 28 | ## package, follow these steps:
 29 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 30 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 31 | ## * In the file package.xml:
 32 | ##   * add a build_depend tag for "message_generation"
 33 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 34 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 35 | ##     but can be declared for certainty nonetheless:
 36 | ##     * add a exec_depend tag for "message_runtime"
 37 | ## * In this file (CMakeLists.txt):
 38 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 39 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 40 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 41 | ##     catkin_package(CATKIN_DEPENDS ...)
 42 | ##   * uncomment the add_*_files sections below as needed
 43 | ##     and list every .msg/.srv/.action file to be processed
 44 | ##   * uncomment the generate_messages entry below
 45 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 46 | 
 47 | ## Generate messages in the 'msg' folder
 48 | add_message_files(
 49 |     FILES
 50 |     BunkerStatus.msg
 51 |     BunkerMotorState.msg
 52 |     BunkerRsStatus.msg
 53 | )
 54 | 
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 | generate_messages(
 72 |   DEPENDENCIES
 73 |   std_msgs
 74 | )
 75 | 
 76 | catkin_package(CATKIN_DEPENDS std_msgs message_runtime)
 77 | 
 78 | ################################################
 79 | ## Declare ROS dynamic reconfigure parameters ##
 80 | ################################################
 81 | 
 82 | ## To declare and build dynamic reconfigure parameters within this
 83 | ## package, follow these steps:
 84 | ## * In the file package.xml:
 85 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 86 | ## * In this file (CMakeLists.txt):
 87 | ##   * add "dynamic_reconfigure" to
 88 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 89 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 90 | ##     and list every .cfg file to be processed
 91 | 
 92 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 93 | # generate_dynamic_reconfigure_options(
 94 | #   cfg/DynReconf1.cfg
 95 | #   cfg/DynReconf2.cfg
 96 | # )
 97 | 
 98 | ###################################
 99 | ## catkin specific configuration ##
100 | ###################################
101 | ## The catkin_package macro generates cmake config files for your package
102 | ## Declare things to be passed to dependent projects
103 | ## INCLUDE_DIRS: uncomment this if your package contains header files
104 | ## LIBRARIES: libraries you create in this project that dependent projects also need
105 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
106 | ## DEPENDS: system dependencies of this project that dependent projects also need
107 | catkin_package(
108 | #  INCLUDE_DIRS include
109 | #  LIBRARIES bunker_python
110 | #  CATKIN_DEPENDS rospy bunker_msgs std_msgs
111 | #  DEPENDS system_lib
112 | )
113 | 
114 | ###########
115 | ## Build ##
116 | ###########
117 | 
118 | ## Specify additional locations of header files
119 | ## Your package locations should be listed before other locations
120 | include_directories(
121 | #  include
122 |   ${catkin_INCLUDE_DIRS}
123 | )
124 | 
125 | ## Declare a C++ library
126 | # add_library(${PROJECT_NAME}
127 | #   src/${PROJECT_NAME}/bunker_python.cpp
128 | # )
129 | 
130 | ## Add cmake target dependencies of the library
131 | ## as an example, code may need to be generated before libraries
132 | ## either from message generation or dynamic reconfigure
133 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
134 | 
135 | ## Declare a C++ executable
136 | ## With catkin_make all packages are built within a single CMake context
137 | ## The recommended prefix ensures that target names across packages don't collide
138 | # add_executable(${PROJECT_NAME}_node src/bunker_python_node.cpp)
139 | 
140 | ## Rename C++ executable without prefix
141 | ## The above recommended prefix causes long target names, the following renames the
142 | ## target back to the shorter version for ease of user use
143 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
144 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
145 | 
146 | ## Add cmake target dependencies of the executable
147 | ## same as for the library above
148 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
149 | 
150 | ## Specify libraries to link a library or executable target against
151 | # target_link_libraries(${PROJECT_NAME}_node
152 | #   ${catkin_LIBRARIES}
153 | # )
154 | 
155 | #############
156 | ## Install ##
157 | #############
158 | 
159 | # all install targets should use catkin DESTINATION variables
160 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
161 | 
162 | ## Mark executable scripts (Python etc.) for installation
163 | ## in contrast to setup.py, you can choose the destination
164 | # install(PROGRAMS
165 | #   scripts/my_python_script
166 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
167 | # )
168 | 
169 | ## Mark executables and/or libraries for installation
170 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
171 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
172 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
173 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
174 | # )
175 | 
176 | ## Mark cpp header files for installation
177 | # install(DIRECTORY include/${PROJECT_NAME}/
178 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
179 | #   FILES_MATCHING PATTERN "*.h"
180 | #   PATTERN ".svn" EXCLUDE
181 | # )
182 | 
183 | ## Mark other files for installation (e.g. launch and bag files, etc.)
184 | # install(FILES
185 | #   # myfile1
186 | #   # myfile2
187 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
188 | # )
189 | 
190 | #############
191 | ## Testing ##
192 | #############
193 | 
194 | ## Add gtest based cpp test target and link libraries
195 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_bunker_python.cpp)
196 | # if(TARGET ${PROJECT_NAME}-test)
197 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
198 | # endif()
199 | 
200 | ## Add folders to be run by python nosetests
201 | # catkin_add_nosetests(test)
202 | 


--------------------------------------------------------------------------------
/bunker_msgs/msg/BunkerMotorState.msg:
--------------------------------------------------------------------------------
1 | float64 current
2 | float64 rpm
3 | float64 temperature


--------------------------------------------------------------------------------
/bunker_msgs/msg/BunkerRsStatus.msg:
--------------------------------------------------------------------------------
 1 | Header header
 2 | 
 3 | int8 stick_left_h
 4 | int8 stick_left_v
 5 | int8 stick_right_h
 6 | int8 stick_right_v
 7 | 
 8 | uint8 swa
 9 | uint8 swb
10 | uint8 swc
11 | uint8 swd
12 | 
13 | uint8 var_a
14 | 


--------------------------------------------------------------------------------
/bunker_msgs/msg/BunkerStatus.msg:
--------------------------------------------------------------------------------
 1 | Header header
 2 | 
 3 | int8 MOTOR_ID_FRONT_RIGHT = 0
 4 | int8 MOTOR_ID_FRONT_LEFT = 1
 5 | int8 MOTOR_ID_REAR_RIGHT = 2
 6 | int8 MOTOR_ID_REAR_LEFT = 3
 7 | 
 8 | int8 LIGHT_ID_FRONT = 0
 9 | int8 LIGHT_ID_REAR = 1
10 | 
11 | # motion state
12 | float64 linear_velocity
13 | float64 angular_velocity
14 | 
15 | # base state
16 | uint8 base_state
17 | uint8 control_mode
18 | uint16 fault_code
19 | float64 battery_voltage
20 | 
21 | # motor state
22 | BunkerMotorState[2] motor_states
23 | 
24 | # light state
25 | #bool light_control_enabled
26 | #BunkerLightState front_light_state
27 | #BunkerLightState rear_light_state
28 | 


--------------------------------------------------------------------------------
/bunker_msgs/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>bunker_msgs</name>
 4 |   <version>0.3.3</version>
 5 |   <description>Messages for AgileX Bunker</description>
 6 | 
 7 |   <author email="contact@westonrobot.com">TODO</author>
 8 | 
 9 |   <maintainer email="contact@westonrobot.com">TODO</maintainer>
10 |   <maintainer email="contact@westonrobot.com">TODO</maintainer>
11 | 
12 |   <license>BSD</license>
13 | 
14 |   <url type="website">TODO</url>
15 |   <url type="bugtracker">TODO</url>
16 |   <url type="repository">TODO</url>
17 | 
18 |   <buildtool_depend>catkin</buildtool_depend>
19 |   <build_depend>message_generation</build_depend>
20 |   <build_depend>std_msgs</build_depend>
21 |   <run_depend>message_runtime</run_depend>
22 |   <run_depend>std_msgs</run_depend>
23 | 
24 |   <export>
25 |   </export>
26 | </package>
27 | 


--------------------------------------------------------------------------------