├── README-ZH.md
├── README.md
├── scout_mini_omni_base
    ├── CMakeLists.txt
    ├── include
    │   └── scout_mini_omni_base
    │   │   ├── scout_messenger.hpp
    │   │   └── scout_params.hpp
    ├── launch
    │   └── scout_base.launch
    ├── package.xml
    ├── rviz
    │   └── model_display.rviz
    └── src
    │   ├── scout_base_node.cpp
    │   ├── scout_messenger.cpp
    │   └── speed.cpp
├── scout_mini_omni_bringup
    ├── CMakeLists.txt
    ├── launch
    │   ├── scout_robot_base.launch
    │   └── scout_teleop_keyboard.launch
    ├── package.xml
    └── scripts
    │   ├── bringup_can2usb.bash
    │   └── setup_can2usb.bash
└── scout_mini_omni_msgs
    ├── CHANGELOG.md
    ├── CMakeLists.txt
    ├── msg
        ├── ScoutBmsStatus.msg
        ├── ScoutDriverState.msg
        ├── ScoutLightCmd.msg
        ├── ScoutLightState.msg
        ├── ScoutMotorState.msg
        └── ScoutStatus.msg
    └── package.xml


/README-ZH.md:
--------------------------------------------------------------------------------
  1 | # 松灵机器人产品SCOUT 的ROS package
  2 | 
  3 | ## ROS Packages 说明
  4 | 
  5 | * scout_bringup: launch and configuration files to start ROS nodes 
  6 | * scout_base: a ROS wrapper around Scout SDK to monitor and control the robot
  7 | * scout_msgs: scout related message definitions
  8 | * (scout_ros: meta package for the Scout 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scout 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/scout_ros.git
 88 |     $ cd ..
 89 |     $ catkin_make
 90 |     ```
 91 |     如果你买的小车版本是1.0通信协议版本，执行以下指令切换ugv_sdk的版本至1.0版本
 92 |     ```
 93 |     $ cd ugv_sdk && git checkout master
 94 |     ```
 95 |     然后重新编译
 96 | 
 97 | 3. 启动 ROS nodes
 98 | 
 99 | * 启动scout车节点 
100 | 
101 |     ```
102 |     $ roslaunch scout_bringup scout_minimal.launch
103 |     ```
104 |     
105 | * 启动scout-mini车节点 
106 | 
107 |     ```
108 |     $ roslaunch scout_bringup scout_mini_minimal.launch
109 |     ```
110 | 
111 | * Start the keyboard tele-op node
112 | 
113 |     ```
114 |     $ roslaunch scout_bringup scout_teleop_keyboard.launch
115 |     ```
116 | 
117 |     **SAFETY PRECAUSION**: 
118 | 
119 |     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. 
120 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
  1 | # ROS Packages for Scout_Mini_Omni Mobile Robot
  2 | 
  3 | ## Packages
  4 | 
  5 | This repository contains minimal packages to control the scout robot using ROS. 
  6 | 
  7 | * scout_bringup: launch and configuration files to start ROS nodes 
  8 | * scout_base: a ROS wrapper around [ugv_sdk](https://github.com/agilexrobotics/ugv_sdk) to monitor and control the scout robot
  9 | * scout_description: URDF model for the mobile base, a sample urdf (scout_description/sample/scout_v2_nav.xacro) is provided for customized robot with addtional sensors
 10 | * scout_msgs: scout related message definitions
 11 | 
 12 | ### Update the packages for your customized robot
 13 | 
 14 | **Additional sensors**
 15 | 
 16 | It's likely that you may want to add additional sensors to the scout 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. 
 17 | 
 18 | A [sample](scout_description/sample/scout_v2_nav.xacro) ".xacro" file is present in this repository, in which the base ".xacro" file of an empty scout platform is first included, and then additional links are defined. 
 19 | 
 20 | The nodes in this ROS package are made to handle only the control of the scout base and publishing of the status. Additional nodes may need to be created by the user to handle the sensors.
 21 | 
 22 | **Alternative odometry calculation**
 23 | 
 24 | By default the scout_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.
 25 | 
 26 | ```
 27 | $ scout_bringup scout_minimal.launch odom_topic_name:="<custom_name>"
 28 | ```
 29 | 
 30 | ## Communication interface setup
 31 | 
 32 | Please refer to the [README](https://github.com/westonrobot/ugv_sdk_sdk#hardware-interface) of "ugv_sdk" package for setup of communication interfaces.
 33 | 
 34 | #### Note on CAN interface on Nvidia Jetson Platforms
 35 | 
 36 | 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. 
 37 | 
 38 | ## Basic usage of the ROS packages
 39 | 
 40 | 1. Install dependent libraries
 41 | 
 42 |     ```
 43 |     $ sudo apt install -y libasio-dev
 44 |     $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
 45 |     ```
 46 | 
 47 | 2. Clone the packages into your catkin workspace and compile
 48 | 
 49 |     (the following instructions assume your catkin workspace is at: ~/catkin_ws/src)
 50 | 
 51 |     ```
 52 |     $ cd ~/catkin_ws/src
 53 |     $ git clone https://github.com/agilexrobotics/ugv_sdk.git  
 54 |     $ git clone https://github.com/agilexrobotics/scout_ros.git
 55 |     $ cd ..
 56 |     $ catkin_make
 57 |     ```
 58 |     
 59 | 3. Setup CAN-To-USB adapter
 60 | 
 61 | * Enable gs_usb kernel module(If you have already added this module, you do not need to add it)
 62 |     ```
 63 |     $ sudo modprobe gs_usb
 64 |     ```
 65 |     
 66 | * first time use hunter-ros package
 67 |    ```
 68 |    $ rosrun scout_mini_omni_bringup setup_can2usb.bash
 69 |    ```
 70 |    
 71 | * if not the first time use hunter-ros package(Run this command every time you turn off the power) 
 72 |    ```
 73 |    $ rosrun scout_mini_omni_bringup bringup_can2usb.bash
 74 |    ```
 75 |    
 76 | * Testing command
 77 |     ```
 78 |     # receiving data from can0
 79 |     $ candump can0
 80 |     ```
 81 | 
 82 | 4. Launch ROS nodes
 83 | 
 84 | * Start the base node for scout
 85 | 
 86 |     ```
 87 |     $ roslaunch scout_mini_omni_bringup scout_robot_base.launch 
 88 |     ```
 89 | 
 90 |     The [scout_mini_omni_bringup/scout_minimal.launch](scout_mini_omni_bringup/launch/scout_robot_base.launch) has 3 parameters:
 91 | 
 92 |     - port_name: specifies the port used to communicate with the robot, default = "can0"
 93 |     - simulated_robot: indicates if launching with a simulation, default = "false"
 94 |     - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
 95 | 
 96 | 
 97 | 
 98 | * Start the keyboard tele-op node
 99 | 
100 |     ```
101 |     $ roslaunch scout_mini_omni_bringup scout_teleop_keyboard.launch
102 |     ```
103 | 
104 |     **SAFETY PRECAUSION**: 
105 | 
106 |     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. 
107 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(scout_mini_omni_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 |     scout_mini_omni_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 scout_messenger
28 |   CATKIN_DEPENDS ugv_sdk scout_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(scout_messenger STATIC src/scout_messenger.cpp)
44 | target_link_libraries(scout_messenger ${catkin_LIBRARIES})
45 | add_dependencies(scout_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
46 | 
47 | add_executable(scout_base_node src/scout_base_node.cpp)
48 | target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
49 | 
50 | add_executable(speed src/speed.cpp)
51 | target_link_libraries(speed ${catkin_LIBRARIES})
52 | 
53 | #############
54 | ## Install ##
55 | #############
56 | 
57 | install(TARGETS scout_messenger scout_base_node
58 |   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
59 |   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
60 |   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
61 | 
62 | install(DIRECTORY include/${PROJECT_NAME}/
63 |   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
64 | 
65 | install(DIRECTORY launch
66 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
67 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/include/scout_mini_omni_base/scout_messenger.hpp:
--------------------------------------------------------------------------------
 1 | /* 
 2 |  * scout_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 SCOUT_MESSENGER_HPP
11 | #define SCOUT_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 "scout_mini_omni_msgs/ScoutLightCmd.h"
21 | #include "ugv_sdk/mobile_robot/scout_robot.hpp"
22 | #include <mutex>
23 | 
24 | namespace westonrobot
25 | {
26 | class ScoutROSMessenger
27 | {
28 | public:
29 |     explicit ScoutROSMessenger(ros::NodeHandle *nh);
30 |     ScoutROSMessenger(ScoutMiniOmniRobot *scout, ros::NodeHandle *nh);
31 | 
32 |     std::string odom_frame_;
33 |     std::string base_frame_;
34 |     std::string odom_topic_name_;
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,double lateral);
43 |     void GetCurrentMotionCmdForSim(double &linear, double &angular, double &lateral);
44 | 
45 | private:
46 |     ScoutMiniOmniRobot *scout_;
47 |     ros::NodeHandle *nh_;
48 | 
49 |     std::mutex twist_mutex_;
50 |     geometry_msgs::Twist current_twist_;
51 | 
52 |     ros::Publisher odom_publisher_;
53 |     ros::Publisher status_publisher_;
54 |     ros::Publisher BMS_status_publisher_;
55 |     ros::Subscriber motion_cmd_subscriber_;
56 |     ros::Subscriber light_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 LightCmdCallback(const scout_mini_omni_msgs::ScoutLightCmd::ConstPtr &msg);
71 |     void PublishOdometryToROS(double linear, double angular, double lateral, double dt);
72 | };
73 | } // namespace westonrobot
74 | 
75 | #endif /* SCOUT_MESSENGER_HPP */
76 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/include/scout_mini_omni_base/scout_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 SCOUT_PARAMS_HPP
11 | #define SCOUT_PARAMS_HPP
12 | 
13 | namespace westonrobot
14 | {
15 |     struct ScoutParams
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 /* SCOUT_PARAMS_HPP */
34 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/launch/scout_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_scout_mini" default="false" />
14 |     <arg name="simulated_robot" default="false" />
15 |     <arg name="odom_topic_name" default="odom" />
16 | 
17 |     <node name="scout_base_node" pkg="scout_mini_omni_base" type="scout_base_node" output="screen">
18 |         <param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
19 |         <param name="port_name" type="string" value="$(arg port_name)" />
20 |         <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
21 |         <param name="odom_frame" type="string" value="odom" />
22 |         <param name="base_frame" type="string" value="base_link" />
23 |         <param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />
24 |     </node>
25 | 
26 | </launch>
27 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>scout_mini_omni_base</name>
 4 |   <version>0.3.3</version>
 5 |   <description>AgileX Scout 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>scout_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>scout_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 | 


--------------------------------------------------------------------------------
/scout_mini_omni_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 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/src/scout_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/mobile_robot/scout_robot.hpp"
 9 | #include "ugv_sdk/utilities/protocol_detector.hpp"
10 | #include "scout_mini_omni_base/scout_messenger.hpp"
11 | 
12 | using namespace westonrobot;
13 | 
14 | std::unique_ptr<ScoutMiniOmniRobot> robot;
15 | 
16 | 
17 | int main(int argc, char **argv) {
18 |   // setup ROS node
19 |   ros::init(argc, argv, "scout_odom");
20 |   ros::NodeHandle node(""), private_node("~");
21 | 
22 |   // check protocol version
23 |   ProtocolDectctor detector;
24 |   try
25 |   {
26 |       detector.Connect("can0");
27 |       auto proto = detector.DetectProtocolVersion(5);
28 |       if (proto == ProtocolVersion::AGX_V1) {
29 |           std::cout << "Detected protocol: AGX_V1" << std::endl;
30 |           robot = std::unique_ptr<ScoutMiniOmniRobot>(
31 |                       new ScoutMiniOmniRobot(ProtocolVersion::AGX_V1));
32 |       } else if (proto == ProtocolVersion::AGX_V2) {
33 |           std::cout << "Detected protocol: AGX_V2" << std::endl;
34 |           robot = std::unique_ptr<ScoutMiniOmniRobot>(
35 |                       new ScoutMiniOmniRobot(ProtocolVersion::AGX_V2));
36 |       } else {
37 |         std::cout << "Detected protocol: UNKONWN" << std::endl;
38 |         ros::shutdown();
39 |       }
40 |       if (robot == nullptr)
41 |         std::cout << "Failed to create robot object" << std::endl;
42 |   }
43 |   catch (std::exception error)
44 |   {
45 |       ROS_ERROR("please bringup up can or make sure can port exist");
46 |       ros::shutdown();
47 |   }
48 | 
49 | 
50 |   ScoutROSMessenger messenger(robot.get(),&node);
51 | 
52 |   // fetch parameters before connecting to rt
53 |   std::string port_name;
54 |   private_node.param<std::string>("port_name", port_name, std::string("can0"));
55 |   private_node.param<std::string>("odom_frame", messenger.odom_frame_,
56 |                                   std::string("odom"));
57 |   private_node.param<std::string>("base_frame", messenger.base_frame_,
58 |                                   std::string("base_link"));
59 |   private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
60 |                            false);
61 |   private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
62 |   private_node.param<std::string>("odom_topic_name", messenger.odom_topic_name_,
63 |                                   std::string("odom"));
64 | 
65 |   if (!messenger.simulated_robot_) {
66 |     // connect to robot and setup ROS subscription
67 |     if (port_name.find("can") != std::string::npos) {
68 |         robot->Connect(port_name);
69 |         robot->EnableCommandedMode();
70 |         ROS_INFO("Using CAN bus to talk with the robot");
71 |     } else {
72 |         ROS_INFO("Using UART to talk with the robot");
73 |     }
74 |   }
75 | 
76 |   messenger.SetupSubscription();
77 | 
78 |   // publish robot state at 50Hz while listening to twist commands
79 |   ros::Rate rate(50);
80 |   while (ros::ok()) {
81 |     if (!messenger.simulated_robot_) {
82 | 
83 |       messenger.PublishStateToROS();
84 | 
85 |     } else {
86 |       double linear, angular, lateral;
87 | 
88 |       messenger.GetCurrentMotionCmdForSim(linear, angular, lateral);
89 | 
90 |       messenger.PublishSimStateToROS(linear, angular,lateral);
91 | 
92 |     }
93 |     ros::spinOnce();
94 |     rate.sleep();
95 |   }
96 | 
97 |   return 0;
98 | }
99 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/src/scout_messenger.cpp:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * scout_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 "scout_mini_omni_base/scout_messenger.hpp"
 11 | 
 12 | #include <tf/transform_broadcaster.h>
 13 | 
 14 | #include "scout_mini_omni_msgs/ScoutStatus.h"
 15 | #include "scout_mini_omni_msgs/ScoutBmsStatus.h"
 16 | #include "scout_mini_omni_msgs/ScoutLightCmd.h"
 17 | 
 18 | namespace westonrobot
 19 | {
 20 |   ScoutROSMessenger::ScoutROSMessenger(ros::NodeHandle *nh)
 21 |       : scout_(nullptr), nh_(nh) {}
 22 | 
 23 |   ScoutROSMessenger::ScoutROSMessenger(ScoutMiniOmniRobot *scout, ros::NodeHandle *nh)
 24 |       : scout_(scout), nh_(nh) {}
 25 | 
 26 |   void ScoutROSMessenger::SetupSubscription()
 27 |   {
 28 |     // odometry publisher
 29 |     odom_publisher_ = nh_->advertise<nav_msgs::Odometry>(odom_topic_name_, 50);
 30 |     status_publisher_ = nh_->advertise<scout_mini_omni_msgs::ScoutStatus>("/scout_status", 10);
 31 |     BMS_status_publisher_ = nh_->advertise<scout_mini_omni_msgs::ScoutBmsStatus>("/BMS_status", 10);
 32 | 
 33 |     // cmd subscriber
 34 |     motion_cmd_subscriber_ = nh_->subscribe<geometry_msgs::Twist>(
 35 |         "/cmd_vel", 5, &ScoutROSMessenger::TwistCmdCallback, this);
 36 |     light_cmd_subscriber_ = nh_->subscribe<scout_mini_omni_msgs::ScoutLightCmd>(
 37 |         "/scout_light_control", 5, &ScoutROSMessenger::LightCmdCallback, this);
 38 |   }
 39 | 
 40 |   void ScoutROSMessenger::TwistCmdCallback(
 41 |       const geometry_msgs::Twist::ConstPtr &msg)
 42 |   {
 43 |     if (!simulated_robot_)
 44 |     {
 45 |         scout_->SetMotionCommand(msg->linear.x, msg->angular.z, msg->linear.y);
 46 |     }
 47 |     else
 48 |     {
 49 |       std::lock_guard<std::mutex> guard(twist_mutex_);
 50 |       current_twist_ = *msg.get();
 51 |     }
 52 |     // ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
 53 |   }
 54 | 
 55 |   void ScoutROSMessenger::GetCurrentMotionCmdForSim(double &linear,
 56 |                                                     double &angular,
 57 |                                                     double &lateral)
 58 |   {
 59 |     std::lock_guard<std::mutex> guard(twist_mutex_);
 60 |     linear = current_twist_.linear.x;
 61 |     angular = current_twist_.angular.z;
 62 |     lateral = current_twist_.linear.y;
 63 |   }
 64 | 
 65 |   void ScoutROSMessenger::LightCmdCallback(
 66 |       const scout_mini_omni_msgs::ScoutLightCmd::ConstPtr &msg)
 67 |   {
 68 |     if (!simulated_robot_)
 69 |     {
 70 |       if (msg->enable_cmd_light_control)
 71 |       {
 72 |         LightCommandMessage cmd;
 73 | 
 74 |         switch (msg->front_mode)
 75 |         {
 76 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_CONST_OFF:
 77 |           {
 78 |             cmd.front_light.mode = CONST_OFF;
 79 |             break;
 80 |           }
 81 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_CONST_ON:
 82 |           {
 83 |             cmd.front_light.mode = CONST_ON;
 84 |             break;
 85 |           }
 86 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_BREATH:
 87 |           {
 88 |             cmd.front_light.mode = BREATH;
 89 |             break;
 90 |           }
 91 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_CUSTOM:
 92 |           {
 93 |             cmd.front_light.mode = LightMode::CUSTOM;
 94 |             cmd.front_light.custom_value = msg->front_custom_value;
 95 |             break;
 96 |           }
 97 |         }
 98 | 
 99 |         switch (msg->rear_mode)
100 |         {
101 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_CONST_OFF:
102 |           {
103 |             cmd.rear_light.mode = CONST_OFF;
104 |             break;
105 |           }
106 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_CONST_ON:
107 |           {
108 |             cmd.rear_light.mode = CONST_ON;
109 |             break;
110 |           }
111 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_BREATH:
112 |           {
113 |             cmd.rear_light.mode = BREATH;
114 |             break;
115 |           }
116 |           case scout_mini_omni_msgs::ScoutLightCmd::LIGHT_CUSTOM:
117 |           {
118 |             cmd.rear_light.mode = CUSTOM;
119 |             cmd.rear_light.custom_value = msg->rear_custom_value;
120 |             break;
121 |           }
122 |         }
123 | 
124 |         scout_->SetLightCommand(cmd.front_light.mode,cmd.front_light.custom_value,cmd.rear_light.mode,cmd.rear_light.custom_value);
125 |       }
126 |       else
127 |       {
128 |         scout_->DisableLightControl();
129 |       }
130 |     }
131 |     else
132 |     {
133 |       std::cout << "simulated robot received light control cmd" << std::endl;
134 |     }
135 |   }
136 | 
137 |   void ScoutROSMessenger::PublishStateToROS()
138 |   {
139 |     current_time_ = ros::Time::now();
140 |     double dt = (current_time_ - last_time_).toSec();
141 | 
142 |     static bool init_run = true;
143 |     if (init_run)
144 |     {
145 |       last_time_ = current_time_;
146 |       init_run = false;
147 |       return;
148 |     }
149 | 
150 |     auto robot_state = scout_->GetRobotState();
151 |     auto actuator_state = scout_->GetActuatorState();
152 | 
153 |     // publish scout state message
154 |     scout_mini_omni_msgs::ScoutStatus status_msg;
155 |     scout_mini_omni_msgs::ScoutBmsStatus bms_status;
156 | 
157 |     status_msg.header.stamp = current_time_;
158 |     status_msg.linear_velocity = robot_state.motion_state.linear_velocity;
159 |     status_msg.angular_velocity = robot_state.motion_state.angular_velocity;
160 |     status_msg.lateral_velocity = robot_state.motion_state.lateral_velocity;
161 |     status_msg.base_state = robot_state.system_state.vehicle_state;
162 |     status_msg.control_mode = robot_state.system_state.control_mode;
163 |     status_msg.fault_code = robot_state.system_state.error_code;
164 |     status_msg.battery_voltage = robot_state.system_state.battery_voltage;
165 |     status_msg.light_control_enabled = robot_state.light_state.enable_cmd_ctrl;
166 |     status_msg.front_light_state.mode = robot_state.light_state.front_light.mode;
167 |     status_msg.front_light_state.custom_value = robot_state.light_state.front_light.custom_value;
168 |     status_msg.rear_light_state.mode = robot_state.light_state.rear_light.mode;
169 |     status_msg.rear_light_state.custom_value = robot_state.light_state.rear_light.custom_value;
170 |     if(scout_->GetParserProtocolVersion() == ProtocolVersion::AGX_V1)
171 |     {
172 |         for (int i = 0; i < 4; ++i)
173 |         {
174 |             status_msg.motor_states[i].current = actuator_state.actuator_state[i].current;
175 |             status_msg.motor_states[i].rpm = actuator_state.actuator_state[i].rpm;
176 |             status_msg.motor_states[i].temperature = actuator_state.actuator_state[i].motor_temp;
177 |             status_msg.driver_states[i].driver_temperature = actuator_state.actuator_state[i].driver_temp;
178 |         }
179 |     }
180 |     else
181 |     {
182 |         for (int i = 0; i < 4; ++i)
183 |         {
184 |             status_msg.motor_states[i].current = actuator_state.actuator_hs_state[i].current;
185 |             status_msg.motor_states[i].rpm = actuator_state.actuator_hs_state[i].rpm;
186 |             status_msg.motor_states[i].temperature = actuator_state.actuator_ls_state[i].motor_temp;
187 |             status_msg.motor_states[i].motor_pose = actuator_state.actuator_hs_state[i].pulse_count;
188 |             status_msg.driver_states[i].driver_state = actuator_state.actuator_ls_state[i].driver_state;
189 |             status_msg.driver_states[i].driver_voltage = actuator_state.actuator_ls_state[i].driver_voltage;
190 |             status_msg.driver_states[i].driver_temperature = actuator_state.actuator_ls_state[i].driver_temp;
191 |         }
192 | 
193 | 
194 |     }
195 | 
196 | //      bms_status.SOC = state.SOC;
197 | //      bms_status.SOH = state.SOH;
198 | //      bms_status.battery_voltage = state.bms_battery_voltage;
199 | //      bms_status.battery_current = state.battery_current;
200 | //      bms_status.battery_temperature = state.battery_temperature;
201 | //      bms_status.Alarm_Status_1 = state.Alarm_Status_1;
202 | //      bms_status.Alarm_Status_2 = state.Alarm_Status_2;
203 | //      bms_status.Warning_Status_1 = state.Warning_Status_1;
204 | //      bms_status.Warning_Status_2 = state.Warning_Status_2;
205 |       BMS_status_publisher_.publish(bms_status);
206 | 
207 | 
208 |     status_publisher_.publish(status_msg);
209 | 
210 | 
211 |     // publish odometry and tf
212 |     PublishOdometryToROS(robot_state.motion_state.linear_velocity, robot_state.motion_state.angular_velocity,robot_state.motion_state.lateral_velocity, dt);
213 | 
214 |     // record time for next integration
215 |     last_time_ = current_time_;
216 |   }
217 | 
218 |   void ScoutROSMessenger::PublishSimStateToROS(double linear, double angular, double lateral)
219 |   {
220 |     current_time_ = ros::Time::now();
221 | 
222 |     double dt = (current_time_ - last_time_).toSec();
223 | 
224 |     static bool init_run = true;
225 |     if (init_run)
226 |     {
227 |       last_time_ = current_time_;
228 |       init_run = false;
229 |       return;
230 |     }
231 | 
232 |     // publish scout state message
233 |     scout_mini_omni_msgs::ScoutStatus status_msg;
234 | 
235 |     status_msg.header.stamp = current_time_;
236 | 
237 |     status_msg.linear_velocity = linear;
238 |     status_msg.angular_velocity = angular;
239 |     status_msg.lateral_velocity = lateral;
240 |     status_msg.base_state = 0x00;
241 |     status_msg.control_mode = 0x01;
242 |     status_msg.fault_code = 0x00;
243 |     status_msg.battery_voltage = 29.5;
244 |     status_msg.light_control_enabled = false;
245 |     status_publisher_.publish(status_msg);
246 | 
247 |     // publish odometry and tf
248 |     PublishOdometryToROS(linear, angular, lateral, dt);
249 | 
250 |     // record time for next integration
251 |     last_time_ = current_time_;
252 |   }
253 | 
254 |   void ScoutROSMessenger::PublishOdometryToROS(double linear, double angular,
255 |                                                double lateral,double dt)
256 |   {
257 |     // perform numerical integration to get an estimation of pose
258 |     linear_speed_ = linear;
259 |     angular_speed_ = angular;
260 | 
261 |     double d_x = linear_speed_ * std::cos(theta_) * dt;
262 |     double d_y = (linear_speed_ * std::sin(theta_) + lateral) * dt;
263 |     double d_theta = angular_speed_ * dt;
264 | 
265 |     position_x_ += d_x;
266 |     position_y_ += d_y;
267 |     theta_ += d_theta;
268 | 
269 |     geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(theta_);
270 | 
271 |     // publish tf transformation
272 |     geometry_msgs::TransformStamped tf_msg;
273 |     tf_msg.header.stamp = current_time_;
274 |     tf_msg.header.frame_id = odom_frame_;
275 |     tf_msg.child_frame_id = base_frame_;
276 | 
277 |     tf_msg.transform.translation.x = position_x_;
278 |     tf_msg.transform.translation.y = position_y_;
279 |     tf_msg.transform.translation.z = 0.0;
280 |     tf_msg.transform.rotation = odom_quat;
281 | 
282 |     tf_broadcaster_.sendTransform(tf_msg);
283 | 
284 |     // publish odometry and tf messages
285 |     nav_msgs::Odometry odom_msg;
286 |     odom_msg.header.stamp = current_time_;
287 |     odom_msg.header.frame_id = odom_frame_;
288 |     odom_msg.child_frame_id = base_frame_;
289 | 
290 |     odom_msg.pose.pose.position.x = position_x_;
291 |     odom_msg.pose.pose.position.y = position_y_;
292 |     odom_msg.pose.pose.position.z = 0.0;
293 |     odom_msg.pose.pose.orientation = odom_quat;
294 | 
295 |     odom_msg.twist.twist.linear.x = linear_speed_;
296 |     odom_msg.twist.twist.linear.y = lateral;
297 |     odom_msg.twist.twist.angular.z = angular_speed_;
298 | 
299 |     odom_publisher_.publish(odom_msg);
300 |   }
301 | } // namespace westonrobot
302 | 


--------------------------------------------------------------------------------
/scout_mini_omni_base/src/speed.cpp:
--------------------------------------------------------------------------------
 1 | #include <ros/ros.h>
 2 | #include <geometry_msgs/TwistStamped.h>
 3 | #include <geometry_msgs/Twist.h>
 4 | geometry_msgs::Twist speed;
 5 | void callback(geometry_msgs::TwistStamped msg)
 6 | {
 7 |   if(msg.twist.linear.x >= 0.3)
 8 |     msg.twist.linear.x = 0.3;
 9 |   if(msg.twist.angular.z >= 0.5)
10 |     msg.twist.angular.z = 0.5;
11 |   speed = msg.twist;
12 | }
13 | int main(int argc, char **argv)
14 | {
15 | 
16 |     ros::init(argc, argv, "speed");
17 |     ros::NodeHandle n;
18 |     ros::Subscriber sub =n.subscribe("/cmd_vel_raw",50,callback);
19 |     ros::Publisher pub =n.advertise<geometry_msgs::Twist>("/cmd_vel",5);
20 |     ros::Rate r(50);
21 |     while(ros::ok())
22 |     {
23 |       pub.publish(speed);
24 |       ros::spinOnce();
25 |       r.sleep();
26 |     }
27 | 
28 |     return 0;
29 | }
30 | 


--------------------------------------------------------------------------------
/scout_mini_omni_bringup/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(scout_mini_omni_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 scout_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/${PROJECT_NAME}/scout_bringup.cpp
126 | # )
127 | 
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${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/scout_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_scout_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 | 


--------------------------------------------------------------------------------
/scout_mini_omni_bringup/launch/scout_robot_base.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |     <arg name="port_name" value="can0" />
 4 |     <arg name="simulated_robot" value="false" />
 5 |     <arg name="odom_topic_name" default="odom" />
 6 | 
 7 |     <include file="$(find scout_mini_omni_base)/launch/scout_base.launch">
 8 |         <arg name="port_name" default="$(arg port_name)" />
 9 |         <arg name="simulated_robot" default="$(arg simulated_robot)" />
10 |         <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
11 |     </include>
12 | 
13 | </launch>
14 | 


--------------------------------------------------------------------------------
/scout_mini_omni_bringup/launch/scout_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 |     </node>
7 | </launch>
8 | 


--------------------------------------------------------------------------------
/scout_mini_omni_bringup/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>scout_mini_omni_bringup</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The scout_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/scout_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 | 


--------------------------------------------------------------------------------
/scout_mini_omni_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


--------------------------------------------------------------------------------
/scout_mini_omni_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


--------------------------------------------------------------------------------
/scout_mini_omni_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 | 


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | 
  2 | 
  3 | cmake_minimum_required(VERSION 2.8.3)
  4 | project(scout_mini_omni_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 |     ScoutStatus.msg
 51 |     ScoutMotorState.msg
 52 |     ScoutLightState.msg
 53 |     ScoutLightCmd.msg
 54 |     ScoutBmsStatus.msg
 55 |     ScoutDriverState.msg
 56 | )
 57 | 
 58 | 
 59 | ## Generate services in the 'srv' folder
 60 | # add_service_files(
 61 | #   FILES
 62 | #   Service1.srv
 63 | #   Service2.srv
 64 | # )
 65 | 
 66 | ## Generate actions in the 'action' folder
 67 | # add_action_files(
 68 | #   FILES
 69 | #   Action1.action
 70 | #   Action2.action
 71 | # )
 72 | 
 73 | ## Generate added messages and services with any dependencies listed here
 74 | generate_messages(
 75 |   DEPENDENCIES
 76 |   std_msgs
 77 | )
 78 | 
 79 | catkin_package(CATKIN_DEPENDS std_msgs message_runtime)
 80 | 
 81 | ################################################
 82 | ## Declare ROS dynamic reconfigure parameters ##
 83 | ################################################
 84 | 
 85 | ## To declare and build dynamic reconfigure parameters within this
 86 | ## package, follow these steps:
 87 | ## * In the file package.xml:
 88 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 89 | ## * In this file (CMakeLists.txt):
 90 | ##   * add "dynamic_reconfigure" to
 91 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 92 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 93 | ##     and list every .cfg file to be processed
 94 | 
 95 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 96 | # generate_dynamic_reconfigure_options(
 97 | #   cfg/DynReconf1.cfg
 98 | #   cfg/DynReconf2.cfg
 99 | # )
100 | 
101 | ###################################
102 | ## catkin specific configuration ##
103 | ###################################
104 | ## The catkin_package macro generates cmake config files for your package
105 | ## Declare things to be passed to dependent projects
106 | ## INCLUDE_DIRS: uncomment this if your package contains header files
107 | ## LIBRARIES: libraries you create in this project that dependent projects also need
108 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
109 | ## DEPENDS: system dependencies of this project that dependent projects also need
110 | catkin_package(
111 | #  INCLUDE_DIRS include
112 | #  LIBRARIES scout_python
113 | #  CATKIN_DEPENDS rospy scout_msgs std_msgs
114 | #  DEPENDS system_lib
115 | )
116 | 
117 | ###########
118 | ## Build ##
119 | ###########
120 | 
121 | ## Specify additional locations of header files
122 | ## Your package locations should be listed before other locations
123 | include_directories(
124 | #  include
125 |   ${catkin_INCLUDE_DIRS}
126 | )
127 | 
128 | ## Declare a C++ library
129 | # add_library(${PROJECT_NAME}
130 | #   src/${PROJECT_NAME}/scout_python.cpp
131 | # )
132 | 
133 | ## Add cmake target dependencies of the library
134 | ## as an example, code may need to be generated before libraries
135 | ## either from message generation or dynamic reconfigure
136 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
137 | 
138 | ## Declare a C++ executable
139 | ## With catkin_make all packages are built within a single CMake context
140 | ## The recommended prefix ensures that target names across packages don't collide
141 | # add_executable(${PROJECT_NAME}_node src/scout_python_node.cpp)
142 | 
143 | ## Rename C++ executable without prefix
144 | ## The above recommended prefix causes long target names, the following renames the
145 | ## target back to the shorter version for ease of user use
146 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
147 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
148 | 
149 | ## Add cmake target dependencies of the executable
150 | ## same as for the library above
151 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
152 | 
153 | ## Specify libraries to link a library or executable target against
154 | # target_link_libraries(${PROJECT_NAME}_node
155 | #   ${catkin_LIBRARIES}
156 | # )
157 | 
158 | #############
159 | ## Install ##
160 | #############
161 | 
162 | # all install targets should use catkin DESTINATION variables
163 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
164 | 
165 | ## Mark executable scripts (Python etc.) for installation
166 | ## in contrast to setup.py, you can choose the destination
167 | # install(PROGRAMS
168 | #   scripts/my_python_script
169 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
170 | # )
171 | 
172 | ## Mark executables and/or libraries for installation
173 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
174 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
175 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
176 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
177 | # )
178 | 
179 | ## Mark cpp header files for installation
180 | # install(DIRECTORY include/${PROJECT_NAME}/
181 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
182 | #   FILES_MATCHING PATTERN "*.h"
183 | #   PATTERN ".svn" EXCLUDE
184 | # )
185 | 
186 | ## Mark other files for installation (e.g. launch and bag files, etc.)
187 | # install(FILES
188 | #   # myfile1
189 | #   # myfile2
190 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
191 | # )
192 | 
193 | #############
194 | ## Testing ##
195 | #############
196 | 
197 | ## Add gtest based cpp test target and link libraries
198 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_python.cpp)
199 | # if(TARGET ${PROJECT_NAME}-test)
200 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
201 | # endif()
202 | 
203 | ## Add folders to be run by python nosetests
204 | # catkin_add_nosetests(test)
205 | 


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/msg/ScoutBmsStatus.msg:
--------------------------------------------------------------------------------
 1 | #BMS date
 2 | float64 SOC
 3 | float64 SOH
 4 | float64 battery_voltage
 5 | float64 battery_current
 6 | float64 battery_temperature
 7 | 
 8 | #BMS status
 9 | uint8 Alarm_Status_1
10 | uint8 Alarm_Status_2
11 | uint8 Warning_Status_1
12 | uint8 Warning_Status_2
13 | 


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/msg/ScoutDriverState.msg:
--------------------------------------------------------------------------------
1 | float64 driver_voltage
2 | float64 driver_temperature
3 | uint8   driver_state
4 | 


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/msg/ScoutLightCmd.msg:
--------------------------------------------------------------------------------
 1 | uint8 LIGHT_CONST_OFF = 0
 2 | uint8 LIGHT_CONST_ON = 1
 3 | uint8 LIGHT_BREATH = 2
 4 | uint8 LIGHT_CUSTOM = 3
 5 | 
 6 | bool enable_cmd_light_control
 7 | uint8 front_mode
 8 | uint8 front_custom_value
 9 | uint8 rear_mode
10 | uint8 rear_custom_value
11 | 


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/msg/ScoutLightState.msg:
--------------------------------------------------------------------------------
1 | uint8 mode
2 | uint8 custom_value


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/msg/ScoutMotorState.msg:
--------------------------------------------------------------------------------
1 | float64 current
2 | float64 rpm
3 | float64 temperature
4 | float64 motor_pose
5 | 


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/msg/ScoutStatus.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 | float64 lateral_velocity
15 | 
16 | # base state
17 | uint8 base_state
18 | uint8 control_mode
19 | uint16 fault_code
20 | float64 battery_voltage
21 | 
22 | # motor state
23 | ScoutMotorState[4] motor_states
24 | # driver state
25 | ScoutDriverState[4] driver_states
26 | 
27 | # light state
28 | bool light_control_enabled
29 | ScoutLightState front_light_state
30 | ScoutLightState rear_light_state
31 | 


--------------------------------------------------------------------------------
/scout_mini_omni_msgs/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>scout_mini_omni_msgs</name>
 4 |   <version>0.3.3</version>
 5 |   <description>Messages for AgileX Scout</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 | 


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