├── test ├── __init__.py ├── test_vector_node.launch ├── mock_robot.py └── test_vector_node.py ├── .dockerignore ├── src └── vector_ros_driver │ ├── __init__.py │ ├── tf.py │ ├── behavior.py │ ├── camera.py │ ├── anim.py │ ├── vector.py │ └── drive.py ├── .gitignore ├── sdk_auto_config.sh ├── vector_entrypoint.sh ├── setup.py ├── nodes └── vector_node.py ├── README.md ├── urdf └── vector.urdf.xacro ├── Dockerfile ├── launch └── driver.launch ├── package.xml ├── CMakeLists.txt └── LICENSE /test/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /.dockerignore: -------------------------------------------------------------------------------- 1 | .git/ 2 | .idea/ -------------------------------------------------------------------------------- /src/vector_ros_driver/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | docker-compose.yml 2 | *.env -------------------------------------------------------------------------------- /sdk_auto_config.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/expect -f 2 | spawn python3.6 -m anki_vector.configure -e $env(ANKI_USER_EMAIL) -n $env(VECTOR_NAME) -i $env(VECTOR_IP) -s $env(VECTOR_SERIAL) 3 | expect "Do you wish to proceed? \(y/n\) " 4 | send "y\n" 5 | expect "Enter Password: " 6 | send "$env(ANKI_USER_PASSWORD)\r" 7 | expect "SUCCESS!" -------------------------------------------------------------------------------- /vector_entrypoint.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # exit on error 4 | set -e 5 | 6 | source "/opt/ros/$ROS_DISTRO/setup.bash" 7 | source "/catkin_ws/devel/setup.bash" 8 | source "/cv_bridge_build_ws/install/setup.bash" --extend 9 | 10 | # configure sdk 11 | /catkin_ws/src/vector_ros_driver/sdk_auto_config.sh 12 | 13 | # execute command 14 | exec "$@" 15 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['vector_ros_driver'], 9 | package_dir={'': 'src'} 10 | ) 11 | 12 | setup(**setup_args) -------------------------------------------------------------------------------- /test/test_vector_node.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | topics: 11 | - name: /vector/lwheel_ticks 12 | timeout: 2 13 | negative: False 14 | - name: /vector/rwheel_ticks 15 | timeout: 2 16 | negative: False 17 | - name: /vector/camera 18 | timeout: 2 19 | negative: False 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /src/vector_ros_driver/tf.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import anki_vector 5 | 6 | from sensor_msgs.msg import JointState 7 | 8 | class JointStatesPublisher(object): 9 | def __init__(self, async_robot, publish_rate=10): 10 | self.async_robot = async_robot 11 | self.rate = rospy.Rate(publish_rate) 12 | self.joint_states_publisher = rospy.Publisher("~joint_states", JointState, queue_size=1) 13 | self.publish_joint_states() 14 | 15 | def publish_joint_states(self): 16 | joint_states = JointState() 17 | joint_states.name = ["base_to_head"] 18 | while not rospy.is_shutdown(): 19 | joint_states.position = [-1 * self.async_robot.head_angle_rad] 20 | self.joint_states_publisher.publish(joint_states) 21 | self.rate.sleep() 22 | 23 | if __name__=="__main__": 24 | rospy.init_node("tf") 25 | async_robot = anki_vector.AsyncRobot() 26 | async_robot.connect() 27 | JointStatesPublisher(async_robot) 28 | rospy.spin() 29 | 30 | -------------------------------------------------------------------------------- /src/vector_ros_driver/behavior.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import anki_vector 5 | 6 | from vector_ros.srv import HeadAngle, HeadAngleResponse, LiftHeight, LiftHeightResponse 7 | 8 | class Behavior(object): 9 | '''Expose functions list at https://developer.anki.com/vector/docs/generated/anki_vector.behavior.html''' 10 | 11 | def __init__(self, robot): 12 | self.robot = robot 13 | self.set_head_angle_service = rospy.Service("~set_head_angle", HeadAngle, self.set_head_angle_service_cb) 14 | self.set_lift_height_service = rospy.Service("~set_lift_height", LiftHeight, self.set_lift_height_service_cb) 15 | 16 | def set_head_angle_service_cb(self, request): 17 | self.robot.behavior.set_head_angle(anki_vector.util.degrees(request.deg)) 18 | return HeadAngleResponse() 19 | 20 | def set_lift_height_service_cb(self, request): 21 | self.robot.behavior.set_lift_height(request.height) 22 | return LiftHeightResponse() 23 | 24 | if __name__=="__main__": 25 | rospy.init_node("vector") 26 | robot = anki_vector.Robot() 27 | robot.connect() 28 | Behavior(robot) 29 | rospy.spin() 30 | -------------------------------------------------------------------------------- /src/vector_ros_driver/camera.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import anki_vector 5 | import cv_bridge 6 | import numpy 7 | 8 | from sensor_msgs.msg import Image 9 | 10 | class Camera(object): 11 | def __init__(self, async_robot, publish_rate=10, image_frame_id='camera_link'): 12 | self.async_robot = async_robot 13 | self.rate = rospy.Rate(publish_rate) 14 | self.image_frame_id = image_frame_id 15 | self.image_publisher = rospy.Publisher("~camera", Image, queue_size=1) 16 | self.publish_camera_feed() 17 | 18 | def publish_camera_feed(self): 19 | bridge = cv_bridge.CvBridge() 20 | 21 | while not rospy.is_shutdown(): 22 | image = bridge.cv2_to_imgmsg(numpy.asarray(self.async_robot.camera.latest_image), encoding="rgb8") # convert PIL.Image to ROS Image 23 | image.header.stamp = rospy.Time.now() 24 | image.header.frame_id = self.image_frame_id 25 | self.image_publisher.publish(image) 26 | 27 | # make sure to publish at required rate 28 | self.rate.sleep() 29 | 30 | if __name__=="__main__": 31 | rospy.init_node("camera") 32 | async_robot = anki_vector.AsyncRobot(enable_camera_feed=True) 33 | async_robot.connect() 34 | Camera(async_robot) 35 | rospy.spin() 36 | 37 | -------------------------------------------------------------------------------- /src/vector_ros_driver/anim.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import actionlib 5 | 6 | import anki_vector 7 | 8 | from vector_ros.msg import PlayAnimationAction 9 | from vector_ros.srv import AnimList, AnimListResponse 10 | 11 | class Animation(object): 12 | '''Expose functions list at https://developer.anki.com/vector/docs/generated/anki_vector.animation.html''' 13 | 14 | def __init__(self, robot): 15 | self.robot = robot 16 | self.rate = rospy.Rate(4) 17 | 18 | self.action_server = actionlib.SimpleActionServer("~play_animation", PlayAnimationAction, self.play_animation_cb, False) 19 | self.action_server.start() 20 | 21 | self.anim_list_service = rospy.Service("~anim_list", AnimList, self.anim_list_cb) 22 | 23 | def play_animation_cb(self, msg): 24 | job = self.robot.anim.play_animation(msg.anim) 25 | while job.running(): 26 | if self.action_server.is_preempt_requested(): 27 | job.cancle() 28 | self.action_server.set_preempt() 29 | 30 | self.rate.sleep() 31 | 32 | if not job.cancelled(): 33 | self.action_server.set_succeeded() 34 | 35 | def anim_list_cb(self, request): 36 | response = AnimListResponse() 37 | response.anim_names = self.robot.anim.anim_list 38 | 39 | return response 40 | 41 | 42 | if __name__=="__main__": 43 | rospy.init_node("vector_anim") 44 | robot = anki_vector.AsyncRobot() 45 | robot.connect() 46 | Animation(robot) 47 | rospy.spin() -------------------------------------------------------------------------------- /nodes/vector_node.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import anki_vector 5 | import threading 6 | import os 7 | import sys 8 | 9 | from vector_ros_driver.vector import Vector 10 | from vector_ros_driver.anim import Animation 11 | from vector_ros_driver.drive import Drive 12 | from vector_ros_driver.camera import Camera 13 | from vector_ros_driver.behavior import Behavior 14 | from vector_ros_driver.tf import JointStatesPublisher 15 | 16 | if __name__=="__main__": 17 | rospy.init_node("vector") 18 | 19 | # use mock robot object if required 20 | if rospy.get_param("~use_mock", False): 21 | rospy.loginfo("using mock!") 22 | sys.path.append(os.path.join(os.path.dirname(__file__), "..", "test")) 23 | import mock_robot 24 | async_robot = mock_robot.MockRobot() 25 | 26 | else: 27 | async_robot = anki_vector.AsyncRobot() 28 | async_robot.camera.init_camera_feed() 29 | 30 | # connect to Vector 31 | async_robot.connect() 32 | 33 | # start all using shared AsyncRobot object 34 | Vector(async_robot) 35 | Animation(async_robot) 36 | Behavior(async_robot) 37 | 38 | # these services require threads to run(and publish) in parallel 39 | drive_thread = threading.Thread(target=Drive, args=(async_robot,)) 40 | drive_thread.start() 41 | 42 | camera_thread = threading.Thread(target=Camera, args=(async_robot,)) 43 | camera_thread.start() 44 | 45 | tf_thread = threading.Thread(target=JointStatesPublisher, args=(async_robot,)) 46 | tf_thread.start() 47 | 48 | rospy.spin() -------------------------------------------------------------------------------- /src/vector_ros_driver/vector.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import anki_vector 5 | import concurrent.futures 6 | 7 | from vector_ros.srv import BatteryState, BatteryStateResponse 8 | from vector_ros.srv import SayText, SayTextResponse 9 | 10 | class Vector(object): 11 | '''Expose functions list at https://developer.anki.com/vector/docs/generated/anki_vector.html''' 12 | 13 | def __init__(self, robot): 14 | self.robot = robot 15 | self.battery_state_service = rospy.Service("~battery_state", BatteryState, self.battery_state_service_cb) 16 | self.say_text_service = rospy.Service("~say_text", SayText, self.say_text_cb) 17 | 18 | def battery_state_service_cb(self, request): 19 | job = self.robot.get_battery_state() 20 | response = BatteryStateResponse() 21 | 22 | try: 23 | battery_state = job.result(2) # wait max 2 secs 24 | except concurrent.futures.TimeoutError: 25 | rospy.logerr("timeout - could not get battery state!") 26 | return response 27 | 28 | response.battery_volts = battery_state.battery_volts 29 | response.battery_level = battery_state.battery_level 30 | response.is_charging = battery_state.is_charging 31 | response.is_on_charger_platform = battery_state.is_on_charger_platform 32 | response.suggested_charger_sec = battery_state.suggested_charger_sec 33 | 34 | return response 35 | 36 | def say_text_cb(self, request): 37 | self.robot.say_text(request.text) 38 | 39 | return SayTextResponse() 40 | 41 | if __name__=="__main__": 42 | rospy.init_node("vector") 43 | robot = anki_vector.Robot() 44 | robot.connect() 45 | Vector(robot) 46 | rospy.spin() 47 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # vector_ros_driver 2 | This repository contains a ROS package to control physical Anki Vector home robot. For more information please visit [vector_ros](https://github.com/betab0t/vector_ros) main repository. 3 | 4 | # Setup 5 | ## Docker Image 6 | It's highly recommended to use the supplied Dockerfile instead of installing directly on your machine mainly because of the tricky setup required to run Python 3 properly on ROS. If you wish to do this setup by yourself then [I wrote a blog post explaining how](https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674) that you can use, else follow these instructions: 7 | 1. Install [Docker](https://www.digitalocean.com/community/tutorials/how-to-install-and-use-docker-on-ubuntu-16-04) if you dont have it already installed 8 | ```sh 9 | curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add - 10 | sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" 11 | sudo apt-get update 12 | sudo apt-get install -y docker-ce 13 | ``` 14 | 15 | 2. Run using pre-built image from DockerHub, params are passed view environment variables: 16 | ```sh 17 | sudo docker run -e ANKI_USER_EMAIL= -e ANKI_USER_PASSWORD= -e VECTOR_IP= -e VECTOR_SERIAL= -e VECTOR_NAME= --network host -it betab0t/vector-ros-driver 18 | ``` 19 | *Notice! Use your [Anki Developer](https://developer.anki.com/) username and password* 20 | 21 | 3. You can now execute ```rostopic list``` on your host machine the verify everything works 22 | 23 | # FAQ 24 | - **[How do i find Vector's IP address?](https://developer.anki.com/vector/docs/troubleshooting.html#can-t-find-vector-s-ip-address)** 25 | 26 | - **[How do i find Vector's name?](https://developer.anki.com/vector/docs/troubleshooting.html#can-t-find-robot-name)** 27 | 28 | - **[How do i find Vector's serial number?](https://developer.anki.com/vector/docs/troubleshooting.html#can-t-find-serial-number)** 29 | 30 | ## Notes 31 | To avoid problems authenticating with Anki Cloud, it's better to avoid using in the password special characters like $. 32 | -------------------------------------------------------------------------------- /urdf/vector.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /test/mock_robot.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import concurrent 5 | 6 | from PIL import Image 7 | 8 | class MockMotorComponent(object): 9 | def __init__(self): 10 | self._left_wheel_speed = 0 11 | self._right_wheel_speed = 0 12 | 13 | def set_wheel_motors(self, left_wheel_speed, right_wheel_speed): 14 | self._left_wheel_speed = left_wheel_speed 15 | self._right_wheel_speed = right_wheel_speed 16 | 17 | def get_wheel_motors(self): 18 | return self._left_wheel_speed, self._right_wheel_speed 19 | 20 | class MockAnim(object): 21 | def __init__(self): 22 | self.anim_list = ['anim_turn_left_01'] 23 | 24 | def play_animation(self, animation): 25 | res = concurrent.futures.Future() 26 | res.set_result(rospy.sleep(1)) 27 | return res 28 | 29 | class MockCamera(object): 30 | def __init__(self): 31 | self.latest_image = Image.new('RGB', (1280, 720)) 32 | 33 | class MockBehavior(object): 34 | def set_head_angle(self, deg): 35 | return 36 | 37 | def set_lift_height(self, height): 38 | return 39 | 40 | class MockRobot(object): 41 | 42 | class BatteryState(object): 43 | def __init__(self, battery_volts=3.0, battery_level=1, is_charging=False, is_on_charger_platform=False, suggested_charger_sec=100.0): 44 | self.battery_volts = battery_volts 45 | self.battery_level = battery_level 46 | self.is_charging = is_charging 47 | self.is_on_charger_platform = is_on_charger_platform 48 | self.suggested_charger_sec = suggested_charger_sec 49 | 50 | def __init__(self, **kargs): 51 | self.motors = MockMotorComponent() 52 | self.camera = MockCamera() 53 | self.anim = MockAnim() 54 | self.behavior = MockBehavior() 55 | 56 | def connect(self): 57 | rospy.loginfo("mock robot connected!") 58 | 59 | @property 60 | def left_wheel_speed_mmps(self): 61 | return self.motors.get_wheel_motors()[0] 62 | 63 | @property 64 | def right_wheel_speed_mmps(self): 65 | return self.motors.get_wheel_motors()[1] 66 | 67 | def get_battery_state(self): 68 | res = concurrent.futures.Future() 69 | res.set_result(MockRobot.BatteryState()) 70 | return res 71 | 72 | def say_text(self, text): 73 | return -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ros:melodic-ros-core-bionic 2 | 3 | # init catkin workspace 4 | RUN mkdir -p /catkin_ws/src/vector_ros_driver 5 | 6 | # install required dependencies 7 | RUN apt-get update && apt-get install -y \ 8 | python3-yaml \ 9 | python3-pip \ 10 | expect \ 11 | python-catkin-tools \ 12 | python3-dev \ 13 | python3-catkin-pkg-modules \ 14 | python3-numpy \ 15 | libopencv-dev \ 16 | ros-melodic-tf \ 17 | ros-melodic-xacro \ 18 | ros-melodic-robot-state-publisher \ 19 | ros-melodic-joint-state-publisher 20 | 21 | RUN pip3 install \ 22 | rospkg \ 23 | catkin_pkg 24 | 25 | # install up-to-date rosunit so we'll get the patch for Python3 26 | RUN cd /catkin_ws/src/ && \ 27 | git clone https://github.com/ros/ros && \ 28 | cd .. && \ 29 | /ros_entrypoint.sh catkin_make install --pkg rosunit 30 | 31 | # setup Anki's SDK 32 | RUN python3 -m pip install --user anki_vector 33 | 34 | # build cv_bridge for Python3.6 35 | RUN /ros_entrypoint.sh /bin/bash -c "mkdir /cv_bridge_build_ws && \ 36 | cd /cv_bridge_build_ws && \ 37 | catkin init && \ 38 | catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3.6 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so && \ 39 | catkin config --install && \ 40 | git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv && \ 41 | cd src/vision_opencv/ && \ 42 | git checkout melodic && \ 43 | cd ../../ && \ 44 | catkin build cv_bridge" 45 | 46 | # copy pakcage source code 47 | COPY . /catkin_ws/src/vector_ros_driver 48 | 49 | # clone vector_ros repo 50 | RUN git clone https://github.com/betab0t/vector_ros /catkin_ws/src/vector_ros 51 | 52 | # clone diff_drive package 53 | RUN git clone https://github.com/merose/diff_drive /catkin_ws/src/diff_drive 54 | 55 | # build all packages in catkin_ws 56 | RUN cd /catkin_ws && \ 57 | /ros_entrypoint.sh catkin_make 58 | 59 | WORKDIR /catkin_ws 60 | 61 | COPY vector_entrypoint.sh /vector_entrypoint.sh 62 | ENTRYPOINT ["/vector_entrypoint.sh"] 63 | 64 | CMD ["roslaunch", "vector_ros_driver", "driver.launch"] -------------------------------------------------------------------------------- /src/vector_ros_driver/drive.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import anki_vector 5 | 6 | from std_msgs.msg import Int32 7 | 8 | 9 | class Drive(object): 10 | def __init__(self, async_robot, publish_rate=2): 11 | self.async_robot = async_robot 12 | self.publish_rate = publish_rate 13 | self.rate = rospy.Rate(self.publish_rate) 14 | 15 | # publishers 16 | self.lwheel_ticks_publisher = rospy.Publisher("~lwheel_ticks", Int32, queue_size=1) 17 | self.rwheel_ticks_publisher = rospy.Publisher("~rwheel_ticks", Int32, queue_size=1) 18 | 19 | # subscribers 20 | self.lwheel_desired_rate_subscriber = rospy.Subscriber("~lwheel_desired_rate", Int32, self.lwheel_desired_rate_cb) 21 | self.rwheel_desired_rate_subscriber = rospy.Subscriber("~rwheel_desired_rate", Int32, self.rwheel_desired_rate_cb) 22 | 23 | # wheels speed 24 | self.lwheel_speed_mm_sec = 0 25 | self.rwheel_speed_mm_sec = 0 26 | 27 | self.publish_estimated_encoder_ticks() 28 | 29 | # callbacks 30 | def lwheel_desired_rate_cb(self, msg): 31 | self.lwheel_speed_mm_sec = msg.data 32 | self.async_robot.motors.set_wheel_motors(self.lwheel_speed_mm_sec, self.rwheel_speed_mm_sec) 33 | 34 | def rwheel_desired_rate_cb(self, msg): 35 | self.rwheel_speed_mm_sec = msg.data 36 | self.async_robot.motors.set_wheel_motors(self.lwheel_speed_mm_sec, self.rwheel_speed_mm_sec) 37 | 38 | def publish_estimated_encoder_ticks(self): 39 | ''' publishing encoder ticks is required in order to use diff_drive pkg ''' 40 | 41 | lwheel_ticks_total = 0 42 | rwheel_ticks_total = 0 43 | 44 | while not rospy.is_shutdown(): 45 | if self.async_robot.left_wheel_speed_mmps > 0: 46 | lwheel_ticks_total += self.async_robot.left_wheel_speed_mmps / self.publish_rate 47 | 48 | if self.async_robot.right_wheel_speed_mmps > 0: 49 | rwheel_ticks_total += self.async_robot.right_wheel_speed_mmps / self.publish_rate 50 | 51 | # publish number of estimated ticks for each wheel in ratio of 1000 ticks per meter 52 | self.lwheel_ticks_publisher.publish(data=int(lwheel_ticks_total)) 53 | self.rwheel_ticks_publisher.publish(data=int(rwheel_ticks_total)) 54 | 55 | self.rate.sleep() # publish at specified rate 56 | 57 | if __name__=="__main__": 58 | rospy.init_node("drive") 59 | async_robot = anki_vector.AsyncRobot() 60 | async_robot.connect() 61 | Drive(async_robot) 62 | rospy.spin() -------------------------------------------------------------------------------- /launch/driver.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ["/vector/joint_states"] 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | ticks_per_meter: $(arg ticks_per_meter) 28 | wheel_separation: $(arg wheel_separation) 29 | max_motor_speed: 3000 30 | timeout: 1.0 31 | 32 | 33 | 34 | 35 | 36 | 37 | ticks_per_meter: $(arg ticks_per_meter) 38 | wheel_separation: $(arg wheel_separation) 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | vector_ros_driver 4 | 0.0.0 5 | Unofficial ROS package for Anki Vector home robot 6 | 7 | 8 | 9 | 10 | beta_b0t 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | message_generation 54 | actionlib_msgs 55 | rostest 56 | rospy 57 | message_runtime 58 | rospy 59 | message_runtime 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /test/test_vector_node.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.6 2 | 3 | import rospy 4 | import actionlib 5 | import unittest 6 | 7 | from std_msgs.msg import Int32 8 | 9 | from vector_ros.srv import BatteryState 10 | from vector_ros.srv import AnimList, AnimListResponse 11 | from vector_ros.srv import HeadAngle, HeadAngleResponse 12 | from vector_ros.srv import LiftHeight, LiftHeightResponse 13 | from vector_ros.srv import SayText, SayTextResponse 14 | 15 | from vector_ros.msg import PlayAnimationAction, PlayAnimationGoal, PlayAnimationResult 16 | 17 | 18 | class TestVectorNode(unittest.TestCase): 19 | def test_battery_state_service(self): 20 | rospy.wait_for_service("/vector/battery_state") 21 | battery_state = rospy.ServiceProxy("/vector/battery_state", BatteryState) 22 | _battery_state = battery_state() 23 | 24 | self.assertTrue(1.0 <= _battery_state.battery_volts <= 5.0) 25 | 26 | def lwheel_ticks_cb(self, msg): 27 | self.lwheel_ticks = msg.data 28 | 29 | def rwheel_ticks_cb(self, msg): 30 | self.rwheel_ticks = msg.data 31 | 32 | def test_wheel_ticks_increase_while_driving(self): 33 | self.lwheel_ticks = self.rwheel_ticks = 0 34 | 35 | # subscribe to both wheel ticks topics 36 | rospy.Subscriber("/vector/lwheel_ticks", Int32, self.lwheel_ticks_cb) 37 | rospy.Subscriber("/vector/rwheel_ticks", Int32, self.rwheel_ticks_cb) 38 | 39 | lwheel_desired_rate_pubisher = rospy.Publisher("/vector/lwheel_desired_rate", Int32, queue_size=1) 40 | rwheel_desired_rate_pubisher = rospy.Publisher("/vector/rwheel_desired_rate", Int32, queue_size=1) 41 | 42 | _rate = rospy.Rate(10) 43 | 44 | # publish desired speed for both wheels 45 | for i in range(10): 46 | lwheel_desired_rate_pubisher.publish(data=int(100)) 47 | rwheel_desired_rate_pubisher.publish(data=int(100)) 48 | 49 | _rate.sleep() 50 | 51 | # check both wheel ticks increased 52 | self.assertTrue(self.lwheel_ticks > 0) 53 | self.assertTrue(self.rwheel_ticks > 0) 54 | 55 | def test_play_animation_action(self): 56 | play_animation = actionlib.SimpleActionClient("/vector/play_animation", PlayAnimationAction) 57 | play_animation.wait_for_server() 58 | goal = PlayAnimationGoal() 59 | goal.anim = "test_anim_01" 60 | play_animation.send_goal(goal) 61 | play_animation.wait_for_result() 62 | self.assertIsInstance(play_animation.get_result(), PlayAnimationResult) 63 | 64 | def test_anim_list_service(self): 65 | rospy.wait_for_service("/vector/anim_list") 66 | anim_list = rospy.ServiceProxy("/vector/anim_list", AnimList) 67 | res = anim_list() 68 | self.assertIn("anim_turn_left_01", res.anim_names) 69 | 70 | def test_set_head_angle_service(self): 71 | rospy.wait_for_service("/vector/set_head_angle") 72 | set_head_angle = rospy.ServiceProxy("/vector/set_head_angle", HeadAngle) 73 | res = set_head_angle(deg=float(45.0)) 74 | self.assertIsInstance(res, HeadAngleResponse) 75 | 76 | def test_set_lift_height_service(self): 77 | rospy.wait_for_service("/vector/set_lift_height") 78 | set_lift_height = rospy.ServiceProxy("/vector/set_lift_height", LiftHeight) 79 | res = set_lift_height(height=(0.75)) 80 | self.assertIsInstance(res, LiftHeightResponse) 81 | 82 | def test_say_text(self): 83 | rospy.wait_for_service("/vector/say_text") 84 | say_text = rospy.ServiceProxy("/vector/say_text", SayText) 85 | res = say_text(text="Test!") 86 | self.assertIsInstance(res, SayTextResponse) 87 | 88 | if __name__=="__main__": 89 | import rostest 90 | rospy.init_node("tests_node") 91 | rostest.rosrun("vector_ros_driver", "test_vector_node", TestVectorNode) -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(vector_ros_driver) 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 | rospy 12 | std_msgs 13 | message_generation 14 | actionlib_msgs 15 | ) 16 | 17 | ## System dependencies are found with CMake's conventions 18 | # find_package(Boost REQUIRED COMPONENTS system) 19 | 20 | 21 | ## Uncomment this if the package has a setup.py. This macro ensures 22 | ## modules and global scripts declared therein get installed 23 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 24 | catkin_python_setup() 25 | 26 | ################################################ 27 | ## Declare ROS messages, services and actions ## 28 | ################################################ 29 | 30 | ## To declare and build messages, services or actions from within this 31 | ## package, follow these steps: 32 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 33 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 34 | ## * In the file package.xml: 35 | ## * add a build_depend tag for "message_generation" 36 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 37 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 38 | ## but can be declared for certainty nonetheless: 39 | ## * add a exec_depend tag for "message_runtime" 40 | ## * In this file (CMakeLists.txt): 41 | ## * add "message_generation" and every package in MSG_DEP_SET to 42 | ## find_package(catkin REQUIRED COMPONENTS ...) 43 | ## * add "message_runtime" and every package in MSG_DEP_SET to 44 | ## catkin_package(CATKIN_DEPENDS ...) 45 | ## * uncomment the add_*_files sections below as needed 46 | ## and list every .msg/.srv/.action file to be processed 47 | ## * uncomment the generate_messages entry below 48 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 49 | 50 | ## Generate messages in the 'msg' folder 51 | # add_message_files( 52 | # FILES 53 | # Message1.msg 54 | # Message2.msg 55 | # ) 56 | 57 | ## Generate services in the 'srv' folder 58 | # add_service_files( 59 | # FILES 60 | # ) 61 | 62 | ## Generate actions in the 'action' folder 63 | # add_action_files( 64 | # FILES 65 | # ) 66 | 67 | ## Generate added messages and services with any dependencies listed here 68 | generate_messages( 69 | DEPENDENCIES 70 | actionlib_msgs std_msgs # Or other packages containing msgs 71 | ) 72 | 73 | ################################################ 74 | ## Declare ROS dynamic reconfigure parameters ## 75 | ################################################ 76 | 77 | ## To declare and build dynamic reconfigure parameters within this 78 | ## package, follow these steps: 79 | ## * In the file package.xml: 80 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 81 | ## * In this file (CMakeLists.txt): 82 | ## * add "dynamic_reconfigure" to 83 | ## find_package(catkin REQUIRED COMPONENTS ...) 84 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 85 | ## and list every .cfg file to be processed 86 | 87 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 88 | # generate_dynamic_reconfigure_options( 89 | # cfg/DynReconf1.cfg 90 | # cfg/DynReconf2.cfg 91 | # ) 92 | 93 | ################################### 94 | ## catkin specific configuration ## 95 | ################################### 96 | ## The catkin_package macro generates cmake config files for your package 97 | ## Declare things to be passed to dependent projects 98 | ## INCLUDE_DIRS: uncomment this if your package contains header files 99 | ## LIBRARIES: libraries you create in this project that dependent projects also need 100 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 101 | ## DEPENDS: system dependencies of this project that dependent projects also need 102 | catkin_package( 103 | # INCLUDE_DIRS include 104 | # LIBRARIES vector_ros_driver 105 | CATKIN_DEPENDS rospy 106 | # DEPENDS system_lib 107 | ) 108 | 109 | ########### 110 | ## Build ## 111 | ########### 112 | 113 | ## Specify additional locations of header files 114 | ## Your package locations should be listed before other locations 115 | include_directories( 116 | # include 117 | ${catkin_INCLUDE_DIRS} 118 | ) 119 | 120 | ## Declare a C++ library 121 | # add_library(${PROJECT_NAME} 122 | # src/${PROJECT_NAME}/vector_ros_driver.cpp 123 | # ) 124 | 125 | ## Add cmake target dependencies of the library 126 | ## as an example, code may need to be generated before libraries 127 | ## either from message generation or dynamic reconfigure 128 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 129 | 130 | ## Declare a C++ executable 131 | ## With catkin_make all packages are built within a single CMake context 132 | ## The recommended prefix ensures that target names across packages don't collide 133 | # add_executable(${PROJECT_NAME}_node src/vector_ros_driver_node.cpp) 134 | 135 | ## Rename C++ executable without prefix 136 | ## The above recommended prefix causes long target names, the following renames the 137 | ## target back to the shorter version for ease of user use 138 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 139 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 140 | 141 | ## Add cmake target dependencies of the executable 142 | ## same as for the library above 143 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 144 | 145 | ## Specify libraries to link a library or executable target against 146 | # target_link_libraries(${PROJECT_NAME}_node 147 | # ${catkin_LIBRARIES} 148 | # ) 149 | 150 | ############# 151 | ## Install ## 152 | ############# 153 | 154 | # all install targets should use catkin DESTINATION variables 155 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 156 | 157 | ## Mark executable scripts (Python etc.) for installation 158 | ## in contrast to setup.py, you can choose the destination 159 | # install(PROGRAMS 160 | # scripts/my_python_script 161 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 162 | # ) 163 | 164 | ## Mark executables and/or libraries for installation 165 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 166 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 167 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 168 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 169 | # ) 170 | 171 | ## Mark cpp header files for installation 172 | # install(DIRECTORY include/${PROJECT_NAME}/ 173 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 174 | # FILES_MATCHING PATTERN "*.h" 175 | # PATTERN ".svn" EXCLUDE 176 | # ) 177 | 178 | ## Mark other files for installation (e.g. launch and bag files, etc.) 179 | # install(FILES 180 | # # myfile1 181 | # # myfile2 182 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 183 | # ) 184 | 185 | ############# 186 | ## Testing ## 187 | ############# 188 | 189 | ## Add gtest based cpp test target and link libraries 190 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_vector_ros_driver.cpp) 191 | # if(TARGET ${PROJECT_NAME}-test) 192 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 193 | # endif() 194 | 195 | ## Add folders to be run by python nosetests 196 | # catkin_add_nosetests(test) 197 | 198 | if (CATKIN_ENABLE_TESTING) 199 | find_package(rostest REQUIRED) 200 | add_rostest(test/test_vector_node.launch) 201 | endif() -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------