├── LICENSE ├── README.md ├── autostart.sh ├── volta_base ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── config │ ├── rplidarA2.yaml │ └── scan.yaml ├── launch │ ├── bringup.launch │ └── sensors.launch └── package.xml ├── volta_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── config │ ├── control.yaml │ └── twist_mux.yaml ├── launch │ └── control.launch └── package.xml ├── volta_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── launch │ └── description.launch ├── meshes │ ├── astra.dae │ ├── d435i.dae │ ├── hokuyo.dae │ ├── logo.png │ ├── rplidar.dae │ ├── volta.dae │ └── volta_logo.dae ├── package.xml ├── rviz_params │ └── urdf.rviz └── urdf │ ├── accessories │ ├── camera_volta.urdf.xacro │ ├── imu_volta.urdf.xacro │ └── lidar_volta.urdf.xacro │ ├── components │ ├── caster_volta.urdf.xacro │ └── wheel_volta.urdf.xacro │ ├── volta.urdf.xacro │ ├── volta.xacro │ └── volta_properties.xacro ├── volta_localization ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── config │ └── localization.yaml ├── launch │ └── localization.launch └── package.xml ├── volta_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── msg │ ├── BMS.msg │ ├── Diagnostics.msg │ ├── RPM.msg │ └── Table.msg └── package.xml ├── volta_navigation ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── config │ ├── amcl.yaml │ ├── costmap.yaml │ ├── costmap_global.yaml │ ├── costmap_local.yaml │ ├── global_planner.yaml │ ├── gmapping.yaml │ └── local_planner.yaml ├── launch │ └── navigation.launch ├── maps │ ├── gazebo.pgm │ └── gazebo.yaml ├── package.xml └── rviz_config │ └── navigation.rviz ├── volta_rules ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── create_udev_rules ├── package.xml ├── sensor_read.py └── udev_rules.rules └── volta_teleoperator ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── config └── joy.yaml ├── include └── volta_teleoperator │ └── joy_teleop.h ├── launch └── teleoperator.launch ├── package.xml └── src ├── joy_teleop.cpp └── joy_teleop_node.cpp /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Volta 2 | Version:1.1.0 3 | ROS packages used to to run volta with hardware 4 | 5 | * volta_base - Package contains files to connect to the robot and run the sensor driver. 6 | * volta_control - Control configuration required for ROS control. 7 | * volta_description - Volta Robot description (URDF files). 8 | * volta_localization - Sensor fusion of wheel odometry and IMU data using the robot localization package. 9 | * volta_msgs - contains ROS messages specific to volta such as the power board messages,..etc 10 | * volta_navigation - Contains files required for running gmapping, amcl and move_base ROS packages. 11 | * volta_teleoperation - Control the robot using keyboard or Joystick. 12 | * volta_rules - Contains rules that ensures the USB peripherals are binded correctly 13 | 14 | ## Steps to Launch Volta : 15 | 16 | ### 1. Mapping an environment with Volta 17 | * Launch the move_base node by running: 18 | ``` 19 | $ roslaunch volta_base bringup.launch 20 | ``` 21 | * Launch the sensors node by running: 22 | ``` 23 | $ roslaunch volta_base sensors.launch 24 | ``` 25 | * To perform the mapping, launch the navigation package by running 26 | ``` 27 | $ roslaunch volta_navigation navigation.launch gmapping:=true 28 | ``` 29 | * Launch the rviz visualization tool by running: 30 | ``` 31 | $ rosrun rviz rviz 32 | ``` 33 | You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool 34 | 35 | * In order to control the robot, launch the teleoperation node by running: 36 | ``` 37 | $ roslaunch volta_teleoperator teleoperator.launch keyboard:=true 38 | ``` 39 | 40 | * Once the mapping of the entire environment is completed, the map can be saved by running: 41 | ``` 42 | $ rosrun map_server map_saver –f 43 | ``` 44 | 45 | ### 3. Navigation with Volta 46 | * Launch the move_base node by running: 47 | ``` 48 | $ roslaunch volta_base bringup.launch 49 | ``` 50 | * Launch the sensors node by running: 51 | ``` 52 | $ roslaunch volta_base bringup.launch 53 | ``` 54 | * To perform the Autonomous navigation, launch the navigation package by running 55 | ``` 56 | $ roslaunch volta_navigation navigation.launch 57 | ``` 58 | * Launch the rviz visualization tool by running: 59 | ``` 60 | $ rosrun rviz rviz 61 | ``` 62 | You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool 63 | 64 | Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map 65 | -------------------------------------------------------------------------------- /autostart.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | rossetup=/opt/ros/melodic/setup.bash 3 | rossetup2=/home/volta/catkin_volta/devel/setup.bash 4 | launcher="roslaunch volta_base bringup.launch" 5 | pathfile=/home/volta 6 | pathfile2=/lib/systemd/system 7 | cat <$pathfile/volta_start.sh 8 | #!/bin/bash 9 | bash -c "source $rossetup && source $rossetup2 && $launcher" 10 | EOF 11 | 12 | sudo chmod u+x $pathfile/volta_start.sh 13 | 14 | cat <$pathfile2/volta_start.service 15 | [Unit] 16 | Description=Vehicle Auto Start 17 | After=multi-user.target 18 | 19 | [Service] 20 | Type=idle 21 | ExecStart=$pathfile/volta_start.sh 22 | 23 | [Install] 24 | WantedBy=multi-user.target 25 | EOF 26 | sudo chmod 644 $pathfile2/volta_start.service 27 | sudo systemctl daemon-reload 28 | sudo systemctl enable volta_start.service 29 | sudo systemctl start volta_start.service 30 | -------------------------------------------------------------------------------- /volta_base/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_base 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * Merged volta_development. 11 | * Merged volta_development. 12 | * Added BSD-3 license 13 | * Changed the launch file names 14 | * updating volta base - melodic 15 | * Changed done repo to run on melodic 16 | * Contributors: Nikhil Venkatesh, Toship 17 | 18 | 1.1.0 (2020-11-19) 19 | ------------------ 20 | * First Release 21 | -------------------------------------------------------------------------------- /volta_base/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_base) 3 | 4 | add_compile_options(-std=c++11) 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | ) 8 | 9 | catkin_package() 10 | 11 | set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;") 12 | 13 | install( 14 | DIRECTORY launch config 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 16 | ) 17 | -------------------------------------------------------------------------------- /volta_base/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_base/config/rplidarA2.yaml: -------------------------------------------------------------------------------- 1 | scan_filter_chain: 2 | - name: box 3 | type: laser_filters/LaserScanBoxFilter 4 | params: 5 | box_frame: base_link 6 | min_x: -0.28 7 | max_x: 0.15 8 | min_y: -0.4 9 | max_y: 0.4 10 | min_z: -1.0 11 | max_z: 1.0 12 | - name: range 13 | type: laser_filters/LaserScanRangeFilter 14 | params: 15 | use_message_range_limits: false 16 | lower_threshold: 0.15 17 | upper_threshold: 18.0 18 | upper_replacement_value: 40.0 19 | -------------------------------------------------------------------------------- /volta_base/config/scan.yaml: -------------------------------------------------------------------------------- 1 | scan_filter_chain: 2 | - name: laser_cutoff 3 | type: laser_filters/LaserScanAngularBoundsFilter 4 | params: 5 | lower_angle: -1.57 6 | upper_angle: 1.57 7 | -------------------------------------------------------------------------------- /volta_base/launch/bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /volta_base/launch/sensors.launch: -------------------------------------------------------------------------------- 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 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | -------------------------------------------------------------------------------- /volta_base/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_base 4 | 1.1.1 5 | The volta_base package 6 | 7 | 8 | Nikhil Venkatesh 9 | Mahendra L Seervi 10 | 11 | Nikhil Venkatesh 12 | Toship 13 | 14 | BSD-3-Clause 15 | catkin 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /volta_control/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_control 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * Merged volta_development. 11 | * Merged volta_development. 12 | * Added BSD-3 license 13 | * Changed the launch file names 14 | * updating volta base - melodic 15 | * Changed done repo to run on melodic 16 | * Contributors: Nikhil Venkatesh, Toship 17 | 18 | 1.1.0 (2020-11-19) 19 | ------------------ 20 | * First Release 21 | -------------------------------------------------------------------------------- /volta_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_control) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | controller_manager 6 | diff_drive_controller 7 | joint_state_controller 8 | twist_mux 9 | ) 10 | 11 | catkin_package( 12 | ) 13 | 14 | include_directories( 15 | ${catkin_INCLUDE_DIRS} 16 | ) 17 | 18 | install( 19 | DIRECTORY launch config 20 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 21 | ) 22 | -------------------------------------------------------------------------------- /volta_control/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_control/config/control.yaml: -------------------------------------------------------------------------------- 1 | volta_joint_publisher: 2 | type: "joint_state_controller/JointStateController" 3 | publish_rate: 10 4 | 5 | volta_base_controller: 6 | type: "diff_drive_controller/DiffDriveController" 7 | left_wheel: ['left_wheel_joint'] 8 | right_wheel: ['right_wheel_joint'] 9 | publish_rate: 20 10 | pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] 11 | twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] 12 | cmd_vel_timeout: 1000.0 13 | base_frame_id: base_link 14 | enable_odom_tf: true 15 | estimate_velocity_from_position: false 16 | 17 | wheel_separation_multiplier: 1.0 18 | wheel_separation: 0.3208 19 | wheel_radius: 0.0425 20 | wheel_radius_multiplier : 1.016 21 | 22 | linear: 23 | x: 24 | has_velocity_limits : true 25 | max_velocity : 1.0 26 | has_acceleration_limits: true 27 | max_acceleration : 1.0 28 | angular: 29 | z: 30 | has_velocity_limits : true 31 | max_velocity : 1.0 32 | has_acceleration_limits: true 33 | max_acceleration : 1.5 34 | -------------------------------------------------------------------------------- /volta_control/config/twist_mux.yaml: -------------------------------------------------------------------------------- 1 | topics: 2 | - 3 | name : navigation 4 | topic : nav/cmd_vel 5 | timeout : 0.5 6 | priority: 50 7 | - 8 | name : joystick 9 | topic : joy/cmd_vel 10 | timeout : 0.5 11 | priority: 90 12 | - 13 | name : keyboard 14 | topic : keyboard/cmd_vel 15 | timeout : 0.5 16 | priority: 80 17 | - 18 | name : user 19 | topic : user/cmd_vel 20 | timeout : 0.5 21 | priority: 70 22 | locks: 23 | - 24 | name : estop 25 | topic : e_stop_status 26 | timeout : 0.0 27 | priority: 100 28 | -------------------------------------------------------------------------------- /volta_control/launch/control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /volta_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_control 4 | 1.1.1 5 | The volta_control package 6 | 7 | Nikhil Venkatesh 8 | Mahendra L Seervi 9 | 10 | Nikhil Venkatesh 11 | Toship 12 | 13 | BSD-3-Clause 14 | 15 | catkin 16 | controller_manager 17 | diff_drive_controller 18 | joint_state_controller 19 | twist_mux 20 | controller_manager 21 | diff_drive_controller 22 | joint_state_controller 23 | twist_mux 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /volta_description/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_description 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * Merged volta_development. 11 | * Merged volta_development. 12 | * Added BSD-3 license 13 | * Changed the launch file names 14 | * updating volta base - melodic 15 | * Changed done repo to run on melodic 16 | * Contributors: Nikhil Venkatesh, Toship 17 | 18 | 1.1.0 (2020-11-19) 19 | ------------------ 20 | * First Release 21 | -------------------------------------------------------------------------------- /volta_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | std_msgs 8 | ) 9 | 10 | catkin_package( 11 | ) 12 | 13 | include_directories( 14 | ${catkin_INCLUDE_DIRS} 15 | ) 16 | 17 | install( 18 | DIRECTORY launch meshes rviz_params urdf 19 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 20 | ) 21 | -------------------------------------------------------------------------------- /volta_description/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_description/launch/description.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /volta_description/meshes/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/botsync/volta/123d46393578c26482e06a89a714c1db25b886d9/volta_description/meshes/logo.png -------------------------------------------------------------------------------- /volta_description/meshes/volta_logo.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.90.1 commit date:2020-09-23, commit time:06:43, hash:3e85bb34d0d7 7 | 8 | 2020-12-01T08:57:36 9 | 2020-12-01T08:57:36 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 24 24 24 18 | 1 19 | 0 20 | 10e-5 21 | 22 | 23 | 24 | 25 | 4 26 | 0 27 | 1 28 | 1 29 | 1 30 | 1 31 | 1 32 | 0 33 | 0 34 | 0 35 | 24 36 | 100 37 | 45 38 | 0.15 39 | 0 40 | 1 41 | 2 42 | 0.04999995 43 | 40 44 | 1 45 | 3 46 | 512 47 | 3 48 | 1 49 | 0 50 | 1.832538 51 | 1 52 | 1 53 | 54 | 55 | 56 | 57 | 58 | 59 | 20 20 20 60 | 1 61 | 0 62 | 10e-5 63 | 64 | 65 | 66 | 67 | 4 68 | 0 69 | 1 70 | 1 71 | 1 72 | 1 73 | 1 74 | 0 75 | 0 76 | 0 77 | 20 78 | 100 79 | 45 80 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208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 |

0 0 0 1 0 1 2 0 2 2 0 3 1 0 4 3 0 5 4 1 6 0 1 7 5 1 8 5 1 9 0 1 10 2 1 11 6 2 12 4 2 13 7 2 14 7 2 15 4 2 16 5 2 17 1 3 18 6 3 19 3 3 20 3 3 21 6 3 22 7 3 23 4 4 24 6 4 25 0 4 26 0 4 27 6 4 28 1 4 29 7 5 30 5 5 31 3 5 32 3 5 33 5 5 34 2 5 35 8 0 36 9 0 37 10 0 38 10 0 39 9 0 40 11 0 41 12 1 42 8 1 43 13 1 44 13 1 45 8 1 46 10 1 47 14 2 48 12 2 49 15 2 50 15 2 51 12 2 52 13 2 53 9 3 54 14 3 55 11 3 56 11 3 57 14 3 58 15 3 59 12 4 60 14 4 61 8 4 62 8 4 63 14 4 64 9 4 65 15 5 66 13 5 67 11 5 68 11 5 69 13 5 70 10 5 71

220 | 221 | 222 | 223 | 224 | 225 | 226 | 238 | 239 | 0.2977199 0.4008563 0.8664163 2.974948 0.2116802 0.8572599 -0.469358 -1.826696 -0.930889 0.3231404 0.17037 0.6823441 0 0 0 1 240 | 241 | 242 | 243 | 0.4707973 -0.3098175 -0.8260527 -2.899424 -0.5767241 0.6004778 -0.5539096 -2.089051 0.6676372 0.7371837 0.1040241 0.3517166 0 0 0 1 244 | 245 | 246 | 247 | 0.9730037 -0.05420413 0.2243338 0.4402544 -0.2077197 0.2179359 0.9536018 4.05789 -0.1005795 -0.9744567 0.2007932 0.9311668 0 0 0 1 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | -------------------------------------------------------------------------------- /volta_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_description 4 | 1.1.1 5 | The volta_description package 6 | 7 | Nikhil Venkatesh 8 | Mahendra L Seervi 9 | 10 | Nikhil Venkatesh 11 | Toship 12 | 13 | BSD-3-Clause 14 | 15 | catkin 16 | roscpp 17 | rospy 18 | std_msgs 19 | roscpp 20 | rospy 21 | std_msgs 22 | roscpp 23 | rospy 24 | std_msgs 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /volta_description/rviz_params/urdf.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 | - /TF1 11 | Splitter Ratio: 0.5 12 | Tree Height: 772 13 | - Class: rviz/Selection 14 | Name: Selection 15 | - Class: rviz/Tool Properties 16 | Expanded: 17 | - /2D Pose Estimate1 18 | - /2D Nav Goal1 19 | - /Publish Point1 20 | Name: Tool Properties 21 | Splitter Ratio: 0.588679016 22 | - Class: rviz/Views 23 | Expanded: 24 | - /Current View1 25 | Name: Views 26 | Splitter Ratio: 0.5 27 | - Class: rviz/Time 28 | Experimental: false 29 | Name: Time 30 | SyncMode: 0 31 | SyncSource: "" 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz/Grid 38 | Color: 160; 160; 164 39 | Enabled: true 40 | Line Style: 41 | Line Width: 0.0299999993 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 10 51 | Reference Frame: 52 | Value: true 53 | - Alpha: 1 54 | Class: rviz/RobotModel 55 | Collision Enabled: false 56 | Enabled: true 57 | Links: 58 | All Links Enabled: true 59 | Expand Joint Details: false 60 | Expand Link Details: false 61 | Expand Tree: false 62 | Link Tree Style: Links in Alphabetic Order 63 | base_link: 64 | Alpha: 1 65 | Show Axes: false 66 | Show Trail: false 67 | Value: true 68 | footprint: 69 | Alpha: 1 70 | Show Axes: false 71 | Show Trail: false 72 | imu: 73 | Alpha: 1 74 | Show Axes: false 75 | Show Trail: false 76 | left_wheel: 77 | Alpha: 1 78 | Show Axes: false 79 | Show Trail: false 80 | Value: true 81 | lidar: 82 | Alpha: 1 83 | Show Axes: false 84 | Show Trail: false 85 | Value: true 86 | right_wheel: 87 | Alpha: 1 88 | Show Axes: false 89 | Show Trail: false 90 | Value: true 91 | Name: RobotModel 92 | Robot Description: robot_description 93 | TF Prefix: "" 94 | Update Interval: 0 95 | Value: true 96 | Visual Enabled: true 97 | - Class: rviz/TF 98 | Enabled: true 99 | Frame Timeout: 15 100 | Frames: 101 | All Enabled: true 102 | base_link: 103 | Value: true 104 | footprint: 105 | Value: true 106 | imu: 107 | Value: true 108 | left_wheel: 109 | Value: true 110 | lidar: 111 | Value: true 112 | odom: 113 | Value: true 114 | right_wheel: 115 | Value: true 116 | Marker Scale: 0.5 117 | Name: TF 118 | Show Arrows: true 119 | Show Axes: true 120 | Show Names: true 121 | Tree: 122 | odom: 123 | base_link: 124 | footprint: 125 | {} 126 | imu: 127 | {} 128 | left_wheel: 129 | {} 130 | lidar: 131 | {} 132 | right_wheel: 133 | {} 134 | Update Interval: 0 135 | Value: true 136 | Enabled: true 137 | Global Options: 138 | Background Color: 48; 48; 48 139 | Default Light: true 140 | Fixed Frame: base_link 141 | Frame Rate: 30 142 | Name: root 143 | Tools: 144 | - Class: rviz/Interact 145 | Hide Inactive Objects: true 146 | - Class: rviz/MoveCamera 147 | - Class: rviz/Select 148 | - Class: rviz/FocusCamera 149 | - Class: rviz/Measure 150 | - Class: rviz/SetInitialPose 151 | Topic: /initialpose 152 | - Class: rviz/SetGoal 153 | Topic: /move_base_simple/goal 154 | - Class: rviz/PublishPoint 155 | Single click: true 156 | Topic: /clicked_point 157 | Value: true 158 | Views: 159 | Current: 160 | Class: rviz/Orbit 161 | Distance: 3.31769466 162 | Enable Stereo Rendering: 163 | Stereo Eye Separation: 0.0599999987 164 | Stereo Focal Distance: 1 165 | Swap Stereo Eyes: false 166 | Value: false 167 | Focal Point: 168 | X: 0 169 | Y: 0 170 | Z: 0 171 | Focal Shape Fixed Size: true 172 | Focal Shape Size: 0.0500000007 173 | Invert Z Axis: false 174 | Name: Current View 175 | Near Clip Distance: 0.00999999978 176 | Pitch: 0.695397019 177 | Target Frame: 178 | Value: Orbit (rviz) 179 | Yaw: 0.513581991 180 | Saved: ~ 181 | Window Geometry: 182 | Displays: 183 | collapsed: false 184 | Height: 1059 185 | Hide Left Dock: false 186 | Hide Right Dock: false 187 | QMainWindow State: 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188 | Selection: 189 | collapsed: false 190 | Time: 191 | collapsed: false 192 | Tool Properties: 193 | collapsed: false 194 | Views: 195 | collapsed: false 196 | Width: 1863 197 | X: 57 198 | Y: 21 199 | -------------------------------------------------------------------------------- /volta_description/urdf/accessories/camera_volta.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | ${update_rate} 96 | 97 | 1.3962634 98 | 99 | 1080 100 | 720 101 | R8G8B8 102 | 103 | 104 | 0.02 105 | 300 106 | 107 | 108 | gaussian 109 | 0.0 110 | 0.007 111 | 112 | 113 | 114 | 115 | true 116 | ${update_rate} 117 | ${frame} 118 | ${topic} 119 | ${info_topic} 120 | ${frame} 121 | 0.07 122 | 0.0 123 | 0.0 124 | 0.0 125 | 0.0 126 | 0.0 127 | 128 | 129 | 130 | 131 | 132 | -------------------------------------------------------------------------------- /volta_description/urdf/accessories/imu_volta.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | true 50 | ${robot_namespace} 51 | ${update_rate} 52 | ${frame} 53 | ${tf_pre}${frame} 54 | ${tf_pre}${frame} 55 | ${topic} 56 | 0.0 0.0 0.0 57 | 0.0 0.0 0.0 58 | 0.0005 59 | 0.0005 60 | 61 | 62 | 63 | 64 | -------------------------------------------------------------------------------- /volta_description/urdf/accessories/lidar_volta.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 30 | 31 | 32 | 33 | 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 | 68 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | true 104 | 0 0 0 0 0 0 105 | false 106 | ${update_rate} 107 | 108 | 109 | 110 | ${sample_size} 111 | 1 112 | ${min_angle} 113 | ${max_angle} 114 | 115 | 116 | 117 | ${min_range} 118 | ${max_range} 119 | 0.01 120 | 121 | 122 | 123 | ${topic} 124 | ${frame} 125 | ${robot_namespace} 126 | 0.005 127 | true 128 | 129 | 130 | 131 | 132 | 133 | -------------------------------------------------------------------------------- /volta_description/urdf/components/caster_volta.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | Gazebo/DarkGrey 66 | false 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | -------------------------------------------------------------------------------- /volta_description/urdf/components/wheel_volta.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | Gazebo/Red 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | transmission_interface/SimpleTransmission 77 | 78 | hardware_interface/VelocityJointInterface 79 | 80 | 81 | 1 82 | 83 | 84 | 85 | 86 | -------------------------------------------------------------------------------- /volta_description/urdf/volta.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | $(arg robot_namespace) 137 | gazebo_ros_control/DefaultRobotHWSim 138 | 139 | 140 | 141 | 142 | 143 | 144 | -------------------------------------------------------------------------------- /volta_description/urdf/volta.xacro: -------------------------------------------------------------------------------- 1 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /volta_description/urdf/volta_properties.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | -------------------------------------------------------------------------------- /volta_localization/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_localization 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * Merged volta_development. 11 | * Added BSD-3 license 12 | * Contributors: Nikhil Venkatesh, Toship 13 | 14 | 1.1.0 (2020-11-19) 15 | ------------------ 16 | * First Release 17 | -------------------------------------------------------------------------------- /volta_localization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_localization) 3 | 4 | add_compile_options(-std=c++11) 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | robot_localization 8 | ) 9 | 10 | catkin_package( 11 | ) 12 | 13 | install( 14 | DIRECTORY config launch 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 16 | ) 17 | -------------------------------------------------------------------------------- /volta_localization/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_localization/config/localization.yaml: -------------------------------------------------------------------------------- 1 | ekf_se_odom: 2 | frequency: 10 3 | sensor_timeout: 0.1 4 | two_d_mode: true 5 | transform_time_offset: 0.0 6 | transform_timeout: 0.0 7 | print_diagnostics: false 8 | debug: false 9 | 10 | # map_frame: map 11 | odom_frame: odom 12 | base_link_frame: base_link 13 | world_frame: odom 14 | publish_tf: false 15 | 16 | odom0: odometry/wheel 17 | odom0_config: [true, true, false, 18 | false, false, true, 19 | false, false, false, 20 | false, false, false, 21 | false, false, false] 22 | odom0_queue_size: 1 23 | odom0_differential: false 24 | odom0_relative: true 25 | 26 | imu0: imu/data 27 | imu0_config: [false, false, false, 28 | false, false, false, 29 | false, false, false, 30 | false, false, false, 31 | false, false, false] 32 | imu0_differential: false 33 | imu0_relative: true 34 | imu0_queue_size: 1 35 | imu0_remove_gravitational_acceleration: true 36 | -------------------------------------------------------------------------------- /volta_localization/launch/localization.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /volta_localization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_localization 4 | 1.1.1 5 | 6 | The volta_localization package 7 | 8 | Nikhil Venkatesh 9 | Mahendra L Seervi 10 | 11 | Nikhil Venkatesh 12 | Toship 13 | 14 | BSD-3-Clause 15 | 16 | catkin 17 | robot_localization 18 | robot_localization 19 | robot_localization 20 | 21 | -------------------------------------------------------------------------------- /volta_msgs/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_msgs 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * Added install configuration in CMakeLists.txt 11 | * Merged volta_development. 12 | * Merged volta_development. 13 | * Added BSD-3 license 14 | * Contributors: Nikhil Venkatesh, Toship 15 | 16 | 1.1.0 (2020-11-19) 17 | ------------------ 18 | * First Release 19 | -------------------------------------------------------------------------------- /volta_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_msgs) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | message_generation 6 | std_msgs 7 | ) 8 | 9 | add_message_files( 10 | DIRECTORY msg 11 | FILES 12 | RPM.msg 13 | Diagnostics.msg 14 | Table.msg 15 | BMS.msg 16 | ) 17 | 18 | generate_messages(DEPENDENCIES std_msgs) 19 | 20 | catkin_package( 21 | ) 22 | 23 | -------------------------------------------------------------------------------- /volta_msgs/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_msgs/msg/BMS.msg: -------------------------------------------------------------------------------- 1 | float32 soc 2 | float32 soh 3 | float32 current 4 | float32 voltage 5 | -------------------------------------------------------------------------------- /volta_msgs/msg/Diagnostics.msg: -------------------------------------------------------------------------------- 1 | bool LOWBATTERY_FLAG 2 | bool CHARGING_FLAG 3 | bool MOTOR_ALARM_FLAG 4 | bool BMS_ALARM_FLAG 5 | bool HIGH_TEMP_FLAG 6 | bool COMM_ERROR_FLAG 7 | 8 | uint16 BMS_SOC 9 | uint16 BMS_SOH 10 | uint16 BMS_Voltage 11 | int16 BMS_Current 12 | uint16 BMS_voltageDiff 13 | uint16 BMS_tempDiff 14 | uint16 BMS_BCUMode 15 | uint16 BMS_Alarm 16 | 17 | uint16[2] M_State 18 | uint16[2] M_Alarm 19 | uint16[2] M_Power 20 | uint16[2] M_Voltage 21 | uint16[2] M_Current 22 | uint8[2] M_Comm 23 | 24 | float32 Relay_Temp 25 | float32 PowerConn_Temp 26 | float32 PreCharge_Temp 27 | float32 Power_Supply_Temp 28 | 29 | 30 | float32 Battery_In_Volt 31 | float32 PRE_CHARGE_Volt 32 | float32 HW_ESTOP_Volt 33 | float32 SW_ESTOP_Volt 34 | 35 | uint16[2] Motor_Alarm_Code 36 | uint32[2] Motor_Fun_Fail 37 | 38 | uint16[2] M_INIT 39 | uint16[2] M_CW 40 | uint16[2] M_CCW 41 | uint16[2] M_STOP 42 | uint16[2] M_BREAK 43 | uint16[2] M_SETRPM 44 | uint16[2] M_GETRPM 45 | uint16[2] M_PARAM 46 | uint16[2] M_ALARM 47 | 48 | uint8 PRECHARGE_FUSE 49 | uint8 MOTOR_FUSE 50 | uint8 LED_STATE 51 | -------------------------------------------------------------------------------- /volta_msgs/msg/RPM.msg: -------------------------------------------------------------------------------- 1 | int16 left 2 | int16 right -------------------------------------------------------------------------------- /volta_msgs/msg/Table.msg: -------------------------------------------------------------------------------- 1 | float32 soc 2 | float32 soh 3 | float32 current 4 | float32 voltage 5 | uint8 system_status 6 | float32 relay_temp 7 | float32 powe_in_temp 8 | 9 | float32 motor_volt 10 | float32 battery_volt 11 | float32 hw_estop_volt 12 | uint8 motorAlarm 13 | uint8 diag_en 14 | uint8 hw_Estop_state 15 | uint8 sw_Estop_state 16 | uint8 ros_Estop_state 17 | -------------------------------------------------------------------------------- /volta_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_msgs 4 | 1.1.1 5 | The volta_msgs package 6 | 7 | Nikhil Venkatesh 8 | Mahendra L Seervi 9 | 10 | Nikhil Venkatesh 11 | Toship 12 | 13 | BSD-3-Clause 14 | 15 | catkin 16 | message_generation 17 | std_msgs 18 | message_generation 19 | std_msgs 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /volta_navigation/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_navigation 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * Merged volta_development. 11 | * Merged volta_development. 12 | * Added BSD-3 license 13 | * Contributors: Nikhil Venkatesh, Toship 14 | 15 | 1.1.0 (2020-11-19) 16 | ------------------ 17 | * First Release 18 | -------------------------------------------------------------------------------- /volta_navigation/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_navigation) 3 | 4 | find_package(catkin REQUIRED 5 | ) 6 | 7 | catkin_package () 8 | 9 | install( 10 | DIRECTORY config launch maps 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 12 | ) -------------------------------------------------------------------------------- /volta_navigation/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_navigation/config/amcl.yaml: -------------------------------------------------------------------------------- 1 | use_map_topic: true 2 | odom_model_type: diff 3 | odom_alpha5: 0.1 4 | gui_publish_rate: 10.0 5 | laser_max_beams: 60 6 | laser_max_range: 12.0 7 | min_particles: 500 8 | max_particles: 2000 9 | kld_err: 0.05 10 | kld_z: 0.99 11 | odom_alpha1: 0.2 12 | odom_alpha2: 0.2 13 | odom_alpha3: 0.2 14 | odom_alpha4: 0.2 15 | laser_z_hit: 0.5 16 | laser_z_short: 0.05 17 | laser_z_max: 0.05 18 | laser_z_rand: 0.5 19 | laser_sigma_hit: 0.2 20 | laser_lambda_short: 0.1 21 | laser_model_type: likelihood_field 22 | laser_likelihood_max_dist: 2.0 23 | update_min_d: 0.25 24 | update_min_a: 0.2 25 | resample_interval: 1 26 | transform_tolerance: 1.0 27 | recovery_alpha_slow: 0.0 28 | recovery_alpha_fast: 0.0 29 | initial_pose_x: 0.0 30 | initial_pose_y: 0.0 31 | initial_pose_a: 0.0 32 | 33 | odom_frame_id: odom 34 | global_frame_id: map 35 | base_frame_id: base_link 36 | -------------------------------------------------------------------------------- /volta_navigation/config/costmap.yaml: -------------------------------------------------------------------------------- 1 | footprint: [[-0.26, -0.19], [-0.26, 0.19], [0.235, 0.19], [0.235, -0.19]] 2 | 3 | footprint_padding: 0.02 4 | robot_base_frame: base_link 5 | update_frequency: 3.0 6 | publish_frequency: 2.0 7 | transform_tolerance: 1.0 8 | publish_voxel_map: false 9 | resolution: 0.05 10 | 11 | obstacle_range: 5.5 12 | raytrace_range: 8.0 13 | static: 14 | map_topic: map 15 | subscribe_to_updates: true 16 | lethal_cost_threshold: 50 17 | 18 | obstacles_laser: 19 | observation_sources: laser 20 | laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan_filtered, inf_is_valid: true} 21 | 22 | inflation: 23 | inflation_radius: 0.6 24 | cost_scaling_factor: 1.0 25 | -------------------------------------------------------------------------------- /volta_navigation/config/costmap_global.yaml: -------------------------------------------------------------------------------- 1 | global_frame: map 2 | rolling_window: false 3 | track_unknown_space: false 4 | width: 15 5 | height: 15 6 | 7 | plugins: 8 | - {name: static, type: "costmap_2d::StaticLayer"} 9 | - {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"} 10 | - {name: inflation, type: "costmap_2d::InflationLayer"} 11 | 12 | 13 | -------------------------------------------------------------------------------- /volta_navigation/config/costmap_local.yaml: -------------------------------------------------------------------------------- 1 | global_frame: odom 2 | rolling_window: true 3 | track_unknown_space: false 4 | width: 8 5 | height: 8 6 | 7 | plugins: 8 | - {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"} 9 | - {name: inflation, type: "costmap_2d::InflationLayer"} 10 | -------------------------------------------------------------------------------- /volta_navigation/config/global_planner.yaml: -------------------------------------------------------------------------------- 1 | GlobalPlanner: 2 | cost_factor: 0.55 3 | lethal_cost: 245 4 | neutral_cost: 66 5 | orientation_mode: 2 6 | publish_potential: true 7 | use_dijkstra: true 8 | 9 | SBPLLatticePlanner: 10 | environment_type: XYThetaLattice 11 | planner_type: ARAPlanner 12 | allocated_time: 10.0 13 | initial_epsilon: 50.0 14 | forward_search: true 15 | nominalvel_mpersecs: 1.0 16 | timetoturn45degsinplace_secs: 1.0 17 | -------------------------------------------------------------------------------- /volta_navigation/config/gmapping.yaml: -------------------------------------------------------------------------------- 1 | odom_frame: odom 2 | base_frame: base_link 3 | map_frame: map 4 | 5 | map_update_interval: 0.5 6 | 7 | maxUrange: 12.0 8 | maxRange: 17.0 9 | particles: 30 10 | 11 | linearUpdate: 0.3 12 | angularUpdate: 0.5 13 | temporalUpdate: 2.0 14 | resampleThreshold: 0.5 15 | 16 | xmin: -10.0 17 | ymin: -10.0 18 | xmax: 10.0 19 | ymax: 10.0 20 | delta: 0.05 21 | 22 | sigma: 0.05 23 | kernelSize: 1 24 | lstep: 0.05 25 | astep: 0.05 26 | iterations: 5 27 | lsigma: 0.075 28 | ogain: 3.0 29 | lskip: 0 30 | llsamplerange: 0.01 31 | llsamplestep: 0.01 32 | lasamplerange: 0.005 33 | lasamplestep: 0.005 34 | -------------------------------------------------------------------------------- /volta_navigation/config/local_planner.yaml: -------------------------------------------------------------------------------- 1 | controller_frequency: 5.0 2 | controller_patience: 80.0 3 | planner_frequency: 2.0 4 | planner_patience: 80.0 5 | shutdown_costmaps: true 6 | oscillation_distance: 0.8 7 | oscillation_timeout: 10.0 8 | conservative_reset_dist: 0.1 9 | cost_factor: 0.58 10 | neutral_cost: 66 11 | lethal_cost: 240 12 | 13 | recovery_behaviour_enabled: true 14 | recovery_behaviors: [{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}] 15 | 16 | DWAPlannerROS: 17 | acc_lim_x: 0.75 18 | acc_limit_trans: 0.75 19 | acc_lim_y: 0.0 20 | acc_lim_theta: 3.0 21 | 22 | max_vel_x: 0.5 23 | min_vel_x: 0.0 24 | max_vel_y: 0.0 25 | min_vel_y: 0.0 26 | 27 | max_trans_vel: 0.5 28 | min_trans_vel: 0.02 29 | max_rot_vel: 1.0 30 | min_rot_vel: 0.08 31 | trans_stopped_vel: 0.018 32 | rot_stopped_vel: 0.07 33 | yaw_goal_tolerance: 0.1 34 | xy_goal_tolerance: 0.3 35 | latch_xy_goal_tolerance: true 36 | 37 | sim_time: 2.5 38 | sim_granularity: 0.03 39 | angular_sim_granularity: 0.05 40 | vx_samples: 20 41 | vy_samples: 0 42 | vtheta_samples: 30 43 | 44 | penalize_negative_x: true 45 | path_distance_bias: 50.0 46 | goal_distance_bias: 20.0 47 | occdist_scale: 0.1 48 | forward_point_distance: 0.6 49 | stop_time_buffer: 0.1 50 | scaling_speed: 0.2 51 | control_frequency: 10.0 52 | max_scaling_factor: 0.1 53 | 54 | oscillation_reset_dist: 0.1 55 | oscillation_reset_angle: 0.1 56 | 57 | prune_plan: true 58 | use_dwa: true 59 | -------------------------------------------------------------------------------- /volta_navigation/launch/navigation.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /volta_navigation/maps/gazebo.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/botsync/volta/123d46393578c26482e06a89a714c1db25b886d9/volta_navigation/maps/gazebo.pgm -------------------------------------------------------------------------------- /volta_navigation/maps/gazebo.yaml: -------------------------------------------------------------------------------- 1 | image: gazebo.pgm 2 | resolution: 0.050000 3 | origin: [-10.000000, -21.200000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /volta_navigation/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_navigation 4 | 1.1.1 5 | The volta_navigation package 6 | 7 | Nikhil Venkatesh 8 | Mahendra L Seervi 9 | 10 | Nikhil Venkatesh 11 | Toship 12 | 13 | BSD-3-Clause 14 | 15 | catkin 16 | amcl 17 | move_base 18 | gmapping 19 | dwa_local_planner 20 | global_planner 21 | map_server 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /volta_navigation/rviz_config/navigation.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: ~ 7 | Splitter Ratio: 0.5 8 | Tree Height: 778 9 | - Class: rviz/Selection 10 | Name: Selection 11 | - Class: rviz/Tool Properties 12 | Expanded: 13 | - /2D Pose Estimate1 14 | - /2D Nav Goal1 15 | - /Publish Point1 16 | Name: Tool Properties 17 | Splitter Ratio: 0.588679016 18 | - Class: rviz/Views 19 | Expanded: 20 | - /Current View1 21 | Name: Views 22 | Splitter Ratio: 0.5 23 | - Class: rviz/Time 24 | Experimental: false 25 | Name: Time 26 | SyncMode: 0 27 | SyncSource: LaserScan 28 | Toolbars: 29 | toolButtonStyle: 2 30 | Visualization Manager: 31 | Class: "" 32 | Displays: 33 | - Alpha: 0.5 34 | Cell Size: 0.100000001 35 | Class: rviz/Grid 36 | Color: 160; 160; 164 37 | Enabled: true 38 | Line Style: 39 | Line Width: 0.0299999993 40 | Value: Lines 41 | Name: Grid 42 | Normal Cell Count: 0 43 | Offset: 44 | X: 0 45 | Y: 0 46 | Z: 0 47 | Plane: XY 48 | Plane Cell Count: 100 49 | Reference Frame: 50 | Value: true 51 | - Alpha: 1 52 | Class: rviz/RobotModel 53 | Collision Enabled: false 54 | Enabled: true 55 | Links: 56 | All Links Enabled: true 57 | Expand Joint Details: false 58 | Expand Link Details: false 59 | Expand Tree: false 60 | Link Tree Style: Links in Alphabetic Order 61 | back_left_wheel: 62 | Alpha: 1 63 | Show Axes: false 64 | Show Trail: false 65 | Value: true 66 | back_right_wheel: 67 | Alpha: 1 68 | Show Axes: false 69 | Show Trail: false 70 | Value: true 71 | base_link: 72 | Alpha: 1 73 | Show Axes: false 74 | Show Trail: false 75 | Value: true 76 | footprint: 77 | Alpha: 1 78 | Show Axes: false 79 | Show Trail: false 80 | front_left_wheel: 81 | Alpha: 1 82 | Show Axes: false 83 | Show Trail: false 84 | Value: true 85 | front_right_wheel: 86 | Alpha: 1 87 | Show Axes: false 88 | Show Trail: false 89 | Value: true 90 | gps: 91 | Alpha: 1 92 | Show Axes: false 93 | Show Trail: false 94 | imu: 95 | Alpha: 1 96 | Show Axes: false 97 | Show Trail: false 98 | velodyne: 99 | Alpha: 1 100 | Show Axes: false 101 | Show Trail: false 102 | Value: true 103 | velodyne_base_link: 104 | Alpha: 1 105 | Show Axes: false 106 | Show Trail: false 107 | Value: true 108 | velodyne_mount: 109 | Alpha: 1 110 | Show Axes: false 111 | Show Trail: false 112 | Value: true 113 | Name: RobotModel 114 | Robot Description: robot_description 115 | TF Prefix: "" 116 | Update Interval: 0 117 | Value: true 118 | Visual Enabled: true 119 | - Class: rviz/TF 120 | Enabled: true 121 | Frame Timeout: 15 122 | Frames: 123 | All Enabled: true 124 | back_left_wheel: 125 | Value: true 126 | back_right_wheel: 127 | Value: true 128 | base_link: 129 | Value: true 130 | footprint: 131 | Value: true 132 | front_left_wheel: 133 | Value: true 134 | front_right_wheel: 135 | Value: true 136 | gps: 137 | Value: true 138 | imu: 139 | Value: true 140 | map: 141 | Value: true 142 | odom: 143 | Value: true 144 | velodyne: 145 | Value: true 146 | velodyne_base_link: 147 | Value: true 148 | velodyne_mount: 149 | Value: true 150 | Marker Scale: 1 151 | Name: TF 152 | Show Arrows: true 153 | Show Axes: true 154 | Show Names: true 155 | Tree: 156 | map: 157 | odom: 158 | base_link: 159 | back_left_wheel: 160 | {} 161 | back_right_wheel: 162 | {} 163 | footprint: 164 | {} 165 | front_left_wheel: 166 | {} 167 | front_right_wheel: 168 | {} 169 | gps: 170 | {} 171 | imu: 172 | {} 173 | velodyne_mount: 174 | velodyne_base_link: 175 | velodyne: 176 | {} 177 | Update Interval: 0 178 | Value: true 179 | - Alpha: 0.699999988 180 | Class: rviz/Map 181 | Color Scheme: costmap 182 | Draw Behind: false 183 | Enabled: true 184 | Name: Global Costmap 185 | Topic: /move_base/global_costmap/costmap 186 | Unreliable: false 187 | Use Timestamp: false 188 | Value: true 189 | - Alpha: 0.699999988 190 | Class: rviz/Map 191 | Color Scheme: costmap 192 | Draw Behind: false 193 | Enabled: true 194 | Name: Local Map 195 | Topic: /move_base/local_costmap/costmap 196 | Unreliable: false 197 | Use Timestamp: false 198 | Value: true 199 | - Alpha: 1 200 | Buffer Length: 1 201 | Class: rviz/Path 202 | Color: 25; 255; 0 203 | Enabled: true 204 | Head Diameter: 0.300000012 205 | Head Length: 0.200000003 206 | Length: 0.300000012 207 | Line Style: Lines 208 | Line Width: 0.0299999993 209 | Name: Global Path 210 | Offset: 211 | X: 0 212 | Y: 0 213 | Z: 0 214 | Pose Color: 255; 85; 255 215 | Pose Style: None 216 | Radius: 0.0299999993 217 | Shaft Diameter: 0.100000001 218 | Shaft Length: 0.100000001 219 | Topic: /move_base/GlobalPlanner/plan 220 | Unreliable: false 221 | Value: true 222 | - Alpha: 1 223 | Buffer Length: 1 224 | Class: rviz/Path 225 | Color: 255; 0; 0 226 | Enabled: true 227 | Head Diameter: 0.300000012 228 | Head Length: 0.200000003 229 | Length: 0.300000012 230 | Line Style: Lines 231 | Line Width: 0.0299999993 232 | Name: Local Path 233 | Offset: 234 | X: 0 235 | Y: 0 236 | Z: 0 237 | Pose Color: 255; 85; 255 238 | Pose Style: None 239 | Radius: 0.0299999993 240 | Shaft Diameter: 0.100000001 241 | Shaft Length: 0.100000001 242 | Topic: /move_base/DWAPlannerROS/local_plan 243 | Unreliable: false 244 | Value: true 245 | - Alpha: 0.699999988 246 | Class: rviz/Map 247 | Color Scheme: map 248 | Draw Behind: false 249 | Enabled: true 250 | Name: Map 251 | Topic: /map 252 | Unreliable: false 253 | Use Timestamp: false 254 | Value: true 255 | - Alpha: 1 256 | Autocompute Intensity Bounds: true 257 | Autocompute Value Bounds: 258 | Max Value: 10 259 | Min Value: -10 260 | Value: true 261 | Axis: Z 262 | Channel Name: intensity 263 | Class: rviz/LaserScan 264 | Color: 255; 255; 255 265 | Color Transformer: Intensity 266 | Decay Time: 0 267 | Enabled: true 268 | Invert Rainbow: false 269 | Max Color: 255; 255; 255 270 | Max Intensity: 4.29125032e-37 271 | Min Color: 0; 0; 0 272 | Min Intensity: 4.29125032e-37 273 | Name: LaserScan 274 | Position Transformer: XYZ 275 | Queue Size: 10 276 | Selectable: true 277 | Size (Pixels): 2 278 | Size (m): 0.00999999978 279 | Style: Points 280 | Topic: /scan_filtered 281 | Unreliable: false 282 | Use Fixed Frame: true 283 | Use rainbow: true 284 | Value: true 285 | - Class: rviz/MarkerArray 286 | Enabled: true 287 | Marker Topic: /visualization_marker 288 | Name: MarkerArray 289 | Namespaces: 290 | {} 291 | Queue Size: 100 292 | Value: true 293 | Enabled: true 294 | Global Options: 295 | Background Color: 48; 48; 48 296 | Default Light: true 297 | Fixed Frame: map 298 | Frame Rate: 30 299 | Name: root 300 | Tools: 301 | - Class: rviz/Interact 302 | Hide Inactive Objects: true 303 | - Class: rviz/MoveCamera 304 | - Class: rviz/Select 305 | - Class: rviz/FocusCamera 306 | - Class: rviz/Measure 307 | - Class: rviz/SetInitialPose 308 | Topic: /initialpose 309 | - Class: rviz/SetGoal 310 | Topic: /move_base_simple/goal 311 | - Class: rviz/PublishPoint 312 | Single click: true 313 | Topic: /clicked_point 314 | Value: true 315 | Views: 316 | Current: 317 | Angle: -2.57000017 318 | Class: rviz/TopDownOrtho 319 | Enable Stereo Rendering: 320 | Stereo Eye Separation: 0.0599999987 321 | Stereo Focal Distance: 1 322 | Swap Stereo Eyes: false 323 | Value: false 324 | Invert Z Axis: false 325 | Name: Current View 326 | Near Clip Distance: 0.00999999978 327 | Scale: 23.7553539 328 | Target Frame: base_link 329 | Value: TopDownOrtho (rviz) 330 | X: 6.98912191 331 | Y: 8.19719887 332 | Saved: ~ 333 | Window Geometry: 334 | Displays: 335 | collapsed: false 336 | Height: 1059 337 | Hide Left Dock: false 338 | Hide Right Dock: false 339 | QMainWindow State: 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340 | Selection: 341 | collapsed: false 342 | Time: 343 | collapsed: false 344 | Tool Properties: 345 | collapsed: false 346 | Views: 347 | collapsed: false 348 | Width: 1863 349 | X: 57 350 | Y: 21 351 | -------------------------------------------------------------------------------- /volta_rules/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_rules 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * updated sensor_read.py file. Added install configuration in CMakeLists.txt 11 | * Added install configuration in CMakeLists.txt 12 | * Merged volta_development. 13 | * Merged volta_development. 14 | * Added BSD-3 license 15 | * Contributors: Nikhil Venkatesh, Toship 16 | 17 | 1.1.0 (2020-11-19) 18 | ------------------ 19 | * First Release -------------------------------------------------------------------------------- /volta_rules/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_rules) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | 6 | ) 7 | 8 | catkin_package( 9 | CATKIN_DEPENDS 10 | ) 11 | 12 | install(PROGRAMS 13 | create_udev_rules 14 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 15 | ) 16 | 17 | catkin_install_python(PROGRAMS sensor_read.py 18 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) 19 | 20 | install(FILES 21 | udev_rules.rules 22 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 23 | ) -------------------------------------------------------------------------------- /volta_rules/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_rules/README.md: -------------------------------------------------------------------------------- 1 | # Volta_Rules 2 | ## Steps to Create Udev Rules for device bindings : 3 | 4 | ### 1. For binding sensors - 5 | ``` 6 | $ rosrun volta_rules sensor_read.py 7 | ``` 8 | ### 2. For updating udev rules - 9 | ``` 10 | $ rosrun volta_rules create_udev_rules 11 | ``` 12 | -------------------------------------------------------------------------------- /volta_rules/create_udev_rules: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | echo "" 3 | echo "This script copies a udev rule to /etc to facilitate bringing" 4 | echo "" 5 | 6 | sudo cp `rospack find volta_rules`/udev_rules.rules /etc/udev/rules.d 7 | 8 | echo "" 9 | echo "Restarting udev" 10 | echo "" 11 | sudo service udev reload 12 | sudo service udev restart 13 | sudo udevadm trigger --action=change 14 | -------------------------------------------------------------------------------- /volta_rules/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_rules 4 | 1.1.1 5 | The volta_rules package 6 | 7 | Nikhil Venkatesh 8 | Mahendra L Seervi 9 | Kai Jie 10 | 11 | Nikhil Venkatesh 12 | Toship 13 | 14 | BSD-3-Clause 15 | catkin 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /volta_rules/sensor_read.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | import usb.core 3 | import rospkg 4 | 5 | existing_idvendor_list = [] 6 | existing_idproduct_list = [] 7 | new_idvendor_list = [] 8 | new_idproduct_list = [] 9 | 10 | def Diff(list1, list2): 11 | return (list(list(set(list1)-set(list2)) + list(set(list2)-set(list1)))) 12 | 13 | def add_leading_zeros(product_id): 14 | if(product_id != 0): 15 | if(len(product_id)==3): 16 | return ('0'+product_id) 17 | elif(len(product_id)==2): 18 | return ('00'+product_id) 19 | elif(len(product_id)==1): 20 | return ('000'+product_id) 21 | else: 22 | return product_id 23 | 24 | raw_input("Unplug all the USB devices from the system and press 'Enter'" + '\n') 25 | dev = usb.core.find(find_all=True) 26 | for cfg in dev: 27 | existing_idvendor_list.append(str(cfg.idVendor)) 28 | existing_idproduct_list.append(str(cfg.idProduct)) 29 | 30 | ####################### To read the idproduct and idvendor for MCU ####################### 31 | raw_input("Plug MCU board and press 'Enter'") 32 | dev = usb.core.find(find_all=True) 33 | for cfg in dev: 34 | new_idvendor_list.append(str(cfg.idVendor)) 35 | new_idproduct_list.append(str(cfg.idProduct)) 36 | 37 | MCU_idvendor = ''.join(Diff(new_idvendor_list, existing_idvendor_list)) 38 | existing_idvendor_list.append(MCU_idvendor) 39 | if(MCU_idvendor == ""): 40 | MCU_idvendor = 0 41 | 42 | MCU_idvendor = add_leading_zeros(format(int(MCU_idvendor), 'x')) 43 | MCU_idproduct = ''.join(Diff(new_idproduct_list, existing_idproduct_list)) 44 | existing_idproduct_list.append(MCU_idproduct) 45 | if(MCU_idproduct == ""): 46 | MCU_idproduct = 0 47 | 48 | MCU_idproduct = add_leading_zeros(format(int(MCU_idproduct), 'x')) 49 | if (MCU_idvendor == '0' or MCU_idproduct == '0'): 50 | print ("Not binding MCU" + '\n') 51 | else: 52 | print("MCU_idvendor : " + MCU_idvendor + "," +" MCU_idproduct : " + MCU_idproduct + '\n') 53 | 54 | ####################### To read the idproduct and idvendor for rplidar ####################### 55 | raw_input("Plug rplidar and press 'Enter'") 56 | dev = usb.core.find(find_all=True) 57 | for cfg in dev: 58 | new_idvendor_list.append(str(cfg.idVendor)) 59 | new_idproduct_list.append(str(cfg.idProduct)) 60 | 61 | rplidar_idvendor = ''.join(Diff(new_idvendor_list, existing_idvendor_list)) 62 | existing_idvendor_list.append(rplidar_idvendor) 63 | if(rplidar_idvendor == ""): 64 | rplidar_idvendor = 0 65 | 66 | rplidar_idvendor = add_leading_zeros(format(int(rplidar_idvendor), 'x')) 67 | rplidar_idproduct = ''.join(Diff(new_idproduct_list, existing_idproduct_list)) 68 | existing_idproduct_list.append(rplidar_idproduct) 69 | if(rplidar_idproduct == ""): 70 | rplidar_idproduct = 0 71 | 72 | rplidar_idproduct = add_leading_zeros(format(int(rplidar_idproduct), 'x')) 73 | if (rplidar_idvendor == '0' or rplidar_idproduct == '0'): 74 | print ("Not binding rplidar" + '\n') 75 | else: 76 | print("rplidar_idvendor : " + rplidar_idvendor + "," + " rplidar_idproduct : " + rplidar_idproduct + '\n') 77 | 78 | ####################### To read the idproduct and idvendor for IMU sensor ####################### 79 | raw_input("plug imu sensor and press 'Enter'") 80 | dev = usb.core.find(find_all=True) 81 | for cfg in dev: 82 | new_idvendor_list.append(str(cfg.idVendor)) 83 | new_idproduct_list.append(str(cfg.idProduct)) 84 | 85 | imu_idvendor = ''.join(Diff(new_idvendor_list, existing_idvendor_list)) 86 | existing_idvendor_list.append(imu_idvendor) 87 | if(imu_idvendor == ""): 88 | imu_idvendor = 0 89 | 90 | imu_idvendor = add_leading_zeros(format(int(imu_idvendor), 'x')) 91 | imu_idproduct = ''.join(Diff(new_idproduct_list, existing_idproduct_list)) 92 | existing_idproduct_list.append(imu_idproduct) 93 | if(imu_idproduct == ""): 94 | imu_idproduct = 0 95 | 96 | imu_idproduct = add_leading_zeros(format(int(imu_idproduct), 'x')) 97 | if (imu_idvendor == '0' or imu_idproduct == '0'): 98 | print ("Not binding IMU" + '\n') 99 | else: 100 | print("imu_idvendor : " + imu_idvendor + "," + " imu_idproduct : " + imu_idproduct + '\n') 101 | 102 | ####################### To read the idproduct and idvendor for camera ####################### 103 | raw_input("plug camera and press 'Enter'") 104 | dev = usb.core.find(find_all=True) 105 | for cfg in dev: 106 | new_idvendor_list.append(str(cfg.idVendor)) 107 | new_idproduct_list.append(str(cfg.idProduct)) 108 | 109 | camera_idvendor = ''.join(Diff(new_idvendor_list, existing_idvendor_list)) 110 | existing_idvendor_list.append(camera_idvendor) 111 | if(camera_idvendor == ""): 112 | camera_idvendor = 0 113 | 114 | camera_idvendor = add_leading_zeros(format(int(camera_idvendor), 'x')) 115 | camera_idproduct = ''.join(Diff(new_idproduct_list, existing_idproduct_list)) 116 | existing_idproduct_list.append(camera_idproduct) 117 | if(camera_idproduct == ""): 118 | camera_idproduct = 0 119 | 120 | camera_idproduct = add_leading_zeros(format(int(camera_idproduct), 'x')) 121 | if (camera_idvendor == '0' or camera_idproduct == '0'): 122 | print ("Not binding camera" + '\n') 123 | else: 124 | print("camera_idvendor : " + camera_idvendor + "," + " camera_idproduct : " + camera_idproduct + '\n') 125 | 126 | ####################### print all the values####################### 127 | print("MCU_idvendor : " + MCU_idvendor + "," +" MCU_idproduct : " + MCU_idproduct) 128 | print("rplidar_idvendor : " + rplidar_idvendor + "," + " rplidar_idproduct : " + rplidar_idproduct) 129 | print("imu_idvendor : " + imu_idvendor + "," + " imu_idproduct : " + imu_idproduct) 130 | print("camera_idvendor : " + camera_idvendor + "," + " camera_idproduct : " + camera_idproduct) 131 | 132 | ###################### copying the data to udev rules 133 | rospack = rospkg.RosPack() 134 | path = rospack.get_path('volta_rules') 135 | f= open(path + "/udev_rules.rules","w+") 136 | f.write('KERNEL=="ttyUSB*", ATTRS{idVendor}=="'+MCU_idvendor+'", ATTRS{idProduct}=="'+MCU_idproduct+'", MODE:="0777", SYMLINK+="mcu"'+ '\n') 137 | 138 | # For rplidar 139 | f.write('KERNEL=="ttyUSB*", ATTRS{idVendor}=="'+rplidar_idvendor+'", ATTRS{idProduct}=="'+rplidar_idproduct+'", MODE:="0777", SYMLINK+="rplidar"'+ '\n') 140 | 141 | # For imu 142 | f.write('KERNEL=="ttyUSB*", ATTRS{idVendor}=="'+imu_idvendor+'", ATTRS{idProduct}=="'+imu_idproduct+'", MODE:="0777", SYMLINK+="imu"'+ '\n') 143 | 144 | # For camera 145 | f.write('KERNEL=="ttyUSB*", ATTRS{idVendor}=="'+camera_idvendor+'", ATTRS{idProduct}=="'+camera_idproduct+'", MODE:="0777", SYMLINK+="camera"') 146 | 147 | f.close() 148 | -------------------------------------------------------------------------------- /volta_rules/udev_rules.rules: -------------------------------------------------------------------------------- 1 | KERNEL=="ttyUSB*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0777", SYMLINK+="mcu" 2 | KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar" 3 | KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", SYMLINK+="imu" 4 | KERNEL=="ttyUSB*", ATTRS{idVendor}=="0", ATTRS{idProduct}=="0", MODE:="0777", SYMLINK+="camera" 5 | -------------------------------------------------------------------------------- /volta_teleoperator/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package volta_teleoperator 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.1 (2021-03-22) 6 | ------------------ 7 | * Updated yaml config and launch files. 8 | * Merge branch 'kinetic-devel-r2-update' into melodic-devel 9 | * Merge branch 'melodic-devel' into kinetic-devel-r2-update 10 | * updated sensor_read.py file. Added install configuration in CMakeLists.txt 11 | * Added install configuration in CMakeLists.txt 12 | * Merged volta_development. 13 | * Merged volta_development. 14 | * Added BSD-3 license 15 | * renamed the launch file for volta_teleoperator 16 | * Contributors: Nikhil Venkatesh, Toship 17 | 18 | 1.1.0 (2020-11-19) 19 | ------------------ 20 | * First Release -------------------------------------------------------------------------------- /volta_teleoperator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(volta_teleoperator) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | teleop_twist_joy 6 | teleop_twist_keyboard 7 | sensor_msgs 8 | geometry_msgs 9 | volta_msgs 10 | actionlib_msgs 11 | ) 12 | 13 | catkin_package( 14 | INCLUDE_DIRS 15 | include 16 | LIBRARIES 17 | joy_teleop 18 | ) 19 | 20 | include_directories( 21 | include 22 | ${catkin_INCLUDE_DIRS} 23 | ) 24 | 25 | add_library(volta_joy_teleop src/joy_teleop.cpp) 26 | add_executable(volta_joy_teleop_node src/joy_teleop_node.cpp) 27 | target_link_libraries(volta_joy_teleop_node volta_joy_teleop ${catkin_LIBRARIES}) 28 | 29 | 30 | install(DIRECTORY include/${PROJECT_NAME}/ 31 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 32 | PATTERN ".svn" EXCLUDE 33 | ) 34 | 35 | install(TARGETS 36 | volta_joy_teleop 37 | volta_joy_teleop_node 38 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 39 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 40 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 41 | ) 42 | 43 | install( 44 | DIRECTORY config launch 45 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 46 | ) -------------------------------------------------------------------------------- /volta_teleoperator/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, Botsync Pte. Ltd. 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | * Redistributions of source code must retain the above copyright 7 | notice, this list of conditions and the following disclaimer. 8 | * Redistributions in binary form must reproduce the above copyright 9 | notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | * Neither the name of the Botsync Pte. Ltd. nor the 12 | names of its contributors may be used to endorse or promote products 13 | derived from this software without specific prior written permission. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 19 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 | -------------------------------------------------------------------------------- /volta_teleoperator/config/joy.yaml: -------------------------------------------------------------------------------- 1 | enable_button: 0 2 | stop_button: 2 3 | e_stop_button: 3 4 | linear_speed_axis: 1 5 | angular_speed_axis: 0 6 | 7 | max_linear_speed: 0.5 8 | max_angular_speed: 0.7 9 | 10 | enable_e_stop: 1 11 | 12 | cmd_vel_topic: joy/cmd_vel 13 | e_stop_pub_topic: e_stop_sw_enable 14 | 15 | joy_topic: joy 16 | -------------------------------------------------------------------------------- /volta_teleoperator/include/volta_teleoperator/joy_teleop.h: -------------------------------------------------------------------------------- 1 | /* 2 | 3 | Copyright (c) 2020, Botsync Pte. Ltd. 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | * Redistributions of source code must retain the above copyright 9 | notice, this list of conditions and the following disclaimer. 10 | * Redistributions in binary form must reproduce the above copyright 11 | notice, this list of conditions and the following disclaimer in the 12 | documentation and/or other materials provided with the distribution. 13 | * Neither the name of the Botsync Pte. Ltd. nor the 14 | names of its contributors may be used to endorse or promote products 15 | derived from this software without specific prior written permission. 16 | 17 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 21 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | 28 | */ 29 | 30 | #include 31 | #include 32 | #include 33 | #include 34 | 35 | bool e_stop_status = false; 36 | 37 | int enable_button; 38 | int stop_button; 39 | int e_stop_button; 40 | int linear_speed_axis; 41 | int angular_speed_axis; 42 | 43 | int enable_e_stop; 44 | 45 | double max_linear_speed; 46 | double max_angular_speed; 47 | 48 | ros::Subscriber joy_subscriber; 49 | 50 | ros::Publisher cmd_vel_pub; 51 | ros::Publisher e_stop_pub; 52 | 53 | bool dead_man = false; 54 | geometry_msgs::Twist cmd_to_send; 55 | 56 | void joy_callback(const sensor_msgs::Joy::ConstPtr& joy); 57 | -------------------------------------------------------------------------------- /volta_teleoperator/launch/teleoperator.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /volta_teleoperator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | volta_teleoperator 4 | 1.1.1 5 | The volta_teleoperator package 6 | 7 | Nikhil Venkatesh 8 | Mahendra L Seervi 9 | 10 | Nikhil Venkatesh 11 | Toship 12 | 13 | BSD-3-Clause 14 | 15 | catkin 16 | teleop_twist_keyboard 17 | sensor_msgs 18 | volta_msgs 19 | geometry_msgs 20 | teleop_twist_joy 21 | actionlib_msgs 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /volta_teleoperator/src/joy_teleop.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | 3 | Copyright (c) 2020, Botsync Pte. Ltd. 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | * Redistributions of source code must retain the above copyright 9 | notice, this list of conditions and the following disclaimer. 10 | * Redistributions in binary form must reproduce the above copyright 11 | notice, this list of conditions and the following disclaimer in the 12 | documentation and/or other materials provided with the distribution. 13 | * Neither the name of the Botsync Pte. Ltd. nor the 14 | names of its contributors may be used to endorse or promote products 15 | derived from this software without specific prior written permission. 16 | 17 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 21 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | 28 | */ 29 | 30 | #include 31 | 32 | void joy_callback(const sensor_msgs::Joy::ConstPtr& joy) { 33 | geometry_msgs::Twist cmd; 34 | 35 | if (enable_e_stop && joy->buttons[e_stop_button] && !e_stop_status) { 36 | std_msgs::Bool e_stop_msg; 37 | 38 | e_stop_msg.data = true; 39 | e_stop_status = true; 40 | 41 | // Publish 0 velocity 42 | cmd.linear.x = 0.0; 43 | cmd.linear.y = 0.0; 44 | cmd.linear.z = 0.0; 45 | cmd.angular.x = 0.0; 46 | cmd.angular.y = 0.0; 47 | cmd.angular.z = 0.0; 48 | 49 | e_stop_pub.publish(e_stop_msg); 50 | } else if (enable_e_stop && joy->buttons[e_stop_button] && e_stop_status) { 51 | std_msgs::Bool e_stop_msg; 52 | 53 | e_stop_msg.data = false; 54 | e_stop_status = false; 55 | 56 | // Publish 0 velocity 57 | cmd.linear.x = 0.0; 58 | cmd.linear.y = 0.0; 59 | cmd.linear.z = 0.0; 60 | cmd.angular.x = 0.0; 61 | cmd.angular.y = 0.0; 62 | cmd.angular.z = 0.0; 63 | 64 | e_stop_pub.publish(e_stop_msg); 65 | } else if (joy->buttons[stop_button]) { 66 | // Publish 0 velocity 67 | cmd.linear.x = 0.0; 68 | cmd.linear.y = 0.0; 69 | cmd.linear.z = 0.0; 70 | cmd.angular.x = 0.0; 71 | cmd.angular.y = 0.0; 72 | cmd.angular.z = 0.0; 73 | 74 | } else if (joy->buttons[enable_button]) { 75 | cmd.linear.x = max_linear_speed * joy->axes[linear_speed_axis]; 76 | cmd.linear.y = 0.0; 77 | cmd.linear.z = 0.0; 78 | cmd.angular.x = 0.0; 79 | cmd.angular.y = 0.0; 80 | cmd.angular.z = max_angular_speed * joy->axes[angular_speed_axis]; 81 | dead_man = true; 82 | cmd_to_send = cmd; 83 | 84 | } else { 85 | cmd.linear.x = 0.0; 86 | cmd.linear.y = 0.0; 87 | cmd.linear.z = 0.0; 88 | cmd.angular.x = 0.0; 89 | cmd.angular.y = 0.0; 90 | cmd.angular.z = 0.0; 91 | dead_man = false; 92 | } 93 | 94 | cmd_vel_pub.publish(cmd); 95 | } 96 | -------------------------------------------------------------------------------- /volta_teleoperator/src/joy_teleop_node.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | 3 | Copyright (c) 2020, Botsync Pte. Ltd. 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | * Redistributions of source code must retain the above copyright 9 | notice, this list of conditions and the following disclaimer. 10 | * Redistributions in binary form must reproduce the above copyright 11 | notice, this list of conditions and the following disclaimer in the 12 | documentation and/or other materials provided with the distribution. 13 | * Neither the name of the Botsync Pte. Ltd. nor the 14 | names of its contributors may be used to endorse or promote products 15 | derived from this software without specific prior written permission. 16 | 17 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 18 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 19 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY 21 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | 28 | */ 29 | 30 | #include 31 | 32 | int main(int argc, char** argv) { 33 | ros::init(argc, argv, "joy_teleop_node"); 34 | 35 | ros::NodeHandle nh; 36 | 37 | nh.param("enable_button", enable_button, 1); 38 | nh.param("stop_button", stop_button, 2); 39 | nh.param("e_stop_button", e_stop_button, 3); 40 | nh.param("linear_speed_axis", linear_speed_axis, 1); 41 | nh.param("angular_speed_axis", angular_speed_axis, 0); 42 | 43 | nh.param("max_linear_speed", max_linear_speed, 0.3); 44 | nh.param("max_angular_speed", max_angular_speed, 0.3); 45 | 46 | nh.param("enable_e_stop", enable_e_stop, 0); 47 | 48 | std::string cmd_vel_topic, e_stop_pub_topic, joy_topic, e_stop_sub_topic; 49 | 50 | nh.param("cmd_vel_topic", cmd_vel_topic, "joy/cmd_vel"); 51 | nh.param("e_stop_pub_topic", e_stop_pub_topic, "/e_stop_sw_enable"); 52 | 53 | nh.param("joy_topic", joy_topic, "/joy"); 54 | 55 | cmd_vel_pub = nh.advertise(cmd_vel_topic, 1); 56 | 57 | joy_subscriber = nh.subscribe(joy_topic, 1, joy_callback); 58 | 59 | if (enable_e_stop) { 60 | ROS_INFO("Enable e-stop: %d", enable_e_stop); 61 | e_stop_pub = nh.advertise(e_stop_pub_topic, 1); 62 | } 63 | 64 | ros::Rate r(5); 65 | while (ros::ok()) { 66 | if (dead_man) { 67 | cmd_vel_pub.publish(cmd_to_send); 68 | } 69 | r.sleep(); 70 | ros::spinOnce(); 71 | } 72 | 73 | return 0; 74 | //ros::spin(); 75 | } 76 | --------------------------------------------------------------------------------