This app is the result of a Senior Project to design an Android application to control a robot.
16 | Our goal was to create an Android application to interface with a Robot Operating System (ROS) robot for direct drive, diagnostic, and navigation information.
17 | The application processes data from various sensors on the robot and displays the information in an understandable fashion. It has been optimized for tablets whose increased screen size can accomodate the variety of displays for visualizing data from the robot's sensors.
18 |
30 |
31 | Michael Brunson
32 | Kenneth Spear
33 | Nathaniel Stone
34 | Cam Stewart
35 | Zipporah Lighty
36 |
37 |
38 |
Open Source Dependencies:
39 |
40 | Gson
41 | ROS
42 | rosjava
43 | osmdroid (OpenStreetMap)
44 | osmbonuspack
45 | ShowcaseView
46 |
47 |
48 |
49 |
50 |
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/src/android_foo/control_app/src/main/res/values/styles.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
7 |
8 |
15 |
16 |
23 |
24 |
32 |
33 |
36 |
37 |
40 |
41 |
44 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/ControlMode.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Core;
2 |
3 | import android.preference.PreferenceManager;
4 |
5 | import com.robotca.ControlApp.ControlApp;
6 | import com.robotca.ControlApp.Core.Plans.RandomWalkPlan;
7 | import com.robotca.ControlApp.Core.Plans.RobotPlan;
8 | import com.robotca.ControlApp.Core.Plans.SimpleWaypointPlan;
9 | import com.robotca.ControlApp.Core.Plans.WaypointPlan;
10 |
11 | /**
12 | * Enum for different ways to control the Robot.
13 | *
14 | * Created by Michael Brunson on 2/12/16.
15 | */
16 | public enum ControlMode {
17 | Joystick (true), // Joystick control
18 | Tilt (true), // Tilt sensor control
19 | SimpleWaypoint (false), // SimpleWaypoint control
20 | Waypoint (false), // Potential field waypoint control
21 | RandomWalk (false); // Random walk
22 |
23 | // Whether the user directly controls the Robot in this mode
24 | public final boolean USER_CONTROLLED;
25 |
26 | /**
27 | * Creates a ControlMode.
28 | * @param userControlled Whether the user controls the Robot directly in this mode.
29 | */
30 | ControlMode(boolean userControlled)
31 | {
32 | USER_CONTROLLED = userControlled;
33 | }
34 |
35 | /**
36 | * Creates a RobotPlan for the specified ControlMode if one exists.
37 | * @param controlApp The ControlApp
38 | * @param controlMode The ControlMode
39 | * @return A RobotPlan for the ControlMode or null if none exists
40 | */
41 | public static RobotPlan getRobotPlan(ControlApp controlApp, ControlMode controlMode) {
42 |
43 | RobotPlan plan;
44 |
45 | switch (controlMode) {
46 |
47 | case SimpleWaypoint: plan = new SimpleWaypointPlan(controlApp); break;
48 | case Waypoint: plan = new WaypointPlan(controlApp); break;
49 | case RandomWalk: plan = new RandomWalkPlan(
50 | Float.parseFloat(PreferenceManager
51 | .getDefaultSharedPreferences(controlApp)
52 | .getString("edittext_random_walk_range_proximity", "1")));
53 | break;
54 | default: plan = null; break;
55 | }
56 |
57 | return plan;
58 | }
59 | }
60 |
--------------------------------------------------------------------------------
/src/android_foo/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | android_foo
4 | 0.1.0
5 | The android_foo package
6 |
7 |
8 |
9 |
10 | mike
11 |
12 |
13 |
14 |
15 |
16 | Apache 2.0
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 | catkin
43 | android_core
44 | rosjava_build_tools
45 | rosjava_core
46 | std_msgs
47 | testing
48 |
49 |
50 |
51 |
52 |
53 |
54 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/res/raw/faq.html:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
FAQ
6 |
7 |
These are just a few questions that may come up as you're using the app based on common and sometimes recurring issues.
8 |
9 |
10 |
11 |
Why can't I connect to the robot?
12 |
While this seems like a simple question, there are a variety of reasons for why you can't connect. Check all possibilities below before making further inquiries.
13 |
14 |
Are you connected to the correct Wi-Fi?
15 |
This should be relatively easy to check. Make sure that your device and your computer are connected to the same network. Otherwise you will not be able to connect to the robot.
16 |
17 |
Do you have the correct IP address?
18 |
Make sure that you are inputting the IP address of the ROS_IP environment variable if connecting to a simulator, or the IP address of the robot if connecting to a robot.
19 |
20 |
Did you input the Master URI properly?
21 |
The only thing that you should remove is "localhost". That should be replaced with the IP address. (i.e. 132.45.531.5)
22 |
23 |
Do you have the newest version of the app?
24 |
This may seem unnecessary but it could be important. It won't hurt at all to update to the newest version!
25 |
26 |
27 |
28 |
Why can't I see a view?
29 |
If one of the views is not drawing this could indicate that you are not receiving messages for the topic associated with the view. Check your robot and make sure it is publishing messages to all the required topics.
30 |
31 |
Why are the Waypoints not drawing in correct relation to the Robot?
32 |
Any problems with drawing the Waypoints on the Laser Scan screen are most likely caused by issues receiving Odometry messages from the Robot. Make sure you have a strong connection to the Robot and that it is publishing Odometry messages.
33 |
34 |
35 |
36 |
In general, problems are most commonly related to having a weak connection to the Robot or not receiving messages for one of the required topics.
37 |
38 |
39 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/res/layout/main.xml:
--------------------------------------------------------------------------------
1 |
2 |
6 |
7 |
12 |
13 |
16 |
17 |
21 |
22 |
28 |
29 |
38 |
39 |
40 |
41 |
51 |
52 |
53 |
54 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/res/layout-land/main.xml:
--------------------------------------------------------------------------------
1 |
2 |
7 |
8 |
14 |
15 |
18 |
19 |
23 |
29 |
38 |
39 |
40 |
41 |
50 |
51 |
52 |
53 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/res/layout/robot_info_view.xml:
--------------------------------------------------------------------------------
1 |
2 |
9 |
10 |
15 |
16 |
21 |
22 |
28 |
29 |
34 |
35 |
40 |
46 |
47 |
52 |
57 |
58 |
59 |
60 |
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/src/android_foo/control_app/src/main/res/layout/robot_chooser.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
10 |
11 |
16 |
17 |
25 |
26 |
30 |
31 |
37 |
38 |
48 |
49 |
50 |
51 |
52 |
62 |
63 |
64 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/Plans/RandomWalkPlan.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Core.Plans;
2 |
3 | import com.robotca.ControlApp.Core.ControlMode;
4 | import com.robotca.ControlApp.Core.RobotController;
5 |
6 | import java.util.Random;
7 |
8 | import sensor_msgs.LaserScan;
9 |
10 | /**
11 | * Simple bump and turn motion plan.
12 | *
13 | * Created by Michael Brunson on 2/13/16.
14 | */
15 | public class RandomWalkPlan extends RobotPlan {
16 |
17 | private final Random random;
18 | private float minRange;
19 |
20 | /**
21 | * Creates a RandomWalkPlan with the specified minimum range.
22 | * @param minRange The minimum range
23 | */
24 | public RandomWalkPlan(float minRange) {
25 | this.minRange = Math.max(minRange, 0.2f);
26 | random = new Random();
27 | }
28 |
29 | /**
30 | * @return The ControlMode for this RobotPlan
31 | */
32 | @Override
33 | public ControlMode getControlMode() {
34 | return ControlMode.RandomWalk;
35 | }
36 |
37 | @Override
38 | public void start(final RobotController controller) throws Exception {
39 | // Laser scan data
40 | float[] ranges;
41 | // Temporary variables
42 | float shortestDistance, angle, angleDelta, angleIncrement;
43 |
44 | while(!isInterrupted()) {
45 | LaserScan laserScan = controller.getLaserScan();
46 |
47 | ranges = laserScan.getRanges();
48 | shortestDistance = ranges[ranges.length / 2];
49 | angle = laserScan.getAngleMin();
50 | angleDelta = (float) Math.toRadians(30);
51 | angleIncrement = laserScan.getAngleIncrement();
52 |
53 | // Find the shortest range
54 | for (int i = 0; i < laserScan.getRanges().length; i++) {
55 | if (ranges[i] < shortestDistance && angle > -angleDelta && angle < angleDelta) {
56 | shortestDistance = ranges[i];
57 | }
58 |
59 | angle += angleIncrement;
60 | }
61 |
62 | // If a wall is close, stop, turn a random amount, and continue moving
63 | if (shortestDistance < minRange) {
64 | controller.publishVelocity(0, 0, 0);
65 | waitFor(1000);
66 |
67 | long delay = (long) (2000 * (1 + random.nextFloat()));
68 | controller.publishVelocity(0, 0, .75);
69 | waitFor(delay);
70 | controller.publishVelocity(0, 0, 0);
71 | waitFor(1000);
72 | } else {
73 | controller.publishVelocity(.75, 0, 0);
74 | }
75 | }
76 | }
77 | }
78 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/NavDrawerAdapter.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Core;
2 |
3 | import android.app.Activity;
4 | import android.content.Context;
5 | import android.view.LayoutInflater;
6 | import android.view.View;
7 | import android.view.ViewGroup;
8 | import android.widget.ArrayAdapter;
9 | import android.widget.ImageView;
10 | import android.widget.TextView;
11 |
12 | import com.robotca.ControlApp.R;
13 |
14 | import java.util.List;
15 |
16 | /**
17 | * Adapter class for the NavDrawer.
18 | *
19 | * Created by Michael Brunson on 1/23/16.
20 | */
21 | public class NavDrawerAdapter extends ArrayAdapter {
22 |
23 | Context context;
24 | List drawerItemList;
25 | int layoutResID;
26 |
27 | /**
28 | * Creates a NavDrawerAdapter.
29 | * @param context The Adapter's context
30 | * @param layoutResourceID The resource id of the layout
31 | * @param listItems The list of items for the NavDrawer
32 | */
33 | public NavDrawerAdapter(Context context, int layoutResourceID, List listItems) {
34 | super(context, layoutResourceID, listItems);
35 | this.context = context;
36 | this.drawerItemList = listItems;
37 | this.layoutResID = layoutResourceID;
38 | }
39 |
40 | @Override
41 | public View getView(int position, View convertView, ViewGroup parent) {
42 |
43 | DrawerItemHolder drawerHolder;
44 | View view = convertView;
45 |
46 | // Create the view if it doesn't already exist
47 | if (view == null) {
48 | LayoutInflater inflater = ((Activity) context).getLayoutInflater();
49 | drawerHolder = new DrawerItemHolder();
50 |
51 | view = inflater.inflate(layoutResID, parent, false);
52 | drawerHolder.ItemName = (TextView) view
53 | .findViewById(R.id.nav_drawer_item_text_view);
54 | drawerHolder.icon = (ImageView) view.findViewById(R.id.nav_drawer_item_image_view);
55 |
56 | view.setTag(drawerHolder);
57 |
58 | } else {
59 | drawerHolder = (DrawerItemHolder) view.getTag();
60 | }
61 |
62 | // Initialize the selected DrawerItem
63 | DrawerItem dItem = this.drawerItemList.get(position);
64 |
65 | //noinspection deprecation // Minimum API level
66 | drawerHolder.icon.setImageDrawable(view.getResources().getDrawable(dItem.getImgResID()));
67 |
68 | drawerHolder.ItemName.setText(dItem.getItemName());
69 |
70 | return view;
71 | }
72 |
73 | /*
74 | * Container class for a drawer item
75 | */
76 | private static class DrawerItemHolder {
77 | TextView ItemName;
78 | ImageView icon;
79 | }
80 | }
81 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Views/LaserScanView.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Views;
2 |
3 | import android.content.Context;
4 | import android.graphics.PixelFormat;
5 | import android.opengl.GLSurfaceView;
6 | import android.util.AttributeSet;
7 | import android.util.Log;
8 | import android.view.MotionEvent;
9 | import android.view.SurfaceHolder;
10 |
11 | import com.robotca.ControlApp.ControlApp;
12 | import com.robotca.ControlApp.Layers.LaserScanRenderer;
13 |
14 | /**
15 | * Custom GLSurfaceView for rendering a LaserScanLayer.
16 | *
17 | * Created by Nathaniel Stone on 3/29/16.
18 | */
19 | public class LaserScanView extends GLSurfaceView {
20 |
21 | private static final String TAG = "LaserScanView";
22 |
23 | // The Renderer for this View
24 | private LaserScanRenderer laserScanRenderer;
25 |
26 |
27 | /**
28 | * Required Constructor.
29 | * @param context The parent context
30 | */
31 | public LaserScanView(Context context) {
32 | super(context);
33 |
34 | if (!isInEditMode())
35 | setRenderer(laserScanRenderer = new LaserScanRenderer((ControlApp) getContext()));
36 | }
37 |
38 | /**
39 | * Standard View constructor.
40 | */
41 | public LaserScanView(Context context, AttributeSet attrs) {
42 | super(context, attrs);
43 |
44 | if (!isInEditMode())
45 | setRenderer(laserScanRenderer = new LaserScanRenderer((ControlApp) getContext()));
46 | }
47 |
48 | /**
49 | * @return The renderer for this view
50 | */
51 | public LaserScanRenderer getLaserScanRenderer() {
52 | return laserScanRenderer;
53 | }
54 |
55 | @Override
56 | public void surfaceChanged(SurfaceHolder holder, int format, int w, int h)
57 | {
58 | super.surfaceChanged(holder, format, w, h);
59 |
60 | Log.d(TAG, "surfaceChanged(" + format + ", " + w + ", " + h + ")");
61 |
62 | ((ControlApp)getContext()).getRobotController().addLaserScanListener(laserScanRenderer);
63 | }
64 |
65 | @Override
66 | public void surfaceCreated(SurfaceHolder holder) {
67 | super.surfaceCreated(holder);
68 |
69 | getHolder().setFormat(PixelFormat.TRANSLUCENT);
70 |
71 | Log.d(TAG, "surfaceCreated(" + holder + ")");
72 | }
73 |
74 | @Override
75 | public void surfaceDestroyed(SurfaceHolder holder) {
76 | super.surfaceDestroyed(holder);
77 |
78 | Log.d(TAG, "surfaceDestroyed(" + holder + ")");
79 |
80 | ((ControlApp)getContext()).getRobotController().removeLaserScanListener(laserScanRenderer);
81 | }
82 |
83 | @Override
84 | public boolean onTouchEvent(MotionEvent e) {
85 | return laserScanRenderer.onTouchEvent(e);
86 | }
87 | }
88 |
--------------------------------------------------------------------------------
/src/android_foo/gradlew.bat:
--------------------------------------------------------------------------------
1 | @if "%DEBUG%" == "" @echo off
2 | @rem ##########################################################################
3 | @rem
4 | @rem Gradle startup script for Windows
5 | @rem
6 | @rem ##########################################################################
7 |
8 | @rem Set local scope for the variables with windows NT shell
9 | if "%OS%"=="Windows_NT" setlocal
10 |
11 | @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
12 | set DEFAULT_JVM_OPTS=
13 |
14 | set DIRNAME=%~dp0
15 | if "%DIRNAME%" == "" set DIRNAME=.
16 | set APP_BASE_NAME=%~n0
17 | set APP_HOME=%DIRNAME%
18 |
19 | @rem Find java.exe
20 | if defined JAVA_HOME goto findJavaFromJavaHome
21 |
22 | set JAVA_EXE=java.exe
23 | %JAVA_EXE% -version >NUL 2>&1
24 | if "%ERRORLEVEL%" == "0" goto init
25 |
26 | echo.
27 | echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
28 | echo.
29 | echo Please set the JAVA_HOME variable in your environment to match the
30 | echo location of your Java installation.
31 |
32 | goto fail
33 |
34 | :findJavaFromJavaHome
35 | set JAVA_HOME=%JAVA_HOME:"=%
36 | set JAVA_EXE=%JAVA_HOME%/bin/java.exe
37 |
38 | if exist "%JAVA_EXE%" goto init
39 |
40 | echo.
41 | echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
42 | echo.
43 | echo Please set the JAVA_HOME variable in your environment to match the
44 | echo location of your Java installation.
45 |
46 | goto fail
47 |
48 | :init
49 | @rem Get command-line arguments, handling Windowz variants
50 |
51 | if not "%OS%" == "Windows_NT" goto win9xME_args
52 | if "%@eval[2+2]" == "4" goto 4NT_args
53 |
54 | :win9xME_args
55 | @rem Slurp the command line arguments.
56 | set CMD_LINE_ARGS=
57 | set _SKIP=2
58 |
59 | :win9xME_args_slurp
60 | if "x%~1" == "x" goto execute
61 |
62 | set CMD_LINE_ARGS=%*
63 | goto execute
64 |
65 | :4NT_args
66 | @rem Get arguments from the 4NT Shell from JP Software
67 | set CMD_LINE_ARGS=%$
68 |
69 | :execute
70 | @rem Setup the command line
71 |
72 | set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
73 |
74 | @rem Execute Gradle
75 | "%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
76 |
77 | :end
78 | @rem End local scope for the variables with windows NT shell
79 | if "%ERRORLEVEL%"=="0" goto mainEnd
80 |
81 | :fail
82 | rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
83 | rem the _cmd.exe /c_ return code!
84 | if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
85 | exit /b 1
86 |
87 | :mainEnd
88 | if "%OS%"=="Windows_NT" endlocal
89 |
90 | :omega
91 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/gradlew.bat:
--------------------------------------------------------------------------------
1 | @if "%DEBUG%" == "" @echo off
2 | @rem ##########################################################################
3 | @rem
4 | @rem Gradle startup script for Windows
5 | @rem
6 | @rem ##########################################################################
7 |
8 | @rem Set local scope for the variables with windows NT shell
9 | if "%OS%"=="Windows_NT" setlocal
10 |
11 | @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
12 | set DEFAULT_JVM_OPTS=
13 |
14 | set DIRNAME=%~dp0
15 | if "%DIRNAME%" == "" set DIRNAME=.
16 | set APP_BASE_NAME=%~n0
17 | set APP_HOME=%DIRNAME%
18 |
19 | @rem Find java.exe
20 | if defined JAVA_HOME goto findJavaFromJavaHome
21 |
22 | set JAVA_EXE=java.exe
23 | %JAVA_EXE% -version >NUL 2>&1
24 | if "%ERRORLEVEL%" == "0" goto init
25 |
26 | echo.
27 | echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
28 | echo.
29 | echo Please set the JAVA_HOME variable in your environment to match the
30 | echo location of your Java installation.
31 |
32 | goto fail
33 |
34 | :findJavaFromJavaHome
35 | set JAVA_HOME=%JAVA_HOME:"=%
36 | set JAVA_EXE=%JAVA_HOME%/bin/java.exe
37 |
38 | if exist "%JAVA_EXE%" goto init
39 |
40 | echo.
41 | echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
42 | echo.
43 | echo Please set the JAVA_HOME variable in your environment to match the
44 | echo location of your Java installation.
45 |
46 | goto fail
47 |
48 | :init
49 | @rem Get command-line arguments, handling Windowz variants
50 |
51 | if not "%OS%" == "Windows_NT" goto win9xME_args
52 | if "%@eval[2+2]" == "4" goto 4NT_args
53 |
54 | :win9xME_args
55 | @rem Slurp the command line arguments.
56 | set CMD_LINE_ARGS=
57 | set _SKIP=2
58 |
59 | :win9xME_args_slurp
60 | if "x%~1" == "x" goto execute
61 |
62 | set CMD_LINE_ARGS=%*
63 | goto execute
64 |
65 | :4NT_args
66 | @rem Get arguments from the 4NT Shell from JP Software
67 | set CMD_LINE_ARGS=%$
68 |
69 | :execute
70 | @rem Setup the command line
71 |
72 | set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
73 |
74 | @rem Execute Gradle
75 | "%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
76 |
77 | :end
78 | @rem End local scope for the variables with windows NT shell
79 | if "%ERRORLEVEL%"=="0" goto mainEnd
80 |
81 | :fail
82 | rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
83 | rem the _cmd.exe /c_ return code!
84 | if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
85 | exit /b 1
86 |
87 | :mainEnd
88 | if "%OS%"=="Windows_NT" endlocal
89 |
90 | :omega
91 |
--------------------------------------------------------------------------------
/src/android_foo/build.gradle:
--------------------------------------------------------------------------------
1 | /*
2 | * Copyright (C) 2014 Mike
3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); you may not
5 | * use this file except in compliance with the License. You may obtain a copy of
6 | * the License at
7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0
9 | *
10 | * Unless required by applicable law or agreed to in writing, software
11 | * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
12 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
13 | * License for the specific language governing permissions and limitations under
14 | * the License.
15 | */
16 |
17 | task wrapper(type: Wrapper) {
18 | gradleVersion = '2.2.3'
19 | }
20 |
21 | buildscript {
22 |
23 | apply from: "https://github.com/rosjava/android_core/raw/kinetic/buildscript.gradle"
24 | dependencies {
25 | //Add this to fix the gradle plugin issues
26 | classpath 'com.android.tools.build:gradle:1.5.0'
27 |
28 | // TEST
29 | classpath 'junit:junit:4.12'
30 | classpath 'org.mockito:mockito-core:1.10.19'
31 | }
32 | }
33 |
34 | apply plugin: 'catkin'
35 |
36 |
37 | allprojects {
38 | /* A github url provides a good standard unique name for your project */
39 | group 'com.github.sccapstone.robotca'
40 | //version = project.catkin.pkg.version
41 | }
42 |
43 | subprojects {
44 | /*
45 | * The android plugin configures a few things:
46 | *
47 | * - local deployment repository : where it dumps the jars and packaged artifacts)
48 | * - local maven repositories : where it finds your locally installed/built artifacts)
49 | * - external maven repositories : where it goes looking if it can't find dependencies locally
50 | * - android build tools version : which version we use across the board
51 | *
52 | * To modify, or add repos to the default external maven repositories list, pull request against this code:
53 | *
54 | * https://github.com/rosjava/rosjava_bootstrap/blob/indigo/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy#L31
55 | *
56 | * To modify the build tools version, pull request against this code:
57 | *
58 | * https://github.com/rosjava/rosjava_bootstrap/blob/indigo/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy#L14
59 | */
60 | apply plugin: 'ros-android'
61 |
62 | afterEvaluate { project ->
63 | android {
64 | // Exclude a few files that are duplicated across our dependencies and
65 | // prevent packaging Android applications.
66 | packagingOptions {
67 | exclude "META-INF/LICENSE.txt"
68 | exclude "META-INF/NOTICE.txt"
69 | }
70 | }
71 | }
72 | }
73 |
--------------------------------------------------------------------------------
/devel/setup.sh:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env sh
2 | # generated from catkin/cmake/template/setup.sh.in
3 |
4 | # Sets various environment variables and sources additional environment hooks.
5 | # It tries it's best to undo changes from a previously sourced setup file before.
6 | # Supported command line options:
7 | # --extend: skips the undoing of changes from a previously sourced setup file
8 |
9 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR
10 | # or fall back to the destination set at configure time
11 | : ${_CATKIN_SETUP_DIR:=/home/mike/rosjava/catkin_ws_android/devel}
12 | _SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
13 | unset _CATKIN_SETUP_DIR
14 |
15 | if [ ! -f "$_SETUP_UTIL" ]; then
16 | echo "Missing Python script: $_SETUP_UTIL"
17 | return 22
18 | fi
19 |
20 | # detect if running on Darwin platform
21 | _UNAME=`uname -s`
22 | _IS_DARWIN=0
23 | if [ "$_UNAME" = "Darwin" ]; then
24 | _IS_DARWIN=1
25 | fi
26 | unset _UNAME
27 |
28 | # make sure to export all environment variables
29 | export CMAKE_PREFIX_PATH
30 | export CPATH
31 | if [ $_IS_DARWIN -eq 0 ]; then
32 | export LD_LIBRARY_PATH
33 | else
34 | export DYLD_LIBRARY_PATH
35 | fi
36 | unset _IS_DARWIN
37 | export PATH
38 | export PKG_CONFIG_PATH
39 | export PYTHONPATH
40 |
41 | # remember type of shell if not already set
42 | if [ -z "$CATKIN_SHELL" ]; then
43 | CATKIN_SHELL=sh
44 | fi
45 |
46 | # invoke Python script to generate necessary exports of environment variables
47 | # use TMPDIR if it exists, otherwise fall back to /tmp
48 | if [ -d "${TMPDIR}" ]; then
49 | _TMPDIR="${TMPDIR}"
50 | else
51 | _TMPDIR=/tmp
52 | fi
53 | _SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
54 | unset _TMPDIR
55 | if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
56 | echo "Could not create temporary file: $_SETUP_TMP"
57 | return 1
58 | fi
59 | CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ >> "$_SETUP_TMP"
60 | _RC=$?
61 | if [ $_RC -ne 0 ]; then
62 | if [ $_RC -eq 2 ]; then
63 | echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
64 | else
65 | echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
66 | fi
67 | unset _RC
68 | unset _SETUP_UTIL
69 | rm -f "$_SETUP_TMP"
70 | unset _SETUP_TMP
71 | return 1
72 | fi
73 | unset _RC
74 | unset _SETUP_UTIL
75 | . "$_SETUP_TMP"
76 | rm -f "$_SETUP_TMP"
77 | unset _SETUP_TMP
78 |
79 | # source all environment hooks
80 | _i=0
81 | while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
82 | eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
83 | unset _CATKIN_ENVIRONMENT_HOOKS_$_i
84 | eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
85 | unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
86 | # set workspace for environment hook
87 | CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
88 | . "$_envfile"
89 | unset CATKIN_ENV_HOOK_WORKSPACE
90 | _i=$((_i + 1))
91 | done
92 | unset _i
93 |
94 | unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
95 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/res/raw/using.html:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
Using
6 |
7 |
Once connected, a variety of screens and control modes can be chosen from to operate the robot.
8 |
9 |
10 |
11 |
Controlling the Robot
12 |
Several control schemes exist for moving the robot and can be selected by clicking the three dots on the top right of the screen on the menu bar.
13 |
14 |
Random Walk
15 |
In this mode, the robot drives until nearing an obstacle and then turns a random amount and continues driving.
16 |
17 |
Joystick Control
18 |
In this mode the robot can be controlled with the joystick on the bottom right of the screen.
19 |
20 |
Tilt Control
21 |
In this mode, on devices with accelerometers, the robot can be controlled by tilting the android device. Tilt forward or backwards to drive forward or reverse and left or right to turn. Tapping the joystick will recalibrate the tilt sensor.
22 |
23 |
Simple Waypoint Control
24 |
In this mode, the robot will follow the trail marked by the placed Waypoints. See the LaserScan view for placing and viewing Waypoints.
25 |
26 |
Waypoint Control
27 |
Similar to Simple Waypoint Control, in this mode the robot uses a potential field calculated from it's laser scanner to navigate around obstacles.
28 |
29 |
30 |
31 |
Navigation Drawer Views
32 |
Once connected to the robot, the navigation drawer on the left can be opened to choose from the following screens:
33 |
34 |
The Overview screen
35 |
36 |
The Overview screen contains both the Camera screen and the LaserScan screen.
37 |
38 |
The Camera screen
39 |
40 |
The Camera screen shows the view from the robot's camera.
41 |
42 |
The LaserScan screen
43 |
44 |
The LaserScan screen option shows obstacles sensed by the robot's laser scanner. The blue arrow indicates the robot's current direction in relation to the scan data.
45 |
This screen also shows the current Waypoint trail used by the various Waypoint control modes. Waypoints can be dropped or deleted with a double tap and moved by selecting them via a long press. Dropping a Waypoint on the existing trail will insert it into the trail.
46 |
47 |
The Map screen
48 |
49 |
The Map screen shows both the robot's and android device's GPS position on the map.
50 |
51 |
Preferences
52 |
53 |
The Preferences allows you to edit a variety of settings including the ROS topics you are connected to and warning options.
There are two ways to set up the app to be able to connect to a robot. You can use a simulated robot, or a real robot.
8 |
9 |
10 |
11 |
Using a Simulated Robot
12 |
It is likely easier to access a simulated robot rather than a real one, so follow these steps to set up a simulation
13 |
14 |
Step 1: Installing Ubuntu 16.04.x or newer
15 |
Download a 32 or 64 bit Ubuntu iso, either will work, and install it on a physical computer or a virtual machine. The robot will move much much smoother if Ubuntu 14.04.3 is installed to a physical computer.
16 |
Note: If installing Ubuntu on a virtual machine, make sure that you use a Bridged Network Adapter and NOT a NAT adapter.
17 |
18 |
Step 2: Installing ROS Kinetic
19 |
Once you have Ubuntu installed, follow these instructions to install ROS Kinetic on your machine.
To install the simulator open a terminal and run the command sudo apt-get install ros-kinetic-husky-simulator
24 |
25 |
Step 4: Setting Up Your Web-cam as the Robot's Camera (Optional)
26 |
To set up your web-cam can be a hassle, and the app will work fine without it set up, you just will see whitespace where the camera view would be.
27 | To set it up follow the instruction links from the link below to our GitHub page to set up a workspace and to install the ROS web-cam software.
To begin open a terminal and run the command ifconfig, then run the command export ROS_IP="the IP address of wlan0".
33 | Once you have done that, start ROS in the same terminal using the command roscore. If you chose to set up the camera you can start it using roslaunch ./camera_node.launch. Finally start the husky simulator using the command roslaunch husky_gazebo husky_playpen.launch.
34 |
Note: Sometimes, on the very first launch of the husky simulator ever it may not work. That's okay, just re-run the command to start it and it should work.
35 |
36 |
Step 6: Connecting to the Simulated Robot
37 |
To connect to the simulator, make sure that your computer running the simulator and your Android device are on the same wifi network first. Then, open the app and click the add a robot button. When the prompt pops up, replace only the word "localhost" with the same IP address that you set
38 | your ROS_IP environment variable to earlier. Hit connect and you should connect to the simulated robot and be able to use the app.
39 |
40 |
Using a Real Robot
41 |
As far as connecting to a robot goes, it will be easier to connect to a real robot, but accessing one will be much harder
42 |
43 |
Step 1: Connecting to the Robot
44 |
To connect to the robot, make sure your Android device is on the robot's wifi network. Then open the app and add a robot. Replace only the word "localhost" with the IP address of the robot and hit connect. You should connect to the robot and be able to use the app.
45 |
46 |
47 |
48 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Fragments/JoystickFragment.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Fragments;
2 |
3 |
4 | import android.app.Fragment;
5 | import android.os.Bundle;
6 | import android.support.annotation.Nullable;
7 | import android.view.LayoutInflater;
8 | import android.view.View;
9 | import android.view.ViewGroup;
10 |
11 | import com.robotca.ControlApp.Core.ControlMode;
12 | import com.robotca.ControlApp.R;
13 | import com.robotca.ControlApp.Views.JoystickView;
14 |
15 | /**
16 | * Fragment containing the JoystickView.
17 | *
18 | * Created by Michael Brunson on 11/7/15.
19 | */
20 | public class JoystickFragment extends Fragment {
21 | private JoystickView virtualJoystick;
22 | private View view;
23 | private ControlMode controlMode = ControlMode.Joystick;
24 |
25 | /**
26 | * Default Constructor.
27 | */
28 | public JoystickFragment() {
29 | }
30 |
31 | /**
32 | * Create this Fragments View.
33 | */
34 | @Nullable
35 | @Override
36 | public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
37 |
38 | // Inflate the view if needed
39 | if (view == null) {
40 | view = inflater.inflate(R.layout.fragment_joystick_view, container, false);
41 |
42 | // Grab the JoystickView and set its topic
43 | virtualJoystick = (JoystickView) view.findViewById(R.id.joystick_view);
44 | }
45 |
46 | return view;
47 | }
48 |
49 | /**
50 | * Returns the JoystickView
51 | * @return The JoystickView
52 | */
53 | public JoystickView getJoystickView() {
54 | return virtualJoystick;
55 | }
56 |
57 | /**
58 | * Get the currently active ControlMode.
59 | * @return The current ControlMode
60 | */
61 | public ControlMode getControlMode() {
62 | return controlMode;
63 | }
64 |
65 | /**
66 | * Set the ControlMode for controlling the Joystick.
67 | * @param controlMode The new ControlMode
68 | */
69 | public void setControlMode(ControlMode controlMode) {
70 | this.controlMode = controlMode;
71 | this.invalidate();
72 | }
73 |
74 | /**
75 | * Tests whether the Joystick supports accelerometer control.
76 | * @return True if the Joystick supports accelerometer control, false otherwise
77 | */
78 | @SuppressWarnings("unused") // Maybe later...
79 | public boolean hasAccelerometer() {
80 | return virtualJoystick.hasAccelerometer();
81 | }
82 |
83 | /**
84 | * Invalidate the Fragment, updating the visibility of the Joystick based on the ControlMode.
85 | *
86 | */
87 | public void invalidate() {
88 |
89 | switch (controlMode) {
90 | case Joystick:
91 | show();
92 | break;
93 |
94 | case Tilt:
95 | show();
96 | break;
97 |
98 | default:
99 | hide();
100 | break;
101 | }
102 |
103 | virtualJoystick.setControlMode(controlMode);
104 | virtualJoystick.controlSchemeChanged();
105 | }
106 |
107 | /**
108 | * Stops the JoystickFragment.
109 | */
110 | public void stop() {
111 | virtualJoystick.stop();
112 | }
113 |
114 | /**
115 | * Shows the JoystickFragment.
116 | */
117 | public void show(){
118 | getFragmentManager()
119 | .beginTransaction()
120 | .show(this)
121 | .commit();
122 | }
123 |
124 | /**
125 | * Hides the JoystickFragment.
126 | */
127 | public void hide(){
128 | getFragmentManager()
129 | .beginTransaction()
130 | .hide(this)
131 | .commit();
132 | }
133 | }
134 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/WarningSystem.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Core;
2 |
3 | import android.content.SharedPreferences;
4 | import android.preference.PreferenceManager;
5 |
6 | import com.robotca.ControlApp.ControlApp;
7 | import com.robotca.ControlApp.R;
8 |
9 | import org.ros.message.MessageListener;
10 |
11 | import sensor_msgs.LaserScan;
12 |
13 | /**
14 | * Warning system for alerting ControlApp when a collision is imminent.
15 | * Created by Nathaniel on 3/31/16 (Adapted from WarningSystemPlan created by lightyz on 3/24/16).
16 | */
17 | public class WarningSystem implements MessageListener {
18 |
19 | private final ControlApp controlApp;
20 |
21 | private final float minRange;
22 | private boolean enabled;
23 | private boolean safemode;
24 |
25 | private static final float ANGLE_DELTA = (float) Math.toRadians(40.0);
26 |
27 | /** The minimum distance at which to register laser scan points as dangerous */
28 | public static final float MIN_DISTANCE = 0.25f;
29 |
30 | // Log tag String
31 | @SuppressWarnings("unused")
32 | private static final String TAG = "WarningSystem";
33 |
34 | /**
35 | * Creates a WarningSystem plan for the specified ControlApp.
36 | * @param controlApp The ControlApp
37 | */
38 | public WarningSystem(ControlApp controlApp) {
39 | this.controlApp = controlApp;
40 |
41 | SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(controlApp);
42 |
43 | this.enabled = prefs.getBoolean(controlApp.getString(R.string.prefs_warning_system_key), true);
44 | this.safemode = prefs.getBoolean(controlApp.getString(R.string.prefs_warning_safemode_key), true);
45 |
46 | String val = prefs.getString(controlApp.getString(R.string.prefs_warning_mindist_key),
47 | controlApp.getString(R.string.default_warning_mindist));
48 | this.minRange = Math.max(0.2f, Float.parseFloat(val));
49 | }
50 |
51 | /**
52 | * Enables/Disables the Warning System.
53 | * @param enabled Whether to enable or disable the Warning System
54 | */
55 | public void setEnabled(boolean enabled) {
56 | this.enabled = enabled;
57 | }
58 |
59 | /**
60 | * Enables/Disables safe mode.
61 | * @param enable Whether to enable or disable safe mode
62 | */
63 | public void enableSafemode(boolean enable) {
64 | safemode = enable;
65 | }
66 |
67 | /**
68 | * @return Whether safe mode is enable
69 | */
70 | public boolean isSafemodeEnabled() {
71 | return safemode;
72 | }
73 |
74 | @Override
75 | public void onNewMessage(LaserScan laserScan) {
76 |
77 | if (!enabled)
78 | return;
79 |
80 | float[] ranges = laserScan.getRanges();
81 | float shortestDistance = ranges[ranges.length / 2];
82 |
83 | // Log.d(TAG, "Original shortest distance: " + shortestDistance);
84 |
85 | float angle = laserScan.getAngleMin();
86 |
87 | // Correct for the Robot's turn rate
88 | angle += (float) RobotController.getTurnRate();
89 |
90 | float angleIncrement = laserScan.getAngleIncrement();
91 |
92 | for (int i = 0; i < laserScan.getRanges().length; i++) {
93 | if (ranges[i] > MIN_DISTANCE && ranges[i] < shortestDistance
94 | && angle > -ANGLE_DELTA && angle < ANGLE_DELTA) {
95 | shortestDistance = ranges[i];
96 | }
97 |
98 | angle += angleIncrement;
99 | }
100 |
101 | // Warn the ControlApp if necessary
102 | if (RobotController.getSpeed() > -0.1 &&
103 | shortestDistance < minRange * Math.max(0.5, RobotController.getSpeed())) {
104 |
105 | controlApp.collisionWarning();
106 | }
107 | }
108 | }
109 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/build.gradle:
--------------------------------------------------------------------------------
1 | /*
2 | * Copyright (C) 2014 Mike.
3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); you may not
5 | * use this file except in compliance with the License. You may obtain a copy of
6 | * the License at
7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0
9 | *
10 | * Unless required by applicable law or agreed to in writing, software
11 | * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
12 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
13 | * License for the specific language governing permissions and limitations under
14 | * the License.
15 | */
16 |
17 | /*
18 | Examples of
19 | 1) dependencies from another project in this gradle stack.
20 | 2,3) open ranged dependencies from a maven repository.
21 |
22 | It's a good idea to restrict the open ranged dependency to
23 | the patch version to avoid breakages due to api changes
24 | which usually occur on minor and major version numbers.
25 | */
26 |
27 | repositories {
28 | mavenCentral()
29 | mavenLocal()
30 |
31 | flatDir {
32 | dirs 'libs'
33 | }
34 | maven { url "https://jitpack.io" }
35 | }
36 |
37 |
38 | dependencies {
39 | // compile project(':control_app_lib')
40 | compile fileTree(include: ['*.jar'], dir: 'libs')
41 | ///////////////
42 | compile 'org.ros.android_core:android_10:[0.3,0.4)'
43 | compile 'org.ros.android_core:android_15:[0.3,0.4)'
44 | compile 'com.github.rosjava.android_extras:gingerbread:[0.2,0.3]'
45 | compile 'org.ros.rosjava_messages:tf2_msgs:[0.5,0.6]'
46 | compile 'com.google.code.gson:gson:2.5'
47 | compile 'com.android.support:support-v13:25.1.0'
48 | compile 'com.android.support:appcompat-v7:25.1.0'
49 | compile 'com.android.support:cardview-v7:25.1.0'
50 | compile 'com.android.support:recyclerview-v7:25.1.0'
51 | compile 'org.osmdroid:osmdroid-android:5.2@aar'
52 | compile(name:'osmbonuspack_v5.8.1', ext:'aar')
53 | compile 'org.apache.commons:commons-lang3:3.3.2'
54 | compile 'com.squareup.okhttp:okhttp:2.6.0'
55 | compile 'com.android.support:support-v4:23.2.0'
56 | compile 'com.github.amlcurran.showcaseview:library:5.4.1'
57 | compile project(':control_app_lib')
58 | }
59 |
60 | apply plugin: 'com.android.application'
61 |
62 | android {
63 | compileSdkVersion 25
64 | defaultConfig {
65 | minSdkVersion 19
66 | targetSdkVersion 25
67 | multiDexEnabled true
68 | versionCode 1
69 | versionName "2.0"
70 |
71 | testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
72 | }
73 | sourceSets {
74 | main { java.srcDirs = ['src/main/java'] }
75 | debug { java.srcDirs = ['src/debug/java'] }
76 | }
77 | }
78 |
79 | dependencies {
80 | // Required -- JUnit 4 framework
81 | testCompile 'junit:junit:4.12'
82 | // Optional -- Mockito framework
83 | testCompile 'org.mockito:mockito-core:1.10.19'
84 |
85 | androidTestCompile 'com.android.support:support-annotations:25.1.0'
86 | androidTestCompile 'com.android.support.test:runner:0.4'
87 | androidTestCompile 'com.android.support.test:rules:0.4'
88 | // Optional -- Hamcrest library
89 | androidTestCompile 'org.hamcrest:hamcrest-library:1.3'
90 | // Optional -- UI testing with Espresso
91 | androidTestCompile 'com.android.support.test.espresso:espresso-core:2.2.1'
92 | // Optional -- UI testing with UI Automator
93 | // androidTestCompile 'com.android.support.test.uiautomator:uiautomator-v15'
94 | }
95 |
96 | // Needed to resolve app vs test dependencies, specifically, transitive dependencies of
97 | // libraryq and libraryz. Forcing the use of the smaller version after regression testing.
98 | configurations.all {
99 | resolutionStrategy.force 'com.google.code.findbugs:jsr305:1.3.9'
100 | }
101 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/Plans/RobotPlan.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Core.Plans;
2 |
3 | import android.util.Log;
4 |
5 | import com.robotca.ControlApp.Core.ControlMode;
6 | import com.robotca.ControlApp.Core.RobotController;
7 |
8 | import geometry_msgs.Twist;
9 | import sensor_msgs.LaserScan;
10 | import sensor_msgs.NavSatFix;
11 |
12 | /**
13 | *
14 | *
15 | * Created by Michael Brunson on 2/13/16.
16 | */
17 | public abstract class RobotPlan {
18 |
19 | // The thread this RobotPlan runs on
20 | private Thread thread;
21 |
22 | // If it makes sense for this RobotPlan to be resumed if stopped
23 | private boolean resumable;
24 |
25 | // Log Tag
26 | private static final String TAG = "RobotPlan";
27 |
28 | /**
29 | * Default Constructor.
30 | */
31 | public RobotPlan() {
32 | setResumable(true);
33 | }
34 |
35 | /**
36 | * @return If this RobotPlan is running
37 | */
38 | public boolean isRunning() {
39 | return thread.isAlive();
40 | }
41 |
42 | /**
43 | * @return If this RobotPlan has been interrupted
44 | */
45 | public boolean isInterrupted() {
46 | return thread.isInterrupted();
47 | }
48 |
49 | /**
50 | * @return True if this RobotPlan can be resumed, false otherwise
51 | */
52 | public boolean isResumable() {
53 | return resumable;
54 | }
55 |
56 | /**
57 | * Sets whether this RobotPlan can be resumed if stopped.
58 | * @param resumable True if it can be resumed, false otherwise
59 | */
60 | protected void setResumable(boolean resumable) {
61 | this.resumable = resumable;
62 | }
63 |
64 | /**
65 | * Stops this RobotPlan, interrupting it.
66 | */
67 | public void stop() {
68 | if (thread != null) {
69 |
70 | Log.d(TAG, "Stopping plan");
71 |
72 | try {
73 | thread.interrupt();
74 | thread.join(1000L);
75 | } catch (Exception e) {
76 | Log.e(TAG, "", e);
77 | }
78 | } else {
79 | Log.d(TAG, "No Thread to Stop");
80 | }
81 | }
82 |
83 | /**
84 | * @return The ControlMode for this RobotPlan
85 | */
86 | public abstract ControlMode getControlMode();
87 |
88 | /**
89 | * Runs this RobotPlan.
90 | * @param controller The parent RobotController
91 | */
92 | public void run(final RobotController controller) {
93 | stop();
94 |
95 | thread = new Thread(new Runnable() {
96 | @Override
97 | public void run() {
98 | try {
99 | start(controller);
100 | } catch (Exception e) {
101 | Log.e(TAG, "", e);
102 | }
103 | }
104 | });
105 |
106 | thread.start();
107 | }
108 |
109 | /**
110 | * Pauses this RobotPlan for the specified amount of time.
111 | *
112 | * @param milliseconds The time, in milliseconds
113 | * @throws InterruptedException If the RobotPlan gets interrupted
114 | */
115 | protected void waitFor(long milliseconds) throws InterruptedException {
116 | try {
117 | long currentTime = System.currentTimeMillis();
118 | while (currentTime + milliseconds > System.currentTimeMillis() && !isInterrupted())
119 | Thread.sleep(milliseconds / 3);
120 | } catch (InterruptedException e) {
121 | throw e;
122 | } catch (Exception e) {
123 | Log.e(TAG, "", e);
124 | }
125 | }
126 |
127 | /**
128 | * Called when the RobotPlan is started.
129 | * @param controller The RobotController for controlling the Robot
130 | * @throws Exception If an exception occurs
131 | */
132 | protected abstract void start(RobotController controller) throws Exception;
133 | }
134 |
--------------------------------------------------------------------------------
/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Fragments/LaserScanFragment.java:
--------------------------------------------------------------------------------
1 | package com.robotca.ControlApp.Fragments;
2 |
3 | import android.os.Bundle;
4 | import android.support.annotation.NonNull;
5 | import android.util.Log;
6 | import android.view.LayoutInflater;
7 | import android.view.View;
8 | import android.view.ViewGroup;
9 | import android.widget.CheckBox;
10 | import android.widget.CompoundButton;
11 |
12 | import com.robotca.ControlApp.ControlApp;
13 | import com.robotca.ControlApp.Core.Savable;
14 | import com.robotca.ControlApp.R;
15 | import com.robotca.ControlApp.Views.LaserScanView;
16 |
17 | /**
18 | * Fragment for the LaserScanLayer.
19 | *
20 | * Created by Michael Brunson on 11/7/15.
21 | */
22 | public class LaserScanFragment extends SimpleFragment implements Savable {
23 |
24 | private LaserScanView laserScanView;
25 |
26 | // Bundle id for if the camera angle is locked on the robot's heading
27 | private static final String CAMERA_ANGLE_LOCKED_BUNDLE_ID = "com.robotca.ControlApp.Fragments.cameraAngleLocked";
28 |
29 | private static boolean cameraAngleLocked = true;
30 |
31 | @SuppressWarnings("unused")
32 | private static final String TAG = "LaserScanFragment";
33 |
34 | /**
35 | * Default Constructor.
36 | */
37 | public LaserScanFragment() {
38 | }
39 |
40 | /**
41 | * Locks or unlocks the camera angle from following the Robot's heading.
42 | * @param lock True if the camera angle should match the Robot and false otherwise
43 | */
44 | public void lockAngle(boolean lock) {
45 | cameraAngleLocked = lock;
46 | laserScanView.getLaserScanRenderer().makeCameraAngleFollowRobot(lock);
47 | }
48 |
49 | /**
50 | * @return Whether the camera's angle is locked on the Robot's heading
51 | */
52 | public boolean angleLocked() {
53 | return laserScanView.getLaserScanRenderer().angleFollowsRobot();
54 | }
55 |
56 | /**
57 | * Inflates the Fragment.
58 | */
59 | @Override
60 | public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
61 |
62 | View view = inflater.inflate(R.layout.fragment_laser_scan, container, false);
63 |
64 | laserScanView = (LaserScanView) view.findViewById(R.id.laser_scan_renderer_view);
65 |
66 | (view.findViewById(R.id.recenter_laser_scan)).setOnClickListener(
67 | new View.OnClickListener() {
68 | @Override
69 | public void onClick(View v) {laserScanView.getLaserScanRenderer().recenter();}
70 | });
71 |
72 | (view.findViewById(R.id.clear_waypoints_button)).setOnClickListener(
73 | new View.OnClickListener() {
74 | @Override
75 | public void onClick(View v) {
76 | laserScanView.getLaserScanRenderer().stopMovingWaypoint();
77 | ((ControlApp) getActivity()).clearWaypoints();
78 | }
79 | });
80 |
81 | (view.findViewById(R.id.clear_waypoints_button)).setEnabled(!getControlApp().getWaypoints().isEmpty());
82 |
83 | CheckBox checkBox = ((CheckBox) view.findViewById(R.id.lock_camera_checkbox));
84 |
85 | checkBox.setOnCheckedChangeListener(
86 | new CompoundButton.OnCheckedChangeListener() {
87 | @Override
88 | public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
89 | lockAngle(isChecked);
90 | }
91 | });
92 |
93 | checkBox.setChecked(cameraAngleLocked);
94 | lockAngle(cameraAngleLocked);
95 |
96 | return view;
97 | }
98 |
99 | /**
100 | * Load from a Bundle.
101 | *
102 | * @param bundle The Bundle
103 | */
104 | @Override
105 | public void load(@NonNull Bundle bundle) {
106 |
107 | Log.d(TAG, "loading from bundle");
108 |
109 | lockAngle(bundle.getBoolean(CAMERA_ANGLE_LOCKED_BUNDLE_ID, true));
110 | }
111 |
112 | /**
113 | * Save to a Bundle.
114 | *
115 | * @param bundle The Bundle
116 | */
117 | @Override
118 | public void save(@NonNull Bundle bundle) {
119 |
120 | Log.d(TAG, "saving to bundle");
121 |
122 | bundle.putBoolean(CAMERA_ANGLE_LOCKED_BUNDLE_ID, angleLocked());
123 | }
124 | }
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/README.md:
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1 | # RobotCA
2 |
3 | # =======================
4 | # NEVER ALLOW ANDROID STUDIO TO UPDATE YOUR BUILD TOOLS.SELECT 'DO NOT ASK AGAIN FOR THIS PROJECT
5 | # =======================
6 |
7 | #### ROS-autom Team
8 |
9 | This project is active again.
10 |
11 | ###### Prepare your distro for compile:
12 |
13 | + Download Android Studio from https://developer.android.com/studio/index.html#linux-bundle
14 | + Extract the zip file into a folder at your home dir(i.e. android_ide) and run the bin/studio.sh script
15 | + Select Standard setup and finish the installation.
16 | + When the download is done, press on the Configure option on the bottom side and select SDK manager
17 | + From SDK platforms select all API levels from 26 to 22
18 | + From SDK Tools select 'Show package details'
19 | + Select 21.1.2 ,25.0.2 and 26.0.0
20 | + Press apply and ok
21 | + Accept the license and let it download the required files
22 | + Press ok to SDK manager and close the Android Studio
23 | + Install the JDK8 by running
24 |
25 | $ sudo add-apt-repository ppa:openjdk-r/ppa
26 | $ sudo apt-get update
27 | $ sudo apt-get install openjdk-8-jdk
28 | + Run the android studio: . /path/to/studio/bin/studio.sh
29 | + File->Open->RobotCA/src/android_foo folder and press OK.
30 | + Wait until Gradle is being initialized.
31 | + On the plugin update window,select "Dont remind me again for this project".
32 | + File->Other Settings->Default Project Structure->Untick default JDK and add this directory: /usr/lib/jvm/java-1.8.0-openjdk-amd64
33 | + Close Android Studio and run
34 | $ sudo apt-get install lib32z1 lib32ncurses5 lib32stdc++6
35 | + Open Android Studio again and wait gradle to be initialized
36 |
37 | Optional:
38 | Run
39 | + touch ~/.gradle/gradle.properties && echo "org.gradle.daemon=true" >> ~/.gradle/gradle.properties
40 | + echo "org.gradle.parallel=true" >> ~/.gradle/gradle.properties
41 |
42 | This is highly experimental and its not recommended
43 | + echo "org.gradle.configureondemand=true" >> ~/.gradle/gradle.properties
44 |
45 | to speed up the build process.
46 |
47 | #### Troubleshoot
48 |
49 | 1)======================================
50 | If you get aapt exited with code 127
51 | or
52 | Error:Execution failed for task ':control_app_lib:processReleaseResources'.
53 | > A problem occurred starting process 'command '/home/USERNAME/Android/Sdk/build-tools/21.1.2/aapt''
54 | please run
55 | sudo apt-get install lib32z1 lib32ncurses5 lib32stdc++6
56 |
57 | 2)======================================
58 | Never Fix the Gradle Version that is mentioned in Messages.
59 |
60 | #### Pin Android Studio to your launcher tab
61 | + Create a file called "AndroidStudio.desktop" and paste the following code:
62 | ```
63 | [Desktop Entry]
64 | Version=1.0
65 | Type=Application
66 | Name=Android Studio
67 | Exec="/home/YOURNAME/FOLDER_TO_IDE/bin/studio.sh" %f
68 | Icon=/home/YOURNAME/FOLDER_TO_IDE/bin/studio.png
69 | Categories=Development;IDE;
70 | Terminal=true
71 | StartupNotify=false
72 | StartupWMClass=jetbrains-android-studio
73 | Name[en_GB]=android-studio.desktop
74 | ```
75 | + save it and then drag and drop that file on the launcher.
76 | + Click it to run the IDE.
77 | + When the IDE is opened right click on the new-second one icon that created on launcher
78 | + Press 'Lock to launcher'
79 | + exit the IDE
80 | + Remove the first icon
81 |
82 | #### Credits
83 |
84 | ros-autom team, Thessaloniki of Greece 2017
85 |
86 | Originally posted by:
87 | #### University of South Carolina
88 | ###### CSCE 490 & 492 Capstone Design
89 |
90 | Our project is to design an Android application to control a robot. Specifically, the goal is to create a native Android tablet application to interface with a Robot Operating System (ROS) robot, Clearpath Robotics' HUSKY model, for direct drive, diagnostic, and navigation information. The application will have to process data from various sensors on the robot and display the information in a user understandable fashion. For example, the robot will have a laser ranging system which will be collecting data on the environment. The application must parse this data and display the environment that the robot "sees".
91 |
92 | Dependencies:
93 | + ROS
94 | + ROSJava
95 | + Android 4.0+ (API level 13+)
96 |
97 | 
98 |
99 | 
100 |
101 | Client Information:
102 | Dr. Ioannis Rekleitis
103 | Assistant Professor
104 | University of South Carolina
105 |
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/src/android_foo/control_app/src/main/res/layout-large/fragment_hud.xml:
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84 |
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/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/ShowCamera.java:
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1 | /*
2 | * Copyright (C) 2011 Google Inc.
3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); you may not
5 | * use this file except in compliance with the License. You may obtain a copy of
6 | * the License at
7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0
9 | *
10 | * Unless required by applicable law or agreed to in writing, software
11 | * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
12 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
13 | * License for the specific language governing permissions and limitations under
14 | * the License.
15 | */
16 |
17 | package com.robotca.ControlApp;
18 |
19 | import android.app.Activity;
20 | import android.content.Intent;
21 | import android.hardware.Camera;
22 | import android.os.Build;
23 | import android.os.Bundle;
24 | import android.view.KeyEvent;
25 | import android.view.MotionEvent;
26 | import android.view.Window;
27 | import android.view.WindowManager;
28 | import android.widget.Toast;
29 | import org.ros.address.InetAddressFactory;
30 | import org.ros.android.RosActivity;
31 | import org.ros.android.view.camera.RosCameraPreviewView;
32 | import org.ros.node.NodeConfiguration;
33 | import org.ros.node.NodeMainExecutor;
34 | import android.util.Log;
35 | import java.io.IOException;
36 |
37 | /**
38 | * @author ethan.rublee@gmail.com (Ethan Rublee)
39 | * @author damonkohler@google.com (Damon Kohler)
40 | */
41 | public class ShowCamera extends RosActivity {
42 |
43 | private int cameraId;
44 | private RosCameraPreviewView rosCameraPreviewView;
45 |
46 | java.net.Socket socket;
47 | NodeConfiguration config;
48 | java.net.InetAddress local_network_address;
49 |
50 | public ShowCamera() {
51 | super("CameraPort", "CameraPort");
52 | }
53 |
54 |
55 |
56 | @Override
57 | protected void onCreate(Bundle savedInstanceState) {
58 | super.onCreate(savedInstanceState);
59 | requestWindowFeature(Window.FEATURE_NO_TITLE);
60 | getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
61 | setContentView(R.layout.show_camera);
62 | rosCameraPreviewView = (RosCameraPreviewView) findViewById(R.id.ros_camera_preview_view);
63 | }
64 |
65 | @Override
66 | public boolean onTouchEvent(MotionEvent event) {
67 |
68 | if (event.getAction() == MotionEvent.ACTION_UP) {
69 | int numberOfCameras = Camera.getNumberOfCameras();
70 | final Toast toast;
71 | if (numberOfCameras > 1) {
72 | cameraId = (cameraId + 1) % numberOfCameras;
73 | rosCameraPreviewView.releaseCamera();
74 | rosCameraPreviewView.setCamera(getCamera());
75 | toast = Toast.makeText(this, "Switching cameras.", Toast.LENGTH_SHORT);
76 | } else {
77 | toast = Toast.makeText(this, "No alternative cameras to switch to.", Toast.LENGTH_SHORT);
78 | }
79 | runOnUiThread(new Runnable() {
80 | @Override
81 | public void run() {
82 | toast.show();
83 | }
84 | });
85 | }
86 | return true;
87 |
88 | }
89 |
90 |
91 |
92 | @Override
93 | protected void init(NodeMainExecutor nodeMainExecutor) {
94 |
95 |
96 | //to init ektelite !!!META!!! apo to fragment p petagete kai zitaei IP.
97 |
98 |
99 | cameraId = 0;
100 |
101 | rosCameraPreviewView.setCamera(getCamera());
102 | try {
103 | java.net.Socket socket = new java.net.Socket(getMasterUri().getHost(), getMasterUri().getPort());
104 | java.net.InetAddress local_network_address = socket.getLocalAddress();
105 | socket.close();
106 | NodeConfiguration nodeConfiguration =
107 | NodeConfiguration.newPublic(local_network_address.getHostAddress(), getMasterUri());
108 | nodeMainExecutor.execute(rosCameraPreviewView, nodeConfiguration);
109 | } catch (IOException e) {
110 | // Socket problem
111 | Log.e("Camera Tutorial", "socket error trying to get networking information from the master uri");
112 | }
113 |
114 | }
115 |
116 | @Override
117 | public void onBackPressed() {
118 | super.onBackPressed();
119 | this.finish();
120 | }
121 |
122 | private Camera getCamera() {
123 | Camera cam = Camera.open(cameraId);
124 | Camera.Parameters camParams = cam.getParameters();
125 | if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.ICE_CREAM_SANDWICH) {
126 | if (camParams.getSupportedFocusModes().contains(
127 | Camera.Parameters.FOCUS_MODE_CONTINUOUS_VIDEO)) {
128 | camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_CONTINUOUS_VIDEO);
129 | } else {
130 | camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_CONTINUOUS_PICTURE);
131 | }
132 | }
133 | cam.setParameters(camParams);
134 | return cam;
135 | }
136 | }
137 |
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