├── .gitignore ├── .gitlab-ci.yml ├── LICENSE ├── README-ZH.md ├── README.md ├── scout_base ├── CMakeLists.txt ├── include │ └── scout_base │ │ └── scout_messenger.hpp ├── launch │ ├── display_model.launch │ ├── scout_base.launch │ ├── scout_mini_base.launch │ └── scout_mini_omni_base.launch ├── package.xml ├── rviz │ └── model_display.rviz └── src │ └── scout_base_node.cpp ├── scout_bringup ├── CMakeLists.txt ├── launch │ ├── scout_mini_minimal.launch │ ├── scout_mini_omni_minimal.launch │ ├── scout_minimal.launch │ └── scout_teleop_keyboard.launch ├── package.xml └── scripts │ ├── bringup_can2usb.bash │ └── setup_can2usb.bash ├── scout_description ├── CMakeLists.txt ├── launch │ └── description.launch ├── meshes │ ├── base_link.dae │ ├── base_link_full.dae │ ├── hokuyo.dae │ ├── mini_base_link.dae │ ├── mini_wheel.dae │ ├── wheel_type1.dae │ └── wheel_type2.dae ├── package.xml ├── sample │ └── scout_v2_nav.xacro └── urdf │ ├── scout_mini.urdf │ ├── scout_mini.xacro │ ├── scout_mini_wheel.xacro │ ├── scout_v2.urdf │ ├── scout_v2.xacro │ ├── scout_wheel_type1.xacro │ └── scout_wheel_type2.xacro └── scout_msgs ├── CHANGELOG.md ├── CMakeLists.txt ├── msg ├── ScoutActuatorState.msg ├── ScoutLightCmd.msg ├── ScoutLightState.msg ├── ScoutRCState.msg └── ScoutStatus.msg └── package.xml /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode 2 | 3 | devel/ 4 | logs/ 5 | build/ 6 | bin/ 7 | lib/ 8 | msg_gen/ 9 | srv_gen/ 10 | msg/*Action.msg 11 | msg/*ActionFeedback.msg 12 | msg/*ActionGoal.msg 13 | msg/*ActionResult.msg 14 | msg/*Feedback.msg 15 | msg/*Goal.msg 16 | msg/*Result.msg 17 | msg/_*.py 18 | build_isolated/ 19 | devel_isolated/ 20 | 21 | # Generated by dynamic reconfigure 22 | *.cfgc 23 | /cfg/cpp/ 24 | /cfg/*.py 25 | 26 | # Ignore generated docs 27 | *.dox 28 | *.wikidoc 29 | 30 | # eclipse stuff 31 | .project 32 | .cproject 33 | 34 | # Visual studio code stuff 35 | *.vscode 36 | 37 | # qcreator stuff 38 | CMakeLists.txt.user 39 | 40 | srv/_*.py 41 | *.pcd 42 | *.pyc 43 | qtcreator-* 44 | *.user 45 | 46 | /planning/cfg 47 | /planning/docs 48 | /planning/src 49 | 50 | *~ 51 | 52 | # Emacs 53 | .#* 54 | 55 | # Catkin custom files 56 | CATKIN_IGNORE 57 | -------------------------------------------------------------------------------- /.gitlab-ci.yml: -------------------------------------------------------------------------------- 1 | ## Build and test as catkin package 2 | kinetic-catkin-build: 3 | stage: build 4 | image: rduweston/ubuntu-ci:kinetic 5 | before_script: 6 | - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard 7 | script: 8 | - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace" 9 | - cd /catkin_ws/src && git clone -b v2.x --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git 10 | - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git 11 | - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base 12 | - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make" 13 | 14 | kinetic-catkin-isolated-build: 15 | stage: build 16 | image: rduweston/ubuntu-ci:kinetic 17 | before_script: 18 | - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard 19 | script: 20 | - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace" 21 | - cd /catkin_ws/src && git clone -b v2.x --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git 22 | - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git 23 | - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base 24 | - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install" 25 | 26 | melodic-catkin-build: 27 | stage: build 28 | image: rduweston/ubuntu-ci:melodic 29 | before_script: 30 | - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard 31 | script: 32 | - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace" 33 | - cd /catkin_ws/src && git clone -b v2.x --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git 34 | - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git 35 | - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base 36 | - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make" 37 | 38 | melodic-catkin-isolated-build: 39 | stage: build 40 | image: rduweston/ubuntu-ci:melodic 41 | before_script: 42 | - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard 43 | script: 44 | - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace" 45 | - cd /catkin_ws/src && git clone -b v2.x --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git 46 | - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git 47 | - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base 48 | - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install" 49 | 50 | noetic-catkin-build: 51 | stage: build 52 | image: rduweston/ubuntu-ci:noetic 53 | before_script: 54 | - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard 55 | script: 56 | - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace" 57 | - cd /catkin_ws/src && git clone -b v2.x --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git 58 | - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git 59 | - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base 60 | - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make" 61 | 62 | noetic-catkin-isolated-build: 63 | stage: build 64 | image: rduweston/ubuntu-ci:noetic 65 | before_script: 66 | - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard 67 | script: 68 | - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace" 69 | - cd /catkin_ws/src && git clone -b v2.x --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git 70 | - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git 71 | - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base 72 | - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install" -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2020, WestonRobot 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | 3. Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | -------------------------------------------------------------------------------- /README-ZH.md: -------------------------------------------------------------------------------- 1 | # 松灵机器人产品SCOUT 的ROS package 2 | 3 | ## ROS Packages 说明 4 | 5 | * scout_bringup: launch and configuration files to start ROS nodes 6 | * scout_base: a ROS wrapper around Scout SDK to monitor and control the robot 7 | * scout_msgs: scout related message definitions 8 | * (scout_ros: meta package for the Scout robot ROS packages) 9 | 10 | 11 | 下图是是整个ros package的一个基本框架说明，或许它可以帮助你理解你理解整个ros package内部是如何工作的，他们之间的是相互联系的。 12 | 其中最底层的是移动机器人底盘，它通过can或者usart实现运行在计算平台的sdk进行基本信息的获取，具体可以根据wrp_sdk了解更多信息。 仿真部分是基于Webots，构建起的仿真环境。 13 | 14 | 15 | 16 | 其中上图中紫色部分是包含在这个ros-package中的部分。 17 | 18 | ## 通讯接口设置 19 | 20 | ### 设置串口 21 | 22 | 通常来说，usb转串口设备在Linux或者Ubuntu系统中会被自动识别为“/dev/ttyUSB0” 或者看起来类似的设备，这个可以通过指令查询 23 | ``` 24 | $ ls -l /dev/ttyUSB* 25 | ``` 26 | 如果在打开设备的操作过程中出现了"... permission denied ..."的错误，有可能因为权限的原因造成的，您需要向您的用户帐户授予端口访问权限，可以通过如下指令： 27 | 28 | ``` 29 | $ sudo usermod -a -G dialout $USER 30 | ``` 31 | 32 | 需要重新登录账户才能使刚刚的操作生效。 33 | ### 配置 CAN-TO-USB适配器 34 | 35 | 1. 设置CAN转USB适配器，启用gs_usb内核模块（本指令需要搭配相应的硬件设备才可以使用，需要Linux内部版本>4.5） 36 | 37 | ``` 38 | $ sudo modprobe gs_usb 39 | ``` 40 | 41 | 2. 设置can设备参数 42 | 43 | ``` 44 | $ sudo ip link set can0 up type can bitrate 500000 45 | ``` 46 | 47 | 3. 如果在前面的步骤中没有发生错误，您可以使用以下指令查看can设备 48 | 49 | ``` 50 | $ ifconfig -a 51 | ``` 52 | 53 | 4. 安装和使用can-utils来测试硬件 54 | 55 | ``` 56 | $ sudo apt install can-utils 57 | ``` 58 | 59 | 5. 测试指令 60 | 61 | ``` 62 | # receiving data from can0 63 | $ candump can0 64 | # send data to can0 65 | $ cansend can0 001#1122334455667788 66 | ``` 67 | 68 | 文件中提供了 "./scripts"文件夹里的两个脚本以便于设置。您可以在首次安装时运行“ ./setup_can2usb.bash”，并在每次拔出和重新插入适配器时运行“ ./bringup_can2usb.bash”以启动设备。 69 | 70 | ## ROS package 的基础使用 71 | 72 | 1. 安装 ROS packages 依赖 73 | 74 | ``` 75 | $ sudo apt install ros-melodic-teleop-twist-keyboard 76 | ``` 77 | 78 | 如果你使用是 Kinetic版本，把上述指令中的“melodic” 改成 “kinetic” 即可 79 | 80 | 2. 将scout ros package 下载至的您的catkin 工作空间，并编译 81 | 82 | (下面的操作是假定你的catkin编译工作空间在: ~/catkin_ws/src 目录下） 83 | 84 | ``` 85 | $ cd ~/catkin_ws/src 86 | $ git clone https://github.com/westonrobot/scout_ros.git 87 | $ cd .. 88 | $ catkin_make 89 | ``` 90 | 91 | 3. 配置 Webots simulation 环境 92 | 93 | * 安装 Webots R2020a-rev1 (download from https://cyberbotics.com/ ) 94 | 95 | * 安装 Webots ROS package 96 | 97 | ``` 98 | $ sudo apt install ros-melodic-webots-ros 99 | ``` 100 | 101 | * 设置 WEBOTS_HOME 变量,把下面这行代码加入到 "~/.bashrc"中 102 | 103 | ``` 104 | export WEBOTS_HOME=/usr/local/webots 105 | ``` 106 | 107 | 4. 启动 ROS nodes 108 | 109 | * 开始 the base node 110 | 111 | ``` 112 | $ roslaunch scout_bringup scout_minimal.launch 113 | ``` 114 | 115 | or (if you're using a serial port) 116 | 117 | ``` 118 | $ roslaunch scout_bringup scout_minimal_uart.launch 119 | ``` 120 | 121 | * Or you can start the Webots-based simulation 122 | 123 | ``` 124 | $ roslaunch scout_bringup scout_base_sim.launch 125 | ``` 126 | 127 | * Start the keyboard tele-op node 128 | 129 | ``` 130 | $ roslaunch scout_bringup scout_teleop_keyboard.launch 131 | ``` 132 | 133 | **SAFETY PRECAUSION**: 134 | 135 | The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary. 136 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # ROS Packages for Scout Mobile Robot 2 | 3 | ## Packages 4 | 5 | This repository contains minimal packages to control the scout robot using ROS. 6 | 7 | * scout_bringup: launch and configuration files to start ROS nodes 8 | * scout_base: a ROS wrapper around [ugv_sdk](https://github.com/westonrobot/ugv_sdk) to monitor and control the scout robot 9 | * scout_description: URDF model for the mobile base, a sample urdf (scout_description/sample/scout_v2_nav.xacro) is provided for customized robot with addtional sensors 10 | * scout_msgs: scout related message definitions 11 | 12 | ## Supported Hardware 13 | 14 | * Scout 15 | * Scout Mini 16 | * Scout Mini Omni 17 | 18 | **Note:** Both V1 and V2 protocols are supported by this package (only with CAN interface). You don't have to specify the protocol version when launching the base node but you need to use the right launch file for your specific Scout model. 19 | 20 | ## Communication interface setup 21 | 22 | Please refer to the [README](https://github.com/westonrobot/ugv_sdk/blob/next/README.md) of the "ugv_sdk" package for setup of communication interfaces. 23 | 24 | **Note on CAN interface on Nvidia Jetson Platforms:** Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication. 25 | 26 | ## Basic usage of the ROS packages 27 | 28 | 1. Install dependent libraries 29 | 30 | ``` 31 | $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard 32 | ``` 33 | 34 | 2. Clone the packages into your catkin workspace and compile 35 | 36 | (the following instructions assume your catkin workspace is at: ~/catkin_ws/src) 37 | 38 | ``` 39 | $ cd ~/catkin_ws/src 40 | $ git clone https://github.com/westonrobot/ugv_sdk.git 41 | $ git clone https://github.com/westonrobot/scout_ros.git 42 | $ cd .. 43 | $ catkin_make 44 | ``` 45 | 46 | 3. Launch ROS nodes 47 | 48 | * Start the base node for the real robot 49 | 50 | ``` 51 | $ roslaunch scout_bringup scout_minimal.launch 52 | ``` 53 | 54 | The [scout_bringup/scout_minimal.launch](scout_bringup/launch/scout_minimal.launch) has 4 parameters: 55 | 56 | - port_name: specifies the port used to communicate with the robot, default = "can0" 57 | - simulated_robot: indicates if launching with a simulation, default = "false" 58 | - model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = [scout_v2.xacro](scout_base/description/scout_v2.xacro) 59 | - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom" 60 | 61 | * Start the keyboard tele-op node 62 | 63 | ``` 64 | $ roslaunch scout_bringup scout_teleop_keyboard.launch 65 | ``` 66 | 67 | **SAFETY PRECAUSION**: 68 | 69 | The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary. 70 | 71 | ## Update the packages for your customized robot 72 | 73 | **Additional sensors** 74 | 75 | It's likely that you may want to add additional sensors to the scout mobile platform, such as a Lidar for navigation. In such cases, a new ".xacro" file needs to be created to describe the relative pose of the new sensor with respect to the robot base, so that the sensor frame can be reflected in the robot tf tree. 76 | 77 | A [sample](scout_description/sample/scout_v2_nav.xacro) ".xacro" file is present in this repository, in which the base ".xacro" file of an empty scout platform is first included, and then additional links are defined. 78 | 79 | The nodes in this ROS package are made to handle only the control of the scout base and publishing of the status. Additional nodes may need to be created by the user to handle the sensors. 80 | 81 | **Alternative odometry calculation** 82 | 83 | By default the scout_base package will publish odometry message to topic "/odom". In case you want to use a different approach to calculate the odometry, for example estimating the position together with an IMU, you could rename the default odometry topic to be something else. 84 | 85 | ``` 86 | $ scout_bringup scout_minimal.launch odom_topic_name:="" 87 | ``` -------------------------------------------------------------------------------- /scout_base/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(scout_base) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | add_compile_options(-std=c++14) 6 | 7 | find_package(catkin REQUIRED COMPONENTS 8 | roslaunch 9 | roscpp 10 | sensor_msgs 11 | std_msgs 12 | geometry_msgs 13 | tf 14 | tf2 15 | tf2_ros 16 | ugv_sdk 17 | scout_msgs 18 | ) 19 | 20 | # find_package(Boost REQUIRED COMPONENTS chrono) 21 | 22 | ################################### 23 | ## catkin specific configuration ## 24 | ################################### 25 | 26 | catkin_package( 27 | INCLUDE_DIRS include 28 | CATKIN_DEPENDS ugv_sdk scout_msgs tf tf2 tf2_ros 29 | # DEPENDS Boost 30 | ) 31 | 32 | ########### 33 | ## Build ## 34 | ########### 35 | 36 | ## Specify additional locations of header files 37 | ## Your package locations should be listed before other locations 38 | include_directories( 39 | include 40 | ${catkin_INCLUDE_DIRS}) 41 | 42 | add_library(scout_messenger INTERFACE) 43 | target_include_directories(scout_messenger INTERFACE 44 | $ 45 | $) 46 | 47 | add_executable(scout_base_node src/scout_base_node.cpp) 48 | target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES}) 49 | target_compile_definitions(scout_base_node PUBLIC ASIO_ENABLE_OLD_SERVICES) 50 | 51 | ############# 52 | ## Install ## 53 | ############# 54 | 55 | install(TARGETS scout_base_node 56 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 57 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 58 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) 59 | 60 | install(DIRECTORY include/${PROJECT_NAME}/ 61 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) 62 | 63 | install(DIRECTORY launch 64 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 65 | -------------------------------------------------------------------------------- /scout_base/include/scout_base/scout_messenger.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | * scout_messenger.hpp 3 | * 4 | * Created on: Jun 14, 2019 10:24 5 | * Description: 6 | * 7 | * Copyright (c) 2019 Ruixiang Du (rdu) 8 | */ 9 | 10 | #ifndef SCOUT_MESSENGER_HPP 11 | #define SCOUT_MESSENGER_HPP 12 | 13 | #include 14 | #include 15 | 16 | #include 17 | #include 18 | #include 19 | #include 20 | 21 | #include "scout_msgs/ScoutStatus.h" 22 | #include "scout_msgs/ScoutLightCmd.h" 23 | 24 | #include "ugv_sdk/mobile_robot/scout_robot.hpp" 25 | 26 | namespace westonrobot { 27 | template 28 | class ScoutMessenger { 29 | public: 30 | ScoutMessenger(std::shared_ptr scout, ros::NodeHandle *nh) 31 | : scout_(scout), nh_(nh) {} 32 | 33 | void SetOdometryFrame(std::string frame) { odom_frame_ = frame; } 34 | void SetBaseFrame(std::string frame) { base_frame_ = frame; } 35 | void SetOdometryTopicName(std::string name) { odom_topic_name_ = name; } 36 | 37 | void SetSimulationMode() { simulated_robot_ = true; } 38 | 39 | void SetupSubscription() { 40 | // odometry publisher 41 | odom_pub_ = nh_->advertise(odom_topic_name_, 50); 42 | status_pub_ = nh_->advertise("/scout_status", 10); 43 | 44 | // cmd subscriber 45 | motion_cmd_sub_ = nh_->subscribe( 46 | "/cmd_vel", 5, &ScoutMessenger::TwistCmdCallback, this); 47 | light_cmd_sub_ = nh_->subscribe( 48 | "/scout_light_control", 5, &ScoutMessenger::LightCmdCallback, this); 49 | } 50 | 51 | void Run() { 52 | SetupSubscription(); 53 | 54 | // publish robot state at 50Hz while listening to twist commands 55 | ros::Rate rate(50); 56 | while (ros::ok()) { 57 | PublishStateToROS(); 58 | ros::spinOnce(); 59 | rate.sleep(); 60 | } 61 | } 62 | 63 | void Update() { 64 | PublishStateToROS(); 65 | ros::spinOnce(); 66 | } 67 | 68 | private: 69 | std::shared_ptr scout_; 70 | ros::NodeHandle *nh_; 71 | 72 | std::string odom_frame_; 73 | std::string base_frame_; 74 | std::string odom_topic_name_; 75 | 76 | bool simulated_robot_ = false; 77 | 78 | std::mutex twist_mutex_; 79 | geometry_msgs::Twist current_twist_; 80 | 81 | ros::Publisher odom_pub_; 82 | ros::Publisher status_pub_; 83 | ros::Subscriber motion_cmd_sub_; 84 | ros::Subscriber light_cmd_sub_; 85 | tf2_ros::TransformBroadcaster tf_broadcaster_; 86 | 87 | // speed variables 88 | double position_x_ = 0.0; 89 | double position_y_ = 0.0; 90 | double theta_ = 0.0; 91 | 92 | ros::Time last_time_; 93 | ros::Time current_time_; 94 | 95 | void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg) { 96 | SetScoutMotionCommand(scout_, msg); 97 | ROS_INFO("Cmd received:%f, %f\n", msg->linear.x, msg->angular.z); 98 | } 99 | 100 | template ::value, 102 | bool> = true> 103 | void SetScoutMotionCommand(std::shared_ptr base, 104 | const geometry_msgs::Twist::ConstPtr &msg) { 105 | base->SetMotionCommand(msg->linear.x, msg->angular.z); 106 | } 107 | 108 | template ::value, 110 | bool> = true> 111 | void SetScoutMotionCommand(std::shared_ptr base, 112 | const geometry_msgs::Twist::ConstPtr &msg) { 113 | base->SetMotionCommand(msg->linear.x, msg->angular.z, msg->linear.y); 114 | } 115 | 116 | void LightCmdCallback(const scout_msgs::ScoutLightCmd::ConstPtr &msg) { 117 | if (!simulated_robot_) { 118 | if (msg->cmd_ctrl_allowed) { 119 | AgxLightMode f_mode; 120 | uint8_t f_value; 121 | 122 | switch (msg->front_mode) { 123 | case scout_msgs::ScoutLightCmd::LIGHT_CONST_OFF: { 124 | f_mode = AgxLightMode::CONST_OFF; 125 | break; 126 | } 127 | case scout_msgs::ScoutLightCmd::LIGHT_CONST_ON: { 128 | f_mode = AgxLightMode::CONST_ON; 129 | break; 130 | } 131 | case scout_msgs::ScoutLightCmd::LIGHT_BREATH: { 132 | f_mode = AgxLightMode::BREATH; 133 | break; 134 | } 135 | case scout_msgs::ScoutLightCmd::LIGHT_CUSTOM: { 136 | f_mode = AgxLightMode::CUSTOM; 137 | f_value = msg->front_custom_value; 138 | break; 139 | } 140 | } 141 | scout_->SetLightCommand(f_mode, f_value, AgxLightMode::CONST_ON, 0); 142 | } else { 143 | scout_->DisableLightControl(); 144 | } 145 | } else { 146 | std::cout << "simulated robot received light control cmd" << std::endl; 147 | } 148 | } 149 | 150 | void PublishOdometryToROS(const MotionStateMessage &msg, double dt) { 151 | auto ctime = ros::Time::now(); 152 | 153 | // perform numerical integration to get an estimation of pose 154 | double linear_speed = msg.linear_velocity; 155 | double angular_speed = msg.angular_velocity; 156 | double lateral_speed = 0; 157 | 158 | if (std::is_base_of::value) { 159 | lateral_speed = msg.lateral_velocity; 160 | } else { 161 | lateral_speed = 0; 162 | } 163 | 164 | double d_x = 165 | (linear_speed * std::cos(theta_) - lateral_speed * std::sin(theta_)) * 166 | dt; 167 | double d_y = 168 | (linear_speed * std::sin(theta_) + lateral_speed * std::cos(theta_)) * 169 | dt; 170 | double d_theta = angular_speed * dt; 171 | 172 | position_x_ += d_x; 173 | position_y_ += d_y; 174 | theta_ += d_theta; 175 | 176 | geometry_msgs::Quaternion odom_quat = 177 | tf::createQuaternionMsgFromYaw(theta_); 178 | 179 | // publish tf transformation 180 | geometry_msgs::TransformStamped tf_msg; 181 | tf_msg.header.stamp = ctime; 182 | tf_msg.header.frame_id = odom_frame_; 183 | tf_msg.child_frame_id = base_frame_; 184 | 185 | tf_msg.transform.translation.x = position_x_; 186 | tf_msg.transform.translation.y = position_y_; 187 | tf_msg.transform.translation.z = 0.0; 188 | tf_msg.transform.rotation = odom_quat; 189 | 190 | tf_broadcaster_.sendTransform(tf_msg); 191 | 192 | // publish odometry and tf messages 193 | nav_msgs::Odometry odom_msg; 194 | odom_msg.header.stamp = ctime; 195 | odom_msg.header.frame_id = odom_frame_; 196 | odom_msg.child_frame_id = base_frame_; 197 | 198 | odom_msg.pose.pose.position.x = position_x_; 199 | odom_msg.pose.pose.position.y = position_y_; 200 | odom_msg.pose.pose.position.z = 0.0; 201 | odom_msg.pose.pose.orientation = odom_quat; 202 | 203 | odom_msg.twist.twist.linear.x = linear_speed; 204 | odom_msg.twist.twist.linear.y = lateral_speed; 205 | odom_msg.twist.twist.angular.z = angular_speed; 206 | 207 | odom_pub_.publish(odom_msg); 208 | } 209 | 210 | void PublishStateToROS() { 211 | current_time_ = ros::Time::now(); 212 | double dt = (current_time_ - last_time_).toSec(); 213 | 214 | static bool init_run = true; 215 | if (init_run) { 216 | last_time_ = current_time_; 217 | init_run = false; 218 | return; 219 | } 220 | 221 | auto state = scout_->GetRobotState(); 222 | 223 | // publish scout state message 224 | scout_msgs::ScoutStatus status_msg; 225 | 226 | status_msg.header.stamp = current_time_; 227 | 228 | status_msg.linear_velocity = state.motion_state.linear_velocity; 229 | status_msg.angular_velocity = state.motion_state.angular_velocity; 230 | 231 | status_msg.vehicle_state = state.system_state.vehicle_state; 232 | status_msg.control_mode = state.system_state.control_mode; 233 | status_msg.error_code = state.system_state.error_code; 234 | status_msg.battery_voltage = state.system_state.battery_voltage; 235 | 236 | auto actuator = scout_->GetActuatorState(); 237 | 238 | for (int i = 0; i < 4; ++i) { 239 | // actuator_hs_state 240 | uint8_t motor_id = actuator.actuator_hs_state[i].motor_id; 241 | 242 | status_msg.actuator_states[motor_id].motor_id = motor_id; 243 | status_msg.actuator_states[motor_id].rpm = 244 | actuator.actuator_hs_state[i].rpm; 245 | status_msg.actuator_states[motor_id].current = 246 | actuator.actuator_hs_state[i].current; 247 | status_msg.actuator_states[motor_id].pulse_count = 248 | actuator.actuator_hs_state[i].pulse_count; 249 | 250 | // actuator_ls_state 251 | motor_id = actuator.actuator_ls_state[i].motor_id; 252 | 253 | status_msg.actuator_states[motor_id].motor_id = motor_id; 254 | status_msg.actuator_states[motor_id].driver_voltage = 255 | actuator.actuator_ls_state[i].driver_voltage; 256 | status_msg.actuator_states[motor_id].driver_temperature = 257 | actuator.actuator_ls_state[i].driver_temp; 258 | status_msg.actuator_states[motor_id].motor_temperature = 259 | actuator.actuator_ls_state[i].motor_temp; 260 | status_msg.actuator_states[motor_id].driver_state = 261 | actuator.actuator_ls_state[i].driver_state; 262 | } 263 | 264 | status_msg.light_control_enabled = state.light_state.enable_cmd_ctrl; 265 | status_msg.front_light_state.mode = state.light_state.front_light.mode; 266 | status_msg.front_light_state.custom_value = 267 | state.light_state.front_light.custom_value; 268 | status_msg.rear_light_state.mode = state.light_state.rear_light.mode; 269 | status_msg.rear_light_state.custom_value = 270 | state.light_state.rear_light.custom_value; 271 | status_pub_.publish(status_msg); 272 | 273 | // publish odometry and tf 274 | PublishOdometryToROS(state.motion_state, dt); 275 | 276 | // record time for next integration 277 | last_time_ = current_time_; 278 | } 279 | }; 280 | } // namespace westonrobot 281 | 282 | #endif /* SCOUT_MESSENGER_HPP */ 283 | -------------------------------------------------------------------------------- /scout_base/launch/display_model.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /scout_base/launch/scout_base.launch: -------------------------------------------------------------------------------- 1 | 2 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /scout_base/launch/scout_mini_base.launch: -------------------------------------------------------------------------------- 1 | 2 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /scout_base/launch/scout_mini_omni_base.launch: -------------------------------------------------------------------------------- 1 | 2 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /scout_base/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | scout_base 4 | 0.3.3 5 | Scout robot ROS interface 6 | 7 | Ruixiang Du 8 | WestonRobot 9 | 10 | BSD 11 | 12 | TODO 13 | TODO 14 | TODO 15 | 16 | catkin 17 | scout_msgs 18 | roscpp 19 | roslaunch 20 | sensor_msgs 21 | ugv_sdk 22 | tf 23 | tf2 24 | tf2_ros 25 | controller_manager 26 | geometry_msgs 27 | scout_msgs 28 | roscpp 29 | sensor_msgs 30 | topic_tools 31 | ugv_sdk 32 | tf 33 | tf2 34 | tf2_ros 35 | 36 | 37 | -------------------------------------------------------------------------------- /scout_base/rviz/model_display.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /RobotModel1 10 | Splitter Ratio: 0.5 11 | Tree Height: 732 12 | - Class: rviz/Selection 13 | Name: Selection 14 | - Class: rviz/Tool Properties 15 | Expanded: 16 | - /2D Pose Estimate1 17 | - /2D Nav Goal1 18 | - /Publish Point1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.5886790156364441 21 | - Class: rviz/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | - Class: rviz/Time 27 | Experimental: false 28 | Name: Time 29 | SyncMode: 0 30 | SyncSource: "" 31 | Preferences: 32 | PromptSaveOnExit: true 33 | Toolbars: 34 | toolButtonStyle: 2 35 | Visualization Manager: 36 | Class: "" 37 | Displays: 38 | - Alpha: 0.5 39 | Cell Size: 1 40 | Class: rviz/Grid 41 | Color: 160; 160; 164 42 | Enabled: true 43 | Line Style: 44 | Line Width: 0.029999999329447746 45 | Value: Lines 46 | Name: Grid 47 | Normal Cell Count: 0 48 | Offset: 49 | X: 0 50 | Y: 0 51 | Z: 0 52 | Plane: XY 53 | Plane Cell Count: 10 54 | Reference Frame: 55 | Value: true 56 | - Alpha: 1 57 | Class: rviz/RobotModel 58 | Collision Enabled: false 59 | Enabled: true 60 | Links: 61 | All Links Enabled: true 62 | Expand Joint Details: false 63 | Expand Link Details: false 64 | Expand Tree: false 65 | Link Tree Style: Links in Alphabetic Order 66 | base_link: 67 | Alpha: 1 68 | Show Axes: false 69 | Show Trail: false 70 | chassis_link: 71 | Alpha: 1 72 | Show Axes: false 73 | Show Trail: false 74 | Value: true 75 | front_left_wheel_link: 76 | Alpha: 1 77 | Show Axes: false 78 | Show Trail: false 79 | Value: true 80 | front_right_wheel_link: 81 | Alpha: 1 82 | Show Axes: false 83 | Show Trail: false 84 | Value: true 85 | inertial_link: 86 | Alpha: 1 87 | Show Axes: false 88 | Show Trail: false 89 | rear_left_wheel_link: 90 | Alpha: 1 91 | Show Axes: false 92 | Show Trail: false 93 | Value: true 94 | rear_right_wheel_link: 95 | Alpha: 1 96 | Show Axes: false 97 | Show Trail: false 98 | Value: true 99 | Name: RobotModel 100 | Robot Description: robot_description 101 | TF Prefix: "" 102 | Update Interval: 0 103 | Value: true 104 | Visual Enabled: true 105 | - Class: rviz/TF 106 | Enabled: true 107 | Frame Timeout: 15 108 | Frames: 109 | All Enabled: true 110 | base_link: 111 | Value: true 112 | chassis_link: 113 | Value: true 114 | front_left_wheel_link: 115 | Value: true 116 | front_right_wheel_link: 117 | Value: true 118 | inertial_link: 119 | Value: true 120 | rear_left_wheel_link: 121 | Value: true 122 | rear_right_wheel_link: 123 | Value: true 124 | Marker Scale: 1 125 | Name: TF 126 | Show Arrows: true 127 | Show Axes: true 128 | Show Names: true 129 | Tree: 130 | base_link: 131 | chassis_link: 132 | front_left_wheel_link: 133 | {} 134 | front_right_wheel_link: 135 | {} 136 | rear_left_wheel_link: 137 | {} 138 | rear_right_wheel_link: 139 | {} 140 | inertial_link: 141 | {} 142 | Update Interval: 0 143 | Value: true 144 | Enabled: true 145 | Global Options: 146 | Background Color: 48; 48; 48 147 | Default Light: true 148 | Fixed Frame: base_link 149 | Frame Rate: 30 150 | Name: root 151 | Tools: 152 | - Class: rviz/Interact 153 | Hide Inactive Objects: true 154 | - Class: rviz/MoveCamera 155 | - Class: rviz/Select 156 | - Class: rviz/FocusCamera 157 | - Class: rviz/Measure 158 | - Class: rviz/SetInitialPose 159 | Theta std deviation: 0.2617993950843811 160 | Topic: /initialpose 161 | X std deviation: 0.5 162 | Y std deviation: 0.5 163 | - Class: rviz/SetGoal 164 | Topic: /move_base_simple/goal 165 | - Class: rviz/PublishPoint 166 | Single click: true 167 | Topic: /clicked_point 168 | Value: true 169 | Views: 170 | Current: 171 | Class: rviz/Orbit 172 | Distance: 2.9432930946350098 173 | Enable Stereo Rendering: 174 | Stereo Eye Separation: 0.05999999865889549 175 | Stereo Focal Distance: 1 176 | Swap Stereo Eyes: false 177 | Value: false 178 | Focal Point: 179 | X: 0.027046792209148407 180 | Y: -0.03490818291902542 181 | Z: -0.09952529519796371 182 | Focal Shape Fixed Size: true 183 | Focal Shape Size: 0.05000000074505806 184 | Invert Z Axis: false 185 | Name: Current View 186 | Near Clip Distance: 0.009999999776482582 187 | Pitch: 0.5447957515716553 188 | Target Frame: 189 | Value: Orbit (rviz) 190 | Yaw: 4.27542781829834 191 | Saved: ~ 192 | Window Geometry: 193 | Displays: 194 | collapsed: false 195 | Height: 1029 196 | Hide Left Dock: false 197 | Hide Right Dock: true 198 | QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 199 | Selection: 200 | collapsed: false 201 | Time: 202 | collapsed: false 203 | Tool Properties: 204 | collapsed: false 205 | Views: 206 | collapsed: true 207 | Width: 1869 208 | X: 632 209 | Y: 291 210 | -------------------------------------------------------------------------------- /scout_base/src/scout_base_node.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include "ugv_sdk/mobile_robot/scout_robot.hpp" 10 | #include "ugv_sdk/utilities/protocol_detector.hpp" 11 | 12 | #include "scout_base/scout_messenger.hpp" 13 | 14 | using namespace westonrobot; 15 | 16 | int main(int argc, char **argv) { 17 | // setup ROS node 18 | ros::init(argc, argv, "scout_node"); 19 | ros::NodeHandle node(""), private_node("~"); 20 | 21 | // fetch parameters before connecting to robot 22 | std::string port_name; 23 | std::string odom_frame; 24 | std::string base_frame; 25 | std::string odom_topic_name; 26 | bool is_omni_wheel = false; 27 | bool is_simulated = false; 28 | int sim_rate = 50; 29 | bool is_scout_mini = false; 30 | 31 | private_node.param("port_name", port_name, std::string("can0")); 32 | private_node.param("odom_frame", odom_frame, 33 | std::string("odom")); 34 | private_node.param("base_frame", base_frame, 35 | std::string("base_link")); 36 | private_node.param("is_omni_wheel", is_omni_wheel, false); 37 | private_node.param("simulated_robot", is_simulated, false); 38 | private_node.param("control_rate", sim_rate, 50); 39 | private_node.param("odom_topic_name", odom_topic_name, 40 | std::string("odom")); 41 | private_node.param("is_scout_mini", is_scout_mini, false); 42 | 43 | if (is_scout_mini) { 44 | ROS_INFO("Robot base: Scout Mini"); 45 | } else { 46 | ROS_INFO("Robot base: Scout"); 47 | } 48 | 49 | if (!is_omni_wheel) { 50 | // instantiate a robot object 51 | std::shared_ptr robot; 52 | 53 | ProtocolDetector detector; 54 | if (detector.Connect(port_name)) { 55 | auto proto = detector.DetectProtocolVersion(5); 56 | if (proto == ProtocolVersion::AGX_V1) { 57 | std::cout << "Detected protocol: AGX_V1" << std::endl; 58 | robot = std::make_shared(ProtocolVersion::AGX_V1, 59 | is_scout_mini); 60 | } else if (proto == ProtocolVersion::AGX_V2) { 61 | std::cout << "Detected protocol: AGX_V2" << std::endl; 62 | robot = std::make_shared(ProtocolVersion::AGX_V2, 63 | is_scout_mini); 64 | } else { 65 | std::cout << "Detected protocol: UNKONWN" << std::endl; 66 | return -1; 67 | } 68 | } else { 69 | return -1; 70 | } 71 | 72 | // instantiate a ROS messenger 73 | std::unique_ptr> messenger = 74 | std::unique_ptr>( 75 | new ScoutMessenger(robot, &node)); 76 | 77 | messenger->SetOdometryFrame(odom_frame); 78 | messenger->SetBaseFrame(base_frame); 79 | messenger->SetOdometryTopicName(odom_topic_name); 80 | if (is_simulated) messenger->SetSimulationMode(); 81 | 82 | // connect to robot and setup ROS subscription 83 | if (port_name.find("can") != std::string::npos) { 84 | if (robot->Connect(port_name)) { 85 | robot->EnableCommandedMode(); 86 | ROS_INFO("Using CAN bus to talk with the robot"); 87 | } else { 88 | ROS_INFO("Failed to connect to the robot CAN bus"); 89 | return -1; 90 | } 91 | } 92 | 93 | messenger->Run(); 94 | } else { 95 | // instantiate a robot object 96 | std::shared_ptr robot; 97 | 98 | ProtocolDetector detector; 99 | detector.Connect(port_name); 100 | auto proto = detector.DetectProtocolVersion(5); 101 | if (proto == ProtocolVersion::AGX_V1) { 102 | std::cout << "Detected protocol: AGX_V1" << std::endl; 103 | robot = std::unique_ptr( 104 | new ScoutMiniOmniRobot(ProtocolVersion::AGX_V1)); 105 | 106 | } else if (proto == ProtocolVersion::AGX_V2) { 107 | std::cout << "Detected protocol: AGX_V2" << std::endl; 108 | robot = std::unique_ptr( 109 | new ScoutMiniOmniRobot(ProtocolVersion::AGX_V2)); 110 | } else { 111 | std::cout << "Detected protocol: UNKONWN" << std::endl; 112 | return -1; 113 | } 114 | 115 | // instantiate a ROS messenger 116 | std::unique_ptr> messenger = 117 | std::unique_ptr>( 118 | new ScoutMessenger(robot, &node)); 119 | 120 | messenger->SetOdometryFrame(odom_frame); 121 | messenger->SetBaseFrame(base_frame); 122 | messenger->SetOdometryTopicName(odom_topic_name); 123 | if (is_simulated) messenger->SetSimulationMode(); 124 | 125 | // connect to robot and setup ROS subscription 126 | if (port_name.find("can") != std::string::npos) { 127 | if (robot->Connect(port_name)) { 128 | robot->EnableCommandedMode(); 129 | ROS_INFO("Using CAN bus to talk with the robot"); 130 | } else { 131 | ROS_INFO("Failed to connect to the robot CAN bus"); 132 | return -1; 133 | } 134 | } 135 | 136 | messenger->Run(); 137 | } 138 | 139 | return 0; 140 | } 141 | -------------------------------------------------------------------------------- /scout_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(scout_bringup) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | std_msgs 14 | ) 15 | 16 | ## System dependencies are found with CMake's conventions 17 | # find_package(Boost REQUIRED COMPONENTS system) 18 | 19 | 20 | ## Uncomment this if the package has a setup.py. This macro ensures 21 | ## modules and global scripts declared therein get installed 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 23 | # catkin_python_setup() 24 | 25 | ################################################ 26 | ## Declare ROS messages, services and actions ## 27 | ################################################ 28 | 29 | ## To declare and build messages, services or actions from within this 30 | ## package, follow these steps: 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 33 | ## * In the file package.xml: 34 | ## * add a build_depend tag for "message_generation" 35 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 37 | ## but can be declared for certainty nonetheless: 38 | ## * add a exec_depend tag for "message_runtime" 39 | ## * In this file (CMakeLists.txt): 40 | ## * add "message_generation" and every package in MSG_DEP_SET to 41 | ## find_package(catkin REQUIRED COMPONENTS ...) 42 | ## * add "message_runtime" and every package in MSG_DEP_SET to 43 | ## catkin_package(CATKIN_DEPENDS ...) 44 | ## * uncomment the add_*_files sections below as needed 45 | ## and list every .msg/.srv/.action file to be processed 46 | ## * uncomment the generate_messages entry below 47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 48 | 49 | ## Generate messages in the 'msg' folder 50 | # add_message_files( 51 | # FILES 52 | # Message1.msg 53 | # Message2.msg 54 | # ) 55 | 56 | ## Generate services in the 'srv' folder 57 | # add_service_files( 58 | # FILES 59 | # Service1.srv 60 | # Service2.srv 61 | # ) 62 | 63 | ## Generate actions in the 'action' folder 64 | # add_action_files( 65 | # FILES 66 | # Action1.action 67 | # Action2.action 68 | # ) 69 | 70 | ## Generate added messages and services with any dependencies listed here 71 | # generate_messages( 72 | # DEPENDENCIES 73 | # std_msgs 74 | # ) 75 | 76 | ################################################ 77 | ## Declare ROS dynamic reconfigure parameters ## 78 | ################################################ 79 | 80 | ## To declare and build dynamic reconfigure parameters within this 81 | ## package, follow these steps: 82 | ## * In the file package.xml: 83 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 84 | ## * In this file (CMakeLists.txt): 85 | ## * add "dynamic_reconfigure" to 86 | ## find_package(catkin REQUIRED COMPONENTS ...) 87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 88 | ## and list every .cfg file to be processed 89 | 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 91 | # generate_dynamic_reconfigure_options( 92 | # cfg/DynReconf1.cfg 93 | # cfg/DynReconf2.cfg 94 | # ) 95 | 96 | ################################### 97 | ## catkin specific configuration ## 98 | ################################### 99 | ## The catkin_package macro generates cmake config files for your package 100 | ## Declare things to be passed to dependent projects 101 | ## INCLUDE_DIRS: uncomment this if your package contains header files 102 | ## LIBRARIES: libraries you create in this project that dependent projects also need 103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 104 | ## DEPENDS: system dependencies of this project that dependent projects also need 105 | catkin_package( 106 | # INCLUDE_DIRS include 107 | # LIBRARIES scout_bringup 108 | # CATKIN_DEPENDS roscpp rospy std_msgs 109 | # DEPENDS system_lib 110 | ) 111 | 112 | ########### 113 | ## Build ## 114 | ########### 115 | 116 | ## Specify additional locations of header files 117 | ## Your package locations should be listed before other locations 118 | include_directories( 119 | # include 120 | ${catkin_INCLUDE_DIRS} 121 | ) 122 | 123 | ## Declare a C++ library 124 | # add_library(${PROJECT_NAME} 125 | # src/${PROJECT_NAME}/scout_bringup.cpp 126 | # ) 127 | 128 | ## Add cmake target dependencies of the library 129 | ## as an example, code may need to be generated before libraries 130 | ## either from message generation or dynamic reconfigure 131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 132 | 133 | ## Declare a C++ executable 134 | ## With catkin_make all packages are built within a single CMake context 135 | ## The recommended prefix ensures that target names across packages don't collide 136 | # add_executable(${PROJECT_NAME}_node src/scout_bringup_node.cpp) 137 | 138 | ## Rename C++ executable without prefix 139 | ## The above recommended prefix causes long target names, the following renames the 140 | ## target back to the shorter version for ease of user use 141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 143 | 144 | ## Add cmake target dependencies of the executable 145 | ## same as for the library above 146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 147 | 148 | ## Specify libraries to link a library or executable target against 149 | # target_link_libraries(${PROJECT_NAME}_node 150 | # ${catkin_LIBRARIES} 151 | # ) 152 | 153 | ############# 154 | ## Install ## 155 | ############# 156 | 157 | install(DIRECTORY launch scripts 158 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 159 | 160 | 161 | # all install targets should use catkin DESTINATION variables 162 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 163 | 164 | ## Mark executable scripts (Python etc.) for installation 165 | ## in contrast to setup.py, you can choose the destination 166 | # install(PROGRAMS 167 | # scripts/my_python_script 168 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 169 | # ) 170 | 171 | ## Mark executables and/or libraries for installation 172 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 173 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 174 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 175 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 176 | # ) 177 | 178 | ## Mark cpp header files for installation 179 | # install(DIRECTORY include/${PROJECT_NAME}/ 180 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 181 | # FILES_MATCHING PATTERN "*.h" 182 | # PATTERN ".svn" EXCLUDE 183 | # ) 184 | 185 | ## Mark other files for installation (e.g. launch and bag files, etc.) 186 | # install(FILES 187 | # # myfile1 188 | # # myfile2 189 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 190 | # ) 191 | 192 | ############# 193 | ## Testing ## 194 | ############# 195 | 196 | ## Add gtest based cpp test target and link libraries 197 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_bringup.cpp) 198 | # if(TARGET ${PROJECT_NAME}-test) 199 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 200 | # endif() 201 | 202 | ## Add folders to be run by python nosetests 203 | # catkin_add_nosetests(test) 204 | -------------------------------------------------------------------------------- /scout_bringup/launch/scout_mini_minimal.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /scout_bringup/launch/scout_mini_omni_minimal.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /scout_bringup/launch/scout_minimal.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /scout_bringup/launch/scout_teleop_keyboard.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /scout_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | scout_bringup 4 | 0.0.0 5 | The scout_bringup package 6 | 7 | 8 | 9 | 10 | rdu 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | std_msgs 55 | roscpp 56 | rospy 57 | std_msgs 58 | roscpp 59 | rospy 60 | std_msgs 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /scout_bringup/scripts/bringup_can2usb.bash: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # bring up can interface 4 | sudo ip link set can0 up type can bitrate 500000 -------------------------------------------------------------------------------- /scout_bringup/scripts/setup_can2usb.bash: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # enable kernel module: gs_usb 4 | sudo modprobe gs_usb 5 | 6 | # bring up can interface 7 | sudo ip link set can0 up type can bitrate 500000 8 | 9 | # install can utils 10 | sudo apt install -y can-utils -------------------------------------------------------------------------------- /scout_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(scout_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS roslaunch) 5 | 6 | catkin_package() 7 | 8 | # roslaunch_add_file_check(launch) 9 | 10 | install( 11 | DIRECTORY launch meshes urdf 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | -------------------------------------------------------------------------------- /scout_description/launch/description.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /scout_description/meshes/base_link_full.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 2020-03-27T18:56:12.965296 5 | 2020-03-27T18:56:12.965305 6 | 7 | Z_UP 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /scout_description/meshes/hokuyo.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.64.0 r51232 7 | 8 | 2013-03-22T08:19:53 9 | 2013-03-22T08:19:53 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 49.13434 19 | 1.777778 20 | 0.1 21 | 100 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 1 1 1 32 | 1 33 | 0 34 | 0.00111109 35 | 36 | 37 | 38 | 39 | 0.000999987 40 | 0 41 | 1 42 | 1 43 | 1 44 | 1 45 | 1 46 | 2 47 | 0 48 | 1 49 | 1 50 | 1 51 | 1 52 | 1 53 | 0 54 | 2880 55 | 2 56 | 30.002 57 | 1.000799 58 | 0.04999995 59 | 29.99998 60 | 1 61 | 2 62 | 0 63 | 0 64 | 1 65 | 1 66 | 1 67 | 1 68 | 8192 69 | 1 70 | 1 71 | 0 72 | 1 73 | 1 74 | 1 75 | 3 76 | 0 77 | 0 78 | 0 79 | 0 80 | 45 81 | 0 82 | 1 83 | 1 84 | 1 85 | 3 86 | 0.15 87 | 75 88 | 1 89 | 1 90 | 0 91 | 1 92 | 1 93 | 0 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 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210 | 211 | 212 | 1 213 | 214 | 215 | 216 | 217 | 218 | 7.481132 -6.50764 5.343665 219 | 0 0 1 46.69194 220 | 0 1 0 0.619768 221 | 1 0 0 63.5593 222 | 1 1 1 223 | 224 | 225 | 226 | 4.076245 1.005454 5.903862 227 | 0 0 1 106.9363 228 | 0 1 0 3.163707 229 | 1 0 0 37.26105 230 | 1 1 1 231 | 232 | 233 | 234 | 0 0 0 235 | 0 0 1 0 236 | 0 1 0 0 237 | 1 0 0 90.00001 238 | 1 1 1 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | -------------------------------------------------------------------------------- /scout_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | scout_description 4 | 0.4.2 5 | AgileX Scout Husky URDF description 6 | 7 | Ryan Gariepy 8 | Prasenjit Mukherjee 9 | Mike Purvis 10 | Paul Bovbel 11 | Devon Ash 12 | 13 | Paul Bovbel 14 | Tony Baltovski 15 | 16 | http://ros.org/wiki/scout_description 17 | https://github.com/husky/husky/issues 18 | https://github.com/husky/husky 19 | 20 | BSD 21 | 22 | catkin 23 | roslaunch 24 | urdf 25 | xacro 26 | lms1xx 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /scout_description/sample/scout_v2_nav.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 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 | -------------------------------------------------------------------------------- /scout_description/urdf/scout_mini.urdf: -------------------------------------------------------------------------------- 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 | 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 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | -------------------------------------------------------------------------------- /scout_description/urdf/scout_mini.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 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 | -------------------------------------------------------------------------------- /scout_description/urdf/scout_mini_wheel.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | -------------------------------------------------------------------------------- /scout_description/urdf/scout_v2.urdf: -------------------------------------------------------------------------------- 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 | 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 | 137 | 138 | -------------------------------------------------------------------------------- /scout_description/urdf/scout_v2.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 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 | -------------------------------------------------------------------------------- /scout_description/urdf/scout_wheel_type1.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | -------------------------------------------------------------------------------- /scout_description/urdf/scout_wheel_type2.xacro: -------------------------------------------------------------------------------- 1 | 2 | 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 | -------------------------------------------------------------------------------- /scout_msgs/CHANGELOG.md: -------------------------------------------------------------------------------- 1 | # Changelog for package scout_msgs 2 | 3 | ## 0.0.1 (2019-06-14) 4 | ------------------ 5 | * Initial development of scout_msgs for Scout 6 | * Contributors: Ruixiang Du 7 | -------------------------------------------------------------------------------- /scout_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | 3 | cmake_minimum_required(VERSION 2.8.3) 4 | project(scout_msgs) 5 | 6 | ## Compile as C++11, supported in ROS Kinetic and newer 7 | # add_compile_options(-std=c++11) 8 | 9 | ## Find catkin macros and libraries 10 | find_package(catkin REQUIRED COMPONENTS 11 | std_msgs 12 | message_generation 13 | ) 14 | 15 | ## System dependencies are found with CMake's conventions 16 | # find_package(Boost REQUIRED COMPONENTS system) 17 | 18 | ## Uncomment this if the package has a setup.py. This macro ensures 19 | ## modules and global scripts declared therein get installed 20 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 21 | # catkin_python_setup() 22 | 23 | ################################################ 24 | ## Declare ROS messages, services and actions ## 25 | ################################################ 26 | 27 | ## To declare and build messages, services or actions from within this 28 | ## package, follow these steps: 29 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 30 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 31 | ## * In the file package.xml: 32 | ## * add a build_depend tag for "message_generation" 33 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 34 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 35 | ## but can be declared for certainty nonetheless: 36 | ## * add a exec_depend tag for "message_runtime" 37 | ## * In this file (CMakeLists.txt): 38 | ## * add "message_generation" and every package in MSG_DEP_SET to 39 | ## find_package(catkin REQUIRED COMPONENTS ...) 40 | ## * add "message_runtime" and every package in MSG_DEP_SET to 41 | ## catkin_package(CATKIN_DEPENDS ...) 42 | ## * uncomment the add_*_files sections below as needed 43 | ## and list every .msg/.srv/.action file to be processed 44 | ## * uncomment the generate_messages entry below 45 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 46 | 47 | ## Generate messages in the 'msg' folder 48 | add_message_files( 49 | FILES 50 | ScoutActuatorState.msg 51 | ScoutLightCmd.msg 52 | ScoutLightState.msg 53 | ScoutRCState.msg 54 | ScoutStatus.msg 55 | ) 56 | 57 | 58 | ## Generate services in the 'srv' folder 59 | # add_service_files( 60 | # FILES 61 | # Service1.srv 62 | # Service2.srv 63 | # ) 64 | 65 | ## Generate actions in the 'action' folder 66 | # add_action_files( 67 | # FILES 68 | # Action1.action 69 | # Action2.action 70 | # ) 71 | 72 | ## Generate added messages and services with any dependencies listed here 73 | generate_messages( 74 | DEPENDENCIES 75 | std_msgs 76 | ) 77 | 78 | catkin_package(CATKIN_DEPENDS std_msgs message_runtime) 79 | 80 | ################################################ 81 | ## Declare ROS dynamic reconfigure parameters ## 82 | ################################################ 83 | 84 | ## To declare and build dynamic reconfigure parameters within this 85 | ## package, follow these steps: 86 | ## * In the file package.xml: 87 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 88 | ## * In this file (CMakeLists.txt): 89 | ## * add "dynamic_reconfigure" to 90 | ## find_package(catkin REQUIRED COMPONENTS ...) 91 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 92 | ## and list every .cfg file to be processed 93 | 94 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 95 | # generate_dynamic_reconfigure_options( 96 | # cfg/DynReconf1.cfg 97 | # cfg/DynReconf2.cfg 98 | # ) 99 | 100 | ################################### 101 | ## catkin specific configuration ## 102 | ################################### 103 | ## The catkin_package macro generates cmake config files for your package 104 | ## Declare things to be passed to dependent projects 105 | ## INCLUDE_DIRS: uncomment this if your package contains header files 106 | ## LIBRARIES: libraries you create in this project that dependent projects also need 107 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 108 | ## DEPENDS: system dependencies of this project that dependent projects also need 109 | catkin_package( 110 | # INCLUDE_DIRS include 111 | # LIBRARIES scout_python 112 | # CATKIN_DEPENDS rospy scout_msgs std_msgs 113 | # DEPENDS system_lib 114 | ) 115 | 116 | ########### 117 | ## Build ## 118 | ########### 119 | 120 | ## Specify additional locations of header files 121 | ## Your package locations should be listed before other locations 122 | include_directories( 123 | # include 124 | ${catkin_INCLUDE_DIRS} 125 | ) 126 | 127 | ## Declare a C++ library 128 | # add_library(${PROJECT_NAME} 129 | # src/${PROJECT_NAME}/scout_python.cpp 130 | # ) 131 | 132 | ## Add cmake target dependencies of the library 133 | ## as an example, code may need to be generated before libraries 134 | ## either from message generation or dynamic reconfigure 135 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 136 | 137 | ## Declare a C++ executable 138 | ## With catkin_make all packages are built within a single CMake context 139 | ## The recommended prefix ensures that target names across packages don't collide 140 | # add_executable(${PROJECT_NAME}_node src/scout_python_node.cpp) 141 | 142 | ## Rename C++ executable without prefix 143 | ## The above recommended prefix causes long target names, the following renames the 144 | ## target back to the shorter version for ease of user use 145 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 146 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 147 | 148 | ## Add cmake target dependencies of the executable 149 | ## same as for the library above 150 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 151 | 152 | ## Specify libraries to link a library or executable target against 153 | # target_link_libraries(${PROJECT_NAME}_node 154 | # ${catkin_LIBRARIES} 155 | # ) 156 | 157 | ############# 158 | ## Install ## 159 | ############# 160 | 161 | # all install targets should use catkin DESTINATION variables 162 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 163 | 164 | ## Mark executable scripts (Python etc.) for installation 165 | ## in contrast to setup.py, you can choose the destination 166 | # install(PROGRAMS 167 | # scripts/my_python_script 168 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 169 | # ) 170 | 171 | ## Mark executables and/or libraries for installation 172 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 173 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 174 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 175 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 176 | # ) 177 | 178 | ## Mark cpp header files for installation 179 | # install(DIRECTORY include/${PROJECT_NAME}/ 180 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 181 | # FILES_MATCHING PATTERN "*.h" 182 | # PATTERN ".svn" EXCLUDE 183 | # ) 184 | 185 | ## Mark other files for installation (e.g. launch and bag files, etc.) 186 | # install(FILES 187 | # # myfile1 188 | # # myfile2 189 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 190 | # ) 191 | 192 | ############# 193 | ## Testing ## 194 | ############# 195 | 196 | ## Add gtest based cpp test target and link libraries 197 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_python.cpp) 198 | # if(TARGET ${PROJECT_NAME}-test) 199 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 200 | # endif() 201 | 202 | ## Add folders to be run by python nosetests 203 | # catkin_add_nosetests(test) 204 | -------------------------------------------------------------------------------- /scout_msgs/msg/ScoutActuatorState.msg: -------------------------------------------------------------------------------- 1 | #define DRIVER_STATE_INPUT_VOLTAGE_LOW_MASK ((uint8_t)0x01) 2 | #define DRIVER_STATE_MOTOR_OVERHEAT_MASK ((uint8_t)0x02) 3 | #define DRIVER_STATE_DRIVER_OVERLOAD_MASK ((uint8_t)0x04) 4 | #define DRIVER_STATE_DRIVER_OVERHEAT_MASK ((uint8_t)0x08) 5 | #define DRIVER_STATE_SENSOR_FAULT_MASK ((uint8_t)0x10) 6 | #define DRIVER_STATE_DRIVER_FAULT_MASK ((uint8_t)0x20) 7 | #define DRIVER_STATE_DRIVER_ENABLED_MASK ((uint8_t)0x40) 8 | #define DRIVER_STATE_DRIVER_RESET_MASK ((uint8_t)0x80) 9 | 10 | uint8 motor_id 11 | int16 rpm 12 | float64 current 13 | int32 pulse_count 14 | 15 | float32 driver_voltage 16 | float32 driver_temperature 17 | int8 motor_temperature 18 | uint8 driver_state -------------------------------------------------------------------------------- /scout_msgs/msg/ScoutLightCmd.msg: -------------------------------------------------------------------------------- 1 | uint8 LIGHT_CONST_OFF = 0 2 | uint8 LIGHT_CONST_ON = 1 3 | uint8 LIGHT_BREATH = 2 4 | uint8 LIGHT_CUSTOM = 3 5 | 6 | bool cmd_ctrl_allowed 7 | uint8 front_mode 8 | uint8 front_custom_value 9 | uint8 rear_mode 10 | uint8 rear_custom_value 11 | -------------------------------------------------------------------------------- /scout_msgs/msg/ScoutLightState.msg: -------------------------------------------------------------------------------- 1 | uint8 mode 2 | uint8 custom_value -------------------------------------------------------------------------------- /scout_msgs/msg/ScoutRCState.msg: -------------------------------------------------------------------------------- 1 | uint8 swa 2 | uint8 swb 3 | uint8 swc 4 | uint8 swd 5 | 6 | int8 stick_right_v 7 | int8 stick_right_h 8 | int8 stick_left_v 9 | int8 stick_left_h 10 | int8 var_a -------------------------------------------------------------------------------- /scout_msgs/msg/ScoutStatus.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | int8 MOTOR_ID_FRONT_RIGHT = 0 4 | int8 MOTOR_ID_FRONT_LEFT = 1 5 | int8 MOTOR_ID_REAR_RIGHT = 2 6 | int8 MOTOR_ID_REAR_LEFT = 3 7 | 8 | int8 LIGHT_ID_FRONT = 0 9 | int8 LIGHT_ID_REAR = 1 10 | 11 | # motion state 12 | float64 linear_velocity 13 | float64 angular_velocity 14 | 15 | # base state 16 | uint8 vehicle_state 17 | uint8 control_mode 18 | uint16 error_code 19 | float64 battery_voltage 20 | 21 | # motor state 22 | ScoutActuatorState[4] actuator_states 23 | 24 | # light state 25 | bool light_control_enabled 26 | ScoutLightState front_light_state 27 | ScoutLightState rear_light_state -------------------------------------------------------------------------------- /scout_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | scout_msgs 4 | 0.3.3 5 | Messages for AgileX Scout 6 | 7 | TODO 8 | 9 | TODO 10 | TODO 11 | 12 | BSD 13 | 14 | TODO 15 | TODO 16 | TODO 17 | 18 | catkin 19 | message_generation 20 | std_msgs 21 | message_runtime 22 | std_msgs 23 | 24 | 25 | 26 | 27 | --------------------------------------------------------------------------------