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added lance control, changed citadel to use uint8 instead of byte, removed astra_msgs submodule and added it as a nix package

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This commit is contained in:
iggy
2026-02-20 04:54:37 -06:00
parent 7e6a53b7f1
commit 0ce872d9c9
3 changed files with 95 additions and 41 deletions
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20
flake.lock generated
View File

@@ -10,17 +10,17 @@
]
},
"locked": {
"lastModified": 1770693861,
"narHash": "sha256-8NBtSsKVYtd+NYt51tJ1EteC0nOTemDUBoRXbDoQAuA=",
"lastModified": 1771573274,
"narHash": "sha256-YlUVTWtCxXzobbcHTCrMMzwLSrzQwo5Yz57gYS8ie04=",
"owner": "SHC-ASTRA",
"repo": "astra_msgs",
"rev": "60bbb53085b09fbdb7e848b1dd168d526d9af281",
"rev": "8acbd807907ca6bd045aab8e50e7af995fc9a211",
"type": "github"
},
"original": {
"owner": "SHC-ASTRA",
"ref": "60bbb53085b09fbdb7e848b1dd168d526d9af281",
"repo": "astra_msgs",
"rev": "8acbd807907ca6bd045aab8e50e7af995fc9a211",
"type": "github"
}
},
@@ -66,11 +66,11 @@
"nixpkgs": "nixpkgs"
},
"locked": {
"lastModified": 1770408708,
"narHash": "sha256-E7ZQRgGrsiuswgXnG7337ZR5s4SdZlheZjxKOQdVoH8=",
"lastModified": 1770622967,
"narHash": "sha256-1LYjTugPSCa/5NkP6/dcZLH5TQYj3R8mAZ/9dgd7jDM=",
"owner": "lopsided98",
"repo": "nix-ros-overlay",
"rev": "e78ba91032c7f8bdd823fbf43937cbf0f4f09747",
"rev": "d1b9f17eba909116356436d46b5192d299c6b49a",
"type": "github"
},
"original": {
@@ -86,11 +86,11 @@
"nixpkgs": "nixpkgs_2"
},
"locked": {
"lastModified": 1770108954,
"narHash": "sha256-VBj6bd4LPPSfsZJPa/UPPA92dOs6tmQo0XZKqfz/3W4=",
"lastModified": 1771404745,
"narHash": "sha256-UVP3TsQJ4PezyQG3B1SsgsTxz32XBVzplJ/cgq7v/uk=",
"owner": "lopsided98",
"repo": "nix-ros-overlay",
"rev": "3d05d46451b376e128a1553e78b8870c75d7753a",
"rev": "7cdf7b44ff186869baedbb3b82e5b409bb3e8dd9",
"type": "github"
},
"original": {

56
flake.nix
View File

@@ -3,18 +3,13 @@
inputs = {
nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
# specify astra_msgs commit hash to the one we support
astra-msgs.url = "github:SHC-ASTRA/astra_msgs?ref=60bbb53085b09fbdb7e848b1dd168d526d9af281";
nixpkgs.follows = "nix-ros-overlay/nixpkgs";
astra-msgs.url =
"github:SHC-ASTRA/astra_msgs/8acbd807907ca6bd045aab8e50e7af995fc9a211";
};
outputs =
{
self,
nix-ros-overlay,
nixpkgs,
astra-msgs,
}:
{ self, nix-ros-overlay, nixpkgs, astra-msgs }:
nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
system:
let
@@ -22,24 +17,27 @@
inherit system;
overlays = [ nix-ros-overlay.overlays.default ];
};
astra_msgs_pkgs = astra-msgs.packages.${system};
rosDistro = "humble";
in
{
devShells.default = pkgs.mkShell {
name = "ASTRA Anchor";
packages = with pkgs; [
astra-msgs.packages.${system}.astra-msgs
colcon
(python313.withPackages (
p: with p; [
pyserial
pygame
scipy
crccheck
black
]
))
(
with rosPackages.humble;
astra_msgs_pkgs.astra-msgs
(pkgs.rosPackages.${rosDistro}.python3.withPackages (p: with p; [
pyserial
pygame
scipy
crccheck
black
]))
(with rosPackages.${rosDistro};
buildEnv {
paths = [
ros-core
@@ -66,7 +64,7 @@
moveit-msgs
moveit-ros-planning
moveit-ros-planning-interface
moveit-ros-visualization
moveit-ros-visualization
moveit-configs-utils
moveit-ros-move-group
moveit-servo
@@ -77,13 +75,16 @@
ompl
joy
ros2-controllers
chomp-motion-planner
chomp-motion-planner
];
}
)
})
];
env = {
ASTRAMSGS = "${astra-msgs.outPath}";
};
shellHook = ''
# Display stuff
export DISPLAY=''${DISPLAY:-:0}
export QT_X11_NO_MITSHM=1
'';
@@ -93,6 +94,7 @@
nixConfig = {
extra-substituters = [ "https://ros.cachix.org" ];
extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
extra-trusted-public-keys =
[ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
};
}

60
src/bio_pkg/bio_pkg/bio_node.py
View File

@@ -5,7 +5,7 @@ import time
import rclpy
from astra_msgs.action import BioVacuum
from astra_msgs.msg import BioControl, BioDistributor, VicCAN
from astra_msgs.msg import BioControl, BioDistributor, FaerieControl, ScytheControl, VicCAN
from astra_msgs.srv import BioTestTube
from rclpy.action import ActionServer
from rclpy.node import Node
@@ -49,6 +49,20 @@ class SerialRelay(Node):
10,
)
self.anchor_sub = self.create_subscription(
FaerieControl,
"/bio/control/faerie",
self.faerie_callback,
10
)
self.anchor_sub = self.create_subscription(
ScytheControl,
"/bio/control/scythe",
self.scythe_callback,
10
)
# Services
self.test_tube_service = self.create_service(
BioTestTube, "/bio/control/test_tube", self.test_tube_callback
@@ -102,6 +116,7 @@ class SerialRelay(Node):
def distributor_callback(self, msg: BioDistributor):
distributor_arr = msg.distributor_id
# if (any in distributor >
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="citadel",
@@ -114,6 +129,43 @@ class SerialRelay(Node):
],
)
self.anchor_tovic_pub_.publish(vic_cmd)
def faerie_callback(self, msg: FaerieControl):
if msg.vibration_motor:
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="faerie",
command_id=37,
data=[float(msg.vibration_motor)]
)
self.anchor_tovic_pub_.publish(vic_cmd)
else:
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="faerie",
command_id=42,
data=[float(msg.move_faerie)],
)
self.anchor_tovic_pub_.publish(vic_cmd)
def scythe_callback(self, msg: ScytheControl):
if msg.scythe_reset:
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="faerie",
command_id=29,
data=[],
)
self.anchor_tovic_pub_.publish(vic_cmd)
else:
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="faerie",
command_id=24,
data=[float(msg.move_scythe)],
)
self.anchor_tovic_pub_.publish(vic_cmd)
def test_tube_callback(self, request, response):
tubes_cmd = VicCAN(
@@ -121,7 +173,7 @@ class SerialRelay(Node):
mcu_name="citadel",
command_id=40,
data=[
float(int.from_bytes(request.tube_id)),
float(int(request.tube_id)),
float(request.milliliters),
],
)
@@ -129,8 +181,8 @@ class SerialRelay(Node):
return response
def execute_vacuum(self, goal_handle):
valve_id = int.from_bytes(goal_handle.request.valve_id)
duty = int.from_bytes(goal_handle.request.fan_duty_cycle_percent)
valve_id = int(goal_handle.request.valve_id)
duty = int(goal_handle.request.fan_duty_cycle_percent)
total = goal_handle.request.fan_time_ms
# open valve