mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
move headless into arm_pkg
also did some renaming of nodes/files
This commit is contained in:
Tristan McGinnis
258
src/arm_pkg/arm_pkg/arm_headless.py
Executable file
258
src/arm_pkg/arm_pkg/arm_headless.py
Executable file
@@ -0,0 +1,258 @@
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import rclpy
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from rclpy.node import Node
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import pygame
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import time
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import serial
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import sys
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import threading
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import glob
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import os
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from std_msgs.msg import String
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from ros2_interfaces_pkg.msg import ControllerState
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from ros2_interfaces_pkg.msg import ArmManual
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from ros2_interfaces_pkg.msg import ArmIK
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os.environ["SDL_AUDIODRIVER"] = "dummy" # Force pygame to use a dummy audio driver before pygame.init()
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os.environ["SDL_VIDEODRIVER"] = "dummy" # Prevents pygame from trying to open a display
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class Headless(Node):
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def __init__(self):
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# Initalize node with name
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super().__init__("arm_headless")
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# Depricated, kept temporarily for reference
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# self.create_timer(0.20, self.send_controls)#read and send controls
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self.create_timer(0.20, self.send_manual)
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# Create a publisher to publish any output the pico sends
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# Depricated, kept temporarily for reference
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#self.publisher = self.create_publisher(ControllerState, '/astra/arm/control', 10)
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self.manual_pub = self.create_publisher(ArmManual, '/arm/control/manual', 10)
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# Create a subscriber to listen to any commands sent for the pico
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# Depricated, kept temporarily for reference
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#self.subscriber = self.create_subscription(String, '/astra/arm/feedback', self.read_feedback, 10)
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self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
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#self.lastMsg = String() #Used to ignore sending controls repeatedly when they do not change
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# Initialize pygame
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pygame.init()
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# Initialize the gamepad module
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pygame.joystick.init()
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# Check if any gamepad is connected
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if pygame.joystick.get_count() == 0:
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print("No gamepad found.")
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pygame.quit()
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exit()
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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pygame.quit()
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exit()
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# Initialize the first gamepad, print name to terminal
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self.gamepad = pygame.joystick.Joystick(0)
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self.gamepad.init()
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print(f'Gamepad Found: {self.gamepad.get_name()}')
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#
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#
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def run(self):
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# This thread makes all the update processes run in the background
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thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
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thread.start()
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try:
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while rclpy.ok():
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#Check the pico for updates
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self.read_feedback()
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if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
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print(f"Gamepad disconnected: {self.gamepad.get_name()}")
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while pygame.joystick.get_count() == 0:
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#self.send_controls() #depricated, kept for reference temporarily
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self.send_manual()
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self.read_feedback()
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self.gamepad = pygame.joystick.Joystick(0)
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self.gamepad.init() #re-initialized gamepad
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print(f"Gamepad reconnected: {self.gamepad.get_name()}")
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except KeyboardInterrupt:
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sys.exit(0)
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def send_manual(self):
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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pygame.quit()
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exit()
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input = ArmManual()
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dpad_input = self.gamepad.get_hat(0)
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input.axis0 = 0
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if dpad_input[0] == 1:
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input.axis0 = 1
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elif dpad_input[0] == -1:
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input.axis0 = -1
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input.axis1 = round(self.gamepad.get_axis(0))#left x-axis
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input.axis2 = round(self.gamepad.get_axis(1))#left y-axis
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input.axis3 = round(self.gamepad.get_axis(4))#right y-axis
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#Temporary, not controlling digit. Awaiting embedded implementation
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input.effector_yaw = 0
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input.effector_roll = 0
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input.gripper = 0
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input.linear_actuator = 0
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input.laser = 0
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if pygame.joystick.get_count() != 0:
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self.get_logger().info(f"[Ctrl] {input.axis0}, {input.axis1}, {input.axis2}, {input.axis3}\n")
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self.manual_pub.publish(input)
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else:
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pass
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pass
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# Depricated, kept temporarily for reference
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# def send_controls(self):
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# for event in pygame.event.get():
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# if event.type == pygame.QUIT:
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# pygame.quit()
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# exit()
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# input = ControllerState()
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# input.lt = self.gamepad.get_axis(2)#left trigger
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# input.rt = self.gamepad.get_axis(5)#right trigger
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# #input.lb = self.gamepad.get_button(9)#Value must be converted to bool
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# if(self.gamepad.get_button(4)):#left bumper
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# input.lb = True
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# else:
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# input.lb = False
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# #input.rb = self.gamepad.get_button(10)#Value must be converted to bool
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# if(self.gamepad.get_button(5)):#right bumper
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# input.rb = True
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# else:
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# input.rb = False
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# #input.plus = self.gamepad.get_button(6)#plus button
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# if(self.gamepad.get_button(7)):#plus button
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# input.plus = True
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# else:
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# input.plus = False
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# #input.minus = self.gamepad.get_button(4)#minus button
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# if(self.gamepad.get_button(6)):#minus button
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# input.minus = True
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# else:
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# input.minus = False
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# input.ls_x = round(self.gamepad.get_axis(0),2)#left x-axis
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# input.ls_y = round(self.gamepad.get_axis(1),2)#left y-axis
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# input.rs_x = round(self.gamepad.get_axis(3),2)#right x-axis
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# input.rs_y = round(self.gamepad.get_axis(4),2)#right y-axis
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# #input.a = self.gamepad.get_button(1)#A button
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# if(self.gamepad.get_button(0)):#A button
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# input.a = True
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# else:
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# input.a = False
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# #input.b = self.gamepad.get_button(0)#B button
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# if(self.gamepad.get_button(1)):#B button
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# input.b = True
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# else:
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# input.b = False
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# #input.x = self.gamepad.get_button(3)#X button
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# if(self.gamepad.get_button(2)):#X button
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# input.x = True
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# else:
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# input.x = False
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# #input.y = self.gamepad.get_button(2)#Y button
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# if(self.gamepad.get_button(3)):#Y button
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# input.y = True
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# else:
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# input.y = False
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# dpad_input = self.gamepad.get_hat(0)#D-pad input
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# #not using up/down on DPad
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# input.d_up = False
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# input.d_down = False
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# if(dpad_input[0] == 1):#D-pad right
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# input.d_right = True
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# else:
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# input.d_right = False
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# if(dpad_input[0] == -1):#D-pad left
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# input.d_left = True
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# else:
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# input.d_left = False
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# if pygame.joystick.get_count() != 0:
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# self.get_logger().info(f"[Ctrl] Updated Controller State\n")
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# self.publisher.publish(input)
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# else:
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# pass
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def read_feedback(self, msg):
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# Create a string message object
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#msg = String()
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# Set message data
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#msg.data = output
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# Publish data
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#self.publisher.publish(msg.data)
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print(f"[MCU] {msg.data}", end="")
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#print(f"[Pico] Publishing: {msg}")
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def main(args=None):
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rclpy.init(args=args)
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node = Headless()
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rclpy.spin(node)
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rclpy.shutdown()
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#tb_bs = BaseStation()
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#node.run()
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if __name__ == '__main__':
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main()
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@@ -18,7 +18,7 @@ thread = None
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class SerialRelay(Node):
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def __init__(self):
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# Initialize node with name
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super().__init__("arm_relay")
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super().__init__("arm_node")
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# Create publishers
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@@ -1,259 +0,0 @@
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import rclpy
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from rclpy.node import Node
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import serial
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import sys
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import threading
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import glob
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import time
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from std_msgs.msg import String
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from interfaces_pkg.msg import ControllerState
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from interfaces_pkg.msg import ArmState
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serial_pub = None
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thread = None
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class SerialRelay(Node):
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def __init__(self):
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# Initalize node with name
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super().__init__("arm_relay")
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# Create a publisher to publish any output the mcu sends
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self.output_publisher = self.create_publisher(String, '/astra/arm/feedback', 10)#Random String feedback data
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self.state_publisher = self.create_publisher(ArmState, '/astra/arm/state', 10)#Standard state feedback data
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# Create a subscriber to listen to any commands sent for the mcu
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self.subscriber = self.create_subscription(ControllerState, '/astra/arm/control', self.send_controls, 10)
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# Loop through all serial devices on the computer to check for the mcu
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self.port = None
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ports = SerialRelay.list_serial_ports()
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for port in ports:
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try:
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# connect and send a ping command
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ser = serial.Serial(port, timeout=1)
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ser.write(b"arm,ping\n")
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response = ser.read_until("\n")
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# if pong is in response, then we are talking with the mcu
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if b"pong" in response:
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self.port = port
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print(f"Found MCU at {self.port}!")
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break
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except:
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pass
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if self.port is None:
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print("Unable to find MCU... please make sure it is connected.")
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#sys.exit(1) TEMPORARY TEST, UNCOMMENT THIS LINE IN THE FUTURE
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self.ser = serial.Serial(self.port, 115200)
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#self.mutex = threading.Lock()
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def run(self):
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# This thread makes all the update processes run in the background
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global thread
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thread = threading.Thread(target=rclpy.spin, args={self}, daemon = True)
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thread.start()
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try:
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while rclpy.ok():
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# Check the mcu for updates
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#rclpy.spin_once(self, timeout_sec=0.1)
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#self.mutex.acquire()
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if self.ser.in_waiting:
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#self.mutex.release()
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self.read_mcu()
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else:
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time.sleep(0.1)
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except KeyboardInterrupt:
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#self.mutex.release()
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serial_pub.ser.close()
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sys.exit(0)
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def read_mcu(self):
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try:
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#self.mutex.acquire()
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output = str(self.ser.readline(), "utf8")
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if output:
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print(f"[MCU] {output}", end="")
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# Create a string message object
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msg = String()
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# Set message data
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msg.data = output
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# Publish data
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self.output_publisher.publish(msg)
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#print(f"[MCU] Publishing: {msg}")
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except serial.SerialException:
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#self.mutex.release()
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pass
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#finally:
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#self.mutex.release()
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def send_controls(self, msg):
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command = ""
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ef_cmd = "" #end effector command to be apended
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#self.mutex.acquire()
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if(msg.b):#If B button: send ESTOP command
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command = "arm,stop\n"
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self.ser.write(bytes(command, "utf8"))#Send command to MCU
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print(f"[Wrote] {command}", end="")#Echo command to console
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#self.mutex.release()#Release mutex lock
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return
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if(msg.plus):#Turn EF laser on
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command = "arm,endEffect,laser,1\n"
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self.ser.write(bytes(command, "utf8"))
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print(f"[Wrote] {command}", end="")
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elif(msg.minus):#Turn EF laser off
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command = "arm,endEffect,laser,0\n"
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self.ser.write(bytes(command, "utf8"))
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print(f"[Wrote] {command}", end="")
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if(msg.rb):#If RB button: End Effector control mode
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ef_cmd = "arm,endEffect,ctrl,"
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if(msg.lt >= 0.5):#If LT button: Open end effector
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ef_cmd += "-1,"
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elif(msg.rt >= 0.5):#If RT button: Close end effector
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ef_cmd += "1,"
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else:
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ef_cmd += "0,"
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if(msg.rs_x < 0): #Check left/stop/right for tilt movement
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ef_cmd += "-1,"
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elif(msg.rs_x > 0):
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ef_cmd += "1,"
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else:
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ef_cmd += "0,"
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pass
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if(msg.ls_x < 0): #Check left/stop/right for revolve movement
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ef_cmd += "-1"
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elif(msg.ls_x > 0):
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ef_cmd += "1"
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else:
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ef_cmd += "0"
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command = ef_cmd + "\n"
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self.ser.write(bytes(command, "utf8"))
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print(f"[Wrote] {command}", end="")
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#self.mutex.release()
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return
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else:
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ef_cmd = "arm,endEffect,ctrl,"
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if(msg.lt >= 0.5):
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ef_cmd += "-1,0,0"
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elif(msg.rt >= 0.5):
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ef_cmd += "1,0,0"
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else:
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ef_cmd += "0,0,0"
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command = ef_cmd + "\n"
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self.ser.write(bytes(command, "utf8"))
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print(f"[Wrote] {command}", end="")
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if(msg.lb):#If LB button: Manual control mode
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#First, ensure control mode is set to manual on the MCU
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self.ser.write(bytes("arm,setMode,manual\n", "utf8"))
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#print(f"[Wrote] arm,setMode,manual", end="")
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command = "arm,man,0.15,"#Set manual control duty cycle statically to 15% for now
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if(msg.d_left):#If D-Pad left set axis_1 to -1
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command += "-1,"
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elif(msg.d_right):#If D-Pad right set axis_0 to 1
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command += "1,"
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else:
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command += "0,"
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#Axis_1
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if(msg.ls_x < -0.5):#If LS left at least 50% set axis_1 to -1
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command += "-1,"
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elif(msg.ls_x > 0.5):#If LS right at least 50% set axis_1 to 1
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command += "1,"
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else:
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command += "0,"
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#Axis_2
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if(msg.ls_y < -0.5):#If LS up at least 50% set axis_2 to 1
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command += "1,"
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elif(msg.ls_y > 0.5):#If LS down at least 50% set axis_2 to -1
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||||
command += "-1,"
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else:
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command += "0,"
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||||
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||||
#Axis_3
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if(msg.rs_y < -0.5):#If RS up at least 50% set axis_3 to 1
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command += "1"
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elif(msg.rs_y > 0.5):#If RS down at least 50% set axis_3 to -1
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command += "-1"
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||||
else:
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command += "0"
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||||
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command += "\n"
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self.ser.write(bytes(command, "utf8"))
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||||
print(f"[Wrote] {command}", end="")
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||||
|
||||
#self.mutex.release()
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||||
return
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||||
else:#Else normal (IK) control mode
|
||||
#First, ensure control mode is set to IK on the MCU
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self.ser.write(bytes("arm,setMode,ik\n", "utf8"))
|
||||
#print(f"[Wrote] arm,setMode,ik", end="")
|
||||
|
||||
command = "arm,ik,"
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||||
if(msg.d_left):#If D-Pad left set axis zero to -1
|
||||
command += "-1,"
|
||||
elif(msg.d_right):#If D-Pad right set axis zero to 1
|
||||
command += "1,"
|
||||
else:
|
||||
command += "0,"
|
||||
|
||||
#start with input from controller
|
||||
coord_x = -1*msg.ls_y #out/in
|
||||
coord_y = -1*msg.rs_y #up/down
|
||||
|
||||
#convert units for ik coordinate offsets
|
||||
coord_x = round(coord_x * 20.4 * 2, 1) #20.4mm (1 in.) per 1 unit of input. Times 2 for two inches
|
||||
coord_y = round(coord_y * 20.4 * 2, 1) #
|
||||
|
||||
command += f"{coord_x},{coord_y}\n"
|
||||
|
||||
self.ser.write(bytes(command, "utf8"))
|
||||
print(f"[Wrote] {command}", end="")
|
||||
#self.mutex.release()
|
||||
return
|
||||
|
||||
|
||||
@staticmethod
|
||||
def list_serial_ports():
|
||||
return glob.glob("/dev/tty[A-Za-z]*")
|
||||
|
||||
|
||||
def myexcepthook(type, value, tb):
|
||||
print("Uncaught exception:", type, value)
|
||||
serial_pub.ser.close()
|
||||
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
sys.excepthook = myexcepthook
|
||||
|
||||
global serial_pub
|
||||
serial_pub = SerialRelay()
|
||||
serial_pub.run()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -16,11 +16,11 @@ setup(
|
||||
maintainer='tristan',
|
||||
maintainer_email='tristanmcginnis26@gmail.com',
|
||||
description='TODO: Package description',
|
||||
license='TODO: License declaration',
|
||||
tests_require=['pytest'],
|
||||
license='All Rights Reserved',
|
||||
entry_points={
|
||||
'console_scripts': [
|
||||
'arm = arm_pkg.arm_relay_node:main'
|
||||
'arm = arm_pkg.arm_node:main',
|
||||
'headless = arm_pkg.arm_headless:main'
|
||||
],
|
||||
},
|
||||
)
|
||||
|
||||
@@ -1,25 +0,0 @@
|
||||
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_copyright.main import main
|
||||
import pytest
|
||||
|
||||
|
||||
# Remove the `skip` decorator once the source file(s) have a copyright header
|
||||
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
|
||||
@pytest.mark.copyright
|
||||
@pytest.mark.linter
|
||||
def test_copyright():
|
||||
rc = main(argv=['.', 'test'])
|
||||
assert rc == 0, 'Found errors'
|
||||
@@ -1,25 +0,0 @@
|
||||
# Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_flake8.main import main_with_errors
|
||||
import pytest
|
||||
|
||||
|
||||
@pytest.mark.flake8
|
||||
@pytest.mark.linter
|
||||
def test_flake8():
|
||||
rc, errors = main_with_errors(argv=[])
|
||||
assert rc == 0, \
|
||||
'Found %d code style errors / warnings:\n' % len(errors) + \
|
||||
'\n'.join(errors)
|
||||
@@ -1,23 +0,0 @@
|
||||
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_pep257.main import main
|
||||
import pytest
|
||||
|
||||
|
||||
@pytest.mark.linter
|
||||
@pytest.mark.pep257
|
||||
def test_pep257():
|
||||
rc = main(argv=['.', 'test'])
|
||||
assert rc == 0, 'Found code style errors / warnings'
|
||||
Reference in New Issue
Block a user