mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
Merge pull request #1 from SHC-ASTRA/merge-arm-headless
Merge arm headless
This commit is contained in:
Tristan McGinnis
@@ -23,7 +23,7 @@ os.environ["SDL_VIDEODRIVER"] = "dummy" # Prevents pygame from trying to open a
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class Headless(Node):
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class Headless(Node):
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def __init__(self):
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def __init__(self):
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# Initalize node with name
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# Initalize node with name
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super().__init__("headless_arm_ctrl")
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super().__init__("arm_headless")
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# Depricated, kept temporarily for reference
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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_controls)#read and send controls
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@@ -18,7 +18,7 @@ thread = None
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class SerialRelay(Node):
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class SerialRelay(Node):
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def __init__(self):
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def __init__(self):
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# Initialize node with name
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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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# 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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#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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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
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#First, ensure control mode is set to IK on the MCU
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self.ser.write(bytes("arm,setMode,ik\n", "utf8"))
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#print(f"[Wrote] arm,setMode,ik", end="")
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command = "arm,ik,"
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if(msg.d_left):#If D-Pad left set axis zero to -1
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command += "-1,"
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elif(msg.d_right):#If D-Pad right set axis zero to 1
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command += "1,"
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else:
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command += "0,"
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#start with input from controller
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coord_x = -1*msg.ls_y #out/in
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coord_y = -1*msg.rs_y #up/down
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#convert units for ik coordinate offsets
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coord_x = round(coord_x * 20.4 * 2, 1) #20.4mm (1 in.) per 1 unit of input. Times 2 for two inches
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coord_y = round(coord_y * 20.4 * 2, 1) #
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command += f"{coord_x},{coord_y}\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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@staticmethod
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def list_serial_ports():
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return glob.glob("/dev/tty[A-Za-z]*")
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def myexcepthook(type, value, tb):
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print("Uncaught exception:", type, value)
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serial_pub.ser.close()
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def main(args=None):
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rclpy.init(args=args)
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sys.excepthook = myexcepthook
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global serial_pub
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serial_pub = SerialRelay()
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serial_pub.run()
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if __name__ == '__main__':
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main()
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@@ -16,11 +16,11 @@ setup(
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maintainer='tristan',
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maintainer='tristan',
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maintainer_email='tristanmcginnis26@gmail.com',
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maintainer_email='tristanmcginnis26@gmail.com',
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description='TODO: Package description',
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description='TODO: Package description',
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license='TODO: License declaration',
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license='All Rights Reserved',
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tests_require=['pytest'],
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entry_points={
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entry_points={
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'console_scripts': [
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'console_scripts': [
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'arm = arm_pkg.arm_relay_node:main'
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'arm = arm_pkg.arm_node:main',
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'headless = arm_pkg.arm_headless:main'
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],
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],
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},
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},
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)
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)
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@@ -1,25 +0,0 @@
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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||||||
# you may not use this file except in compliance with the License.
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|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
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|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
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|
||||||
#
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|
||||||
# Unless required by applicable law or agreed to in writing, software
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|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
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|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
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||||||
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||||||
from ament_copyright.main import main
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import pytest
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||||||
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# Remove the `skip` decorator once the source file(s) have a copyright header
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@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
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||||||
@pytest.mark.copyright
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@pytest.mark.linter
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def test_copyright():
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rc = main(argv=['.', 'test'])
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||||||
assert rc == 0, 'Found errors'
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@@ -1,25 +0,0 @@
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|||||||
# Copyright 2017 Open Source Robotics Foundation, Inc.
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||||||
#
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|
||||||
# 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
|
|
||||||
#
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|
||||||
# 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
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||||||
import pytest
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||||||
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||||||
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||||||
@pytest.mark.flake8
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||||||
@pytest.mark.linter
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||||||
def test_flake8():
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|
||||||
rc, errors = main_with_errors(argv=[])
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||||||
assert rc == 0, \
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|
||||||
'Found %d code style errors / warnings:\n' % len(errors) + \
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||||||
'\n'.join(errors)
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||||||
@@ -1,23 +0,0 @@
|
|||||||
# Copyright 2015 Open Source Robotics Foundation, Inc.
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|
||||||
#
|
|
||||||
# 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
|
|
||||||
|
|
||||||
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|
||||||
@pytest.mark.linter
|
|
||||||
@pytest.mark.pep257
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|
||||||
def test_pep257():
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|
||||||
rc = main(argv=['.', 'test'])
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|
||||||
assert rc == 0, 'Found code style errors / warnings'
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|
||||||
@@ -1,21 +0,0 @@
|
|||||||
<?xml version="1.0"?>
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|
||||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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|
||||||
<package format="3">
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|
||||||
<name>headless_arm_pkg</name>
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|
||||||
<version>1.0.0</version>
|
|
||||||
<description>Package used for headless rover arm control with a controller</description>
|
|
||||||
<maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
|
|
||||||
<license>All Rights Reserved</license>
|
|
||||||
|
|
||||||
<depend>rclpy</depend>
|
|
||||||
<depend>ros2_interfaces_pkg</depend>
|
|
||||||
|
|
||||||
<test_depend>ament_copyright</test_depend>
|
|
||||||
<test_depend>ament_flake8</test_depend>
|
|
||||||
<test_depend>ament_pep257</test_depend>
|
|
||||||
<test_depend>python3-pytest</test_depend>
|
|
||||||
|
|
||||||
<export>
|
|
||||||
<build_type>ament_python</build_type>
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
@@ -1,4 +0,0 @@
|
|||||||
[develop]
|
|
||||||
script_dir=$base/lib/headless_arm_pkg
|
|
||||||
[install]
|
|
||||||
install_scripts=$base/lib/headless_arm_pkg
|
|
||||||
@@ -1,26 +0,0 @@
|
|||||||
from setuptools import find_packages, setup
|
|
||||||
|
|
||||||
package_name = 'headless_arm_pkg'
|
|
||||||
|
|
||||||
setup(
|
|
||||||
name=package_name,
|
|
||||||
version='0.0.0',
|
|
||||||
packages=find_packages(exclude=['test']),
|
|
||||||
data_files=[
|
|
||||||
('share/ament_index/resource_index/packages',
|
|
||||||
['resource/' + package_name]),
|
|
||||||
('share/' + package_name, ['package.xml']),
|
|
||||||
],
|
|
||||||
install_requires=['setuptools'],
|
|
||||||
zip_safe=True,
|
|
||||||
maintainer='tristan',
|
|
||||||
maintainer_email='tristanmcginnis26@gmail.com',
|
|
||||||
description='Package used for headless rover arm control with a controller',
|
|
||||||
license='All Rights Reserved',
|
|
||||||
tests_require=['pytest'],
|
|
||||||
entry_points={
|
|
||||||
'console_scripts': [
|
|
||||||
'headless = headless_arm_pkg.headless_arm_ctrl_node: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