commit of the final code

Poppy_Ros/Poppy_Ros_Project/CMakeLists.txt

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+# Specify the minimum version of CMake required
+cmake_minimum_required(VERSION 3.0.2)
+# Define the project name
+project(poppy_ros)
+
+# Option to compile as C++11 (commented out)
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+# Set the directory for OpenCV
+set (OpenCV_DIR "/usr/lib/opencv")
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+# Find and include catkin components required for the project
+find_package(catkin REQUIRED COMPONENTS
+roscpp
+std_msgs
+geometry_msgs
+message_generation
+sensor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# Boost package can be included if needed (currently commented out)
+# find_package(Boost REQUIRED COMPONENTS system)
+# Find and include OpenCV components required for the project
+find_package(OpenCV REQUIRED COMPONENTS
+core
+)
+
+
+
+# Instruction for including a setup.py if it exists
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+FILES
+ik.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+DEPENDENCIES
+geometry_msgs
+std_msgs
+
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+INCLUDE_DIRS include
+LIBRARIES poppy_ros
+CATKIN_DEPENDS roscpp std_msgs message_runtime geometry_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations------------------------------------------------
+include_directories(
+/home/maxence/ros/SOFTWARE/toolkit-dynamixel/include
+/home/maxence/ros/SOFTWARE/toolkit-kinematics/include
+${OpenCV_INCLUDE_DIRS}
+/home/maxence/ros/SOFTWARE/eigen/Eigen
+${catkin_INCLUDE_DIRS}
+/home/maxence/catkin_ws/src/poppy_ros/include
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/poppy_ros.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/poppy_ros_node.cpp)
+
+add_executable(poppy_ros src/poppy_ros.cpp /home/maxence/ros/SOFTWARE/toolkit-dynamixel/src/DynamixelHandler.cpp)
+
+add_executable(ik_server src/ik_server.cpp /home/maxence/ros/SOFTWARE/toolkit-kinematics/src/Kinematics.cpp /home/maxence/ros/SOFTWARE/toolkit-kinematics/src/RotationMatrix.cpp /home/maxence/ros/SOFTWARE/toolkit-kinematics/src/TranslationMatrix.cpp /home/maxence/ros/SOFTWARE/toolkit-kinematics/src/TransformationMatrix.cpp)
+
+add_executable(ik_client src/ik_client.cpp)
+
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+
+target_link_libraries(poppy_ros dxl_x64_cpp rt ${catkin_LIBRARIES})
+
+target_link_libraries(ik_server ${catkin_LIBRARIES} ${OpenCV_LIBS})
+
+target_link_libraries(ik_client ${catkin_LIBRARIES})
+
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_poppy_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+

Poppy_Ros/Poppy_Ros_Project/src/ik_client.cpp

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+
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+#include <poppy_ros/ik.h>
+#include <math.h>
+#include <sensor_msgs/JointState.h>
+
+using namespace std;
+
+// Function to convert degrees to radians
+double deg2rad(double angle){
+    return -angle / 180.0 * M_PI;
+}
+
+int main(int argc, char** argv) {
+    // Initialize ROS node
+    ros::init(argc, argv, "ik_client");
+
+    // Check for correct number of arguments
+    if (argc != 4) {
+        ROS_INFO("Usage : rosrun poppy_ros ik_client x y z");
+        return 1;   
+    }
+
+    // Set up ROS node handle and service client
+    ros::NodeHandle nh;
+    ros::ServiceClient client = nh.serviceClient<poppy_ros::ik>("ik");
+
+    // Rest of the code goes here...
+}

Poppy_Ros/Poppy_Ros_Project/src/ik_server.cpp

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+// Include necessary headers and libraries
+#include <ros/ros.h>
+// Include necessary headers and libraries
+#include <geometry_msgs/Twist.h>
+// Include necessary headers and libraries
+#include <poppy_ros/ik.h>
+// Include necessary headers and libraries
+#include <Kinematics.h>
+
+using namespace std;
+
+// Instantiate a Kinematics object for IK calculations
+Kinematics _kinematics;
+// Matrix to store the x, y, z position of the end effector
+cv::Mat _oXTarget(3, 1, CV_64F, 0.0); //Matrix storing the x, y, z position of the end effector
+
+// Callback function for IK service
+bool ikCallback(poppy_ros::ik::Request &request, poppy_ros::ik::Response &response){
+
+_oXTarget.at<double>(0,0) = request.x;
+_oXTarget.at<double>(1,0) = request.y;
+_oXTarget.at<double>(2,0) = request.z;
+
+_kinematics.inverseKinematics(_oXTarget);
+vector<double> Qi = _kinematics.getQiValues();
+
+response.j_val.linear.x = Qi[0];
+response.j_val.linear.y = Qi[1];
+response.j_val.linear.z = Qi[2];
+response.j_val.angular.x = Qi[3];
+response.j_val.angular.y = Qi[4];
+
+
+return true;
+}
+
+
+// Main function for the IK server
+int main(int argc, char** argv) {
+
+// Check for the correct number of arguments
+if (argc != 3 && argc != 4){
+ROS_INFO("usage: rosrun poppy_ros ik_server <dhParamsFile> <ikParamsFile>");
+ROS_INFO("ex: rosrun poppy_ros ik_server /home/maxence/ros/SOFTWARE/poppy_dh.yaml /home/maxence/ros/SOFTWARE/poppy_ik.yaml");
+return 1;
+}
+if (argc >= 2){
+_kinematics.loadDHParameters(argv[1]);
+}
+if (argc >= 3){
+_kinematics.loadIKParameters(argv[2]);
+}
+cv::Mat currentEndEffPos(4, 1, CV_64F, 0.0f);
+currentEndEffPos = _kinematics.computeCurrentEndEffectorPosition();
+ROS_INFO("Current end-effector position = (%f, %f, %f)", currentEndEffPos.at<double>(0.0), currentEndEffPos.at<double>(1.0), currentEndEffPos.at<double>(2.0));
+
+ros::init(argc,argv,"ik_server");
+ros::NodeHandle nh;
+ros::ServiceServer service = nh.advertiseService("ik",ikCallback);
+
+ROS_INFO("IK Server launched");
+ros::spin();
+
+return 0;
+
+}

Poppy_Ros/Poppy_Ros_Project/src/poppy_ros.cpp

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+// Include necessary headers and libraries
+#include <ros/ros.h>
+// Include necessary headers and libraries
+#include<geometry_msgs/Twist.h>
+// Include necessary headers and libraries
+#include<DynamixelHandler.h>
+
+using namespace std;
+
+// Instantiate a DynamixelHandler object for motor control
+DynamixelHandler dxlHandler; //0 degrees = pos 512
+
+// Callback function to process command messages
+void cmdCallback(const geometry_msgs::Twist& cmd){
+//linear.x = j1,linear.y = j2, .. ,angular.z = j6
+vector<uint16_t> vec;
+vec.push_back((cmd.linear.x+150)*1024/300);
+vec.push_back((cmd.linear.y+150)*1024/300);
+vec.push_back((cmd.linear.z+150)*1024/300);
+vec.push_back((cmd.angular.x+150)*1024/300);
+vec.push_back((cmd.angular.y+150)*1024/300);
+vec.push_back((cmd.angular.z+150)*1024/300);
+
+
+
+dxlHandler.sendTargetJointPosition(vec);
+}
+
+// Main function for the ROS node
+int main(int argc, char** argv) {
+// Initialize the ROS node
+ros::init(argc,argv,"poppy_ros");
+ros::NodeHandle nh;
+ros::Subscriber cmd = nh.subscribe("joint_cmd",1,cmdCallback);
+ros::Publisher position = nh.advertise<geometry_msgs::Twist>("joint_position",1);
+
+// Set device name and configuration for DynamixelHandler
+dxlHandler.setDeviceName("/dev/ttyUSB0");
+dxlHandler.setProtocolVersion(2.0);
+dxlHandler.openPort();
+dxlHandler.setBaudRate(1000000);
+dxlHandler.enableTorque(true);
+
+ros::Rate loopRate(10);
+
+while (ros::ok()) {
+geometry_msgs::Twist message;
+vector<uint16_t> curPos;
+dxlHandler.readCurrentJointPosition(curPos);
+
+if (curPos.size()==6)
+{
+message.linear.x = curPos[0]*300/1024 - 150;
+message.linear.y = curPos[1]*300/1024 - 150;
+message.linear.z = curPos[2]*300/1024 - 150;
+message.angular.x = curPos[3]*300/1024 - 150;
+message.angular.y = curPos[4]*300/1024 - 150;
+message.angular.z = curPos[5]*300/1024 - 150;
+}
+
+
+position.publish(message);
+
+ros::spinOnce();
+loopRate.sleep();
+}
+
+
+}

Poppy_Ros/Poppy_Ros_Project/srv/ik.srv

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+
+# Request part of the service
+float64 x
+float64 y
+float64 z
+
+---
+
+# Response part of the service
+geometry_msgs/Twist j_val