diff --git a/catkin_ws/src/poppy_ros/CMakeLists.txt b/catkin_ws/src/poppy_ros/CMakeLists.txt new file mode 100644 index 0000000..81e69c3 --- /dev/null +++ b/catkin_ws/src/poppy_ros/CMakeLists.txt @@ -0,0 +1,241 @@ +cmake_minimum_required(VERSION 3.0.2) +project(poppy_ros) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +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_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +# message_generation +) +find_package(OpenCV REQUIRED COMPONENTS + core +) + + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## 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 +# Service1.srv +# Service2.srv +# ) +#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 +# std_msgs +# ) +#generate_messages( +# DEPENDENCIES +# 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 rospy std_msgs + #DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + /home/lucas/toolkit-dynamixel/include + /home/lucas/toolkit-kinematics/include + /home/lucas/toolkit-dynamixel + /home/lucas/toolkit-kinematics + ${OpenCV_INCLUDE_DIRS} + /home/lucas/eigen/Eigen/include + /home/lucas/eigen/Eigen + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${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/lucas/toolkit-dynamixel/src/DynamixelHandler.cpp) +add_executable(poppy_test src/poppy_test.cpp) +add_executable(poppy_pong_iv src/poppy_pong_iv.cpp) +add_executable(poppy_track_x src/poppy_track_x.cpp) + +#add_executable(ik_server src/ik_server.cpp /home/lucas/toolkit-kinematics/src/Kinematics.cpp /home/lucas/toolkit-kinematics/src/RotationMatrix.cpp /home/lucas/toolkit-kinematics/src/TranslationMatrix.cpp /home/lucas/toolkit-kinematics/src/TransformationMatrix.cpp) + +#add_executable(ik_client src/ik_client.cpp) + +add_executable(sim_poppy_joint src/sim_poppy_joint.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(poppy_test ${catkin_LIBRARIES}) +target_link_libraries(poppy_pong_iv ${catkin_LIBRARIES}) +target_link_libraries(poppy_track_x ${catkin_LIBRARIES}) + +#target_link_libraries(ik_server ${catkin_LIBRARIES} ${OpenCV_LIBS}) + +#target_link_libraries(ik_client ${catkin_LIBRARIES}) +target_link_libraries(sim_poppy_joint ${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) diff --git a/catkin_ws/src/poppy_ros/package.xml b/catkin_ws/src/poppy_ros/package.xml new file mode 100644 index 0000000..62de016 --- /dev/null +++ b/catkin_ws/src/poppy_ros/package.xml @@ -0,0 +1,68 @@ + + + poppy_ros + 0.0.0 + The poppy_ros package + + + + + lucas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/catkin_ws/src/poppy_ros/poppy_ros.launch b/catkin_ws/src/poppy_ros/poppy_ros.launch new file mode 100644 index 0000000..86a480a --- /dev/null +++ b/catkin_ws/src/poppy_ros/poppy_ros.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp b/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp new file mode 100644 index 0000000..cb439ba --- /dev/null +++ b/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp @@ -0,0 +1,99 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "geometry_msgs/Point.h" +#include +#include +#include +#include // Inclure la bibliothèque std::array pour déclarer des tableaux statiques +#include // Inclure la bibliothèque cmath pour atan2 + +// Global variables +float _fps = 10.0f; // Hz +int _nbJoints = 6; +float _minJointCmd = 0; +float _maxJointCmd = 1023; +float _minJointAngle = -180.0f; +float _maxJointAngle = 180.0f; +float L1 = 65; +float L2 = 55; +float angleBase = 100; +bool hitting_need = false; +ros::Publisher _jointPositionPublisher; + +float get_q2(float x, float y) +{ + float q2; // Déclarer un tableau statique de 2 éléments de type float + q2 = acos((x * x + y * y - L1 * L1 - L2 * L2) / (2 * L1 * L2)); + + return q2; +} + +float get_q1(float x, float y) +{ + float q1; + float q2 = get_q2(x, y); + + q1 = atan2(y, x) - atan2(L2 * sin(q2), L1 + L2 * cos(q2)); + + return q1; +} + +void posCMDCallback(const geometry_msgs::Point& joint_pos) +{ + if (sqrt(pow(joint_pos.x, 2) + pow(joint_pos.y, 2)) <= 120) + { + if (hitting_need == true) + { + joint_pos.x += 20; + joint_pos.y += 20; + } + geometry_msgs::Twist joint_cmd; + float q1 = get_q1(joint_pos.x, joint_pos.y); + float q2 = get_q2(joint_pos.x, joint_pos.y); + // stores them into a msg + joint_cmd.linear.x = q1*(180.0f/3.141592f); + joint_cmd.linear.y = angleBase; + joint_cmd.linear.z = q2*(180.0f/3.141592f); + joint_cmd.angular.x = (-q1-q2)*(180.0f/3.141592f); // end-effector orientation + + // publish the Twist message to the joint_position topic + _jointPositionPublisher.publish(joint_cmd); + } +} + +void hittingCommand(const geometry_msgs::Point& trigger_signal) { + hitting_need = true; +} + +int main(int argc, char** argv) +{ + // create a node called poppy_ik + ros::init(argc, argv, "poppy_ik"); + + // create a node handle + ros::NodeHandle nh; + + // create a publisher to joint_cmd topic + _jointPositionPublisher = nh.advertise("joint_cmd", 1); + // create a subscriber to position_cmd + ros::Subscriber sub = nh.subscribe("position_cmd", 1, posCMDCallback); + ros::Subscriber sub_trigger = nh.subscribe("trigger", 1, hittingCommand); + + // create a loop rate + ros::Rate loopRate(_fps); + + + ROS_INFO("===Launching Poppy node==="); + + // loop until Ctrl+C is pressed or ROS connectivity issues + while(ros::ok()) + { + // spin once to let the process handle callback ad key stroke + ros::spinOnce(); + + // sleep the right amout of time to comply with _fps + loopRate.sleep(); + } + + return 0; +} diff --git a/catkin_ws/src/poppy_ros/src/poppy_ros.cpp b/catkin_ws/src/poppy_ros/src/poppy_ros.cpp new file mode 100644 index 0000000..848057d --- /dev/null +++ b/catkin_ws/src/poppy_ros/src/poppy_ros.cpp @@ -0,0 +1,107 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "DynamixelHandler.h" + +// Global variables +float _fps = 10.0f; // Hz + +DynamixelHandler _oDxlHandler; +ros::Publisher _jointPositionPublisher; +std::string _poppyDxlPortName = "/dev/ttyUSB0"; +float _poppyDxlProtocol = 2.0; +int _poppyDxlBaudRate = 1000000; +int _nbJoints = 6; +float _minJointCmd = 0; +float _maxJointCmd = 1023; +float _minJointAngle = -180.0f; +float _maxJointAngle = 180.0f; +// create vector unit 16_t +std::vector jointVec; + +int convertAnglesToJointCmd(float fJointAngle) +{ + // y = ax + b + float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle); + float b = _minJointCmd - a * _minJointAngle; + float jointCmd = a * fJointAngle + b; + return (int)jointCmd; +} + +void jointCMDCallback(const geometry_msgs::Twist& joint_cmd) +{ + jointVec.clear(); + //fill it w joint_cmd_values + jointVec.push_back(convertAnglesToJointCmd(joint_cmd.linear.x)); + jointVec.push_back(convertAnglesToJointCmd(joint_cmd.linear.y)); + jointVec.push_back(convertAnglesToJointCmd(joint_cmd.linear.z)); + jointVec.push_back(convertAnglesToJointCmd(joint_cmd.angular.x)); + jointVec.push_back(0.0); + jointVec.push_back(0.0); + //call sendTargetJOintPosition(vector) of DxlHandler + _oDxlHandler.sendTargetJointPosition(jointVec); +} + +int main(int argc, char** argv) +{ + // create a node called poppy_ros + ros::init(argc, argv, "poppy_ros", ros::init_options::NoSigintHandler); + //ros::init(argc, argv, "autopilot"); + + // create a node handle + ros::NodeHandle nh; + + // create a publisher to joint_position topic + _jointPositionPublisher = nh.advertise("joint_position", 1); + + //create a subscriber + ros::Subscriber sub = nh.subscribe("joint_cmd",1, jointCMDCallback); + + // create a loop rate + ros::Rate loopRate(_fps); + + // create a Twist message + geometry_msgs::Twist jointPositionMsg; + + std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl; + _oDxlHandler.setDeviceName(_poppyDxlPortName); + _oDxlHandler.setProtocolVersion(_poppyDxlProtocol); + _oDxlHandler.openPort(); + _oDxlHandler.setBaudRate(_poppyDxlBaudRate); + _oDxlHandler.enableTorque(false); + std::cout << std::endl; + + + + ROS_INFO("===Launching Poppy node==="); + + // loop until Ctrl+C is pressed or ROS connectivity issues + while(ros::ok()) + { + //===RETRIEVE Dynamixel Motor positions==== + std::vector l_vCurrentJointPosition; + bool bIsReadSuccessfull = _oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition); + + // stores them into a msg + if (bIsReadSuccessfull) + { + jointPositionMsg.linear.x = l_vCurrentJointPosition[0]; + jointPositionMsg.linear.y = l_vCurrentJointPosition[1]; + jointPositionMsg.linear.z = l_vCurrentJointPosition[2]; + jointPositionMsg.angular.x = l_vCurrentJointPosition[3]; + } + + // publish the Twist message to the joint_position topic + _jointPositionPublisher.publish(jointPositionMsg); + + // spin once to let the process handle callback ad key stroke + ros::spinOnce(); + + // sleep the right amout of time to comply with _fps + loopRate.sleep(); + } + + _oDxlHandler.enableTorque(false); + _oDxlHandler.closePort(); + + return 0; +} diff --git a/catkin_ws/src/poppy_ros/src/poppy_test.cpp b/catkin_ws/src/poppy_ros/src/poppy_test.cpp new file mode 100644 index 0000000..8579170 --- /dev/null +++ b/catkin_ws/src/poppy_ros/src/poppy_test.cpp @@ -0,0 +1,60 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" + + +ros::Publisher _jointPositionPublisher; + +int main(int argc, char** argv) +{ + // create a node called poppy_ros + ros::init(argc, argv, "poppy_ros_test"); + //ros::init(argc, argv, "autopilot"); + + // create a node handle + ros::NodeHandle nh; + + // create a publisher to joint_position topic + _jointPositionPublisher = nh.advertise("joint_cmd", 1); + + + // create a loop rate + ros::Rate loopRate(1); + + // create a Twist message + geometry_msgs::Twist jointPositionMsg; + + + int x=0; + + ROS_INFO("===Launching Poppy node==="); + + // loop until Ctrl+C is pressed or ROS connectivity issues + while(ros::ok()) + { + + // stores them into a msg + if (x != 180) + { + jointPositionMsg.linear.x = x; + jointPositionMsg.linear.y = 100; + jointPositionMsg.linear.z = x; + jointPositionMsg.angular.x = x; + x+=10; + } + else if(x==180) + { + x=0; + } + + // publish the Twist message to the joint_position topic + _jointPositionPublisher.publish(jointPositionMsg); + + // spin once to let the process handle callback ad key stroke + ros::spinOnce(); + + // sleep the right amout of time to comply with _fps + loopRate.sleep(); + } + + return 0; +} diff --git a/catkin_ws/src/poppy_ros/src/poppy_track_x.cpp b/catkin_ws/src/poppy_ros/src/poppy_track_x.cpp new file mode 100644 index 0000000..cfcc313 --- /dev/null +++ b/catkin_ws/src/poppy_ros/src/poppy_track_x.cpp @@ -0,0 +1,62 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "geometry_msgs/Point.h" +#include +#include +#include +#include // Inclure la bibliothèque std::array pour déclarer des tableaux statiques +#include // Inclure la bibliothèque cmath pour atan2 + + +// Global variables +float _fps = 10.0f; // Hz +ros::Publisher _jointPositionPublisher; +float std_pos = 65.0f; + + + + +void posCMDCallback(const geometry_msgs::Point& ballPos) +{ + geometry_msgs::Point joint_pos; + // stores them into a msg + joint_pos.x = std_pos; + joint_pos.y = ballPos.y; + + // publish the Twist message to the joint_position topic + _jointPositionPublisher.publish(joint_pos); +} + +int main(int argc, char** argv) +{ + //ros::init(argc, argv, "autopilot"); + // create a node called poppy_ros + ros::init(argc, argv, "poppy_track_ball"); + + // create a node handle + ros::NodeHandle nh; + + // create a publisher to joint_position topic + _jointPositionPublisher = nh.advertise("position_cmd", 1); + //create a subscriber + ros::Subscriber sub = nh.subscribe("ball_coordinates",1, posCMDCallback); + + // create a loop rate + ros::Rate loopRate(_fps); + + ROS_INFO("===Launching Poppy node==="); + + // loop until Ctrl+C is pressed or ROS connectivity issues + while(ros::ok()) + { + + // spin once to let the process handle callback ad key stroke + ros::spinOnce(); + + // sleep the right amout of time to comply with _fps + loopRate.sleep(); + } + + + return 0; +} diff --git a/catkin_ws/src/poppy_ros/src/sim_poppy_joint.cpp b/catkin_ws/src/poppy_ros/src/sim_poppy_joint.cpp new file mode 100644 index 0000000..f1a53b0 --- /dev/null +++ b/catkin_ws/src/poppy_ros/src/sim_poppy_joint.cpp @@ -0,0 +1,53 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "sensor_msgs/JointState.h" + +std::vector jointVec; +void jointCMDCallback(const geometry_msgs::Twist& joint_cmd) +{ + jointVec.clear(); + //fill it w joint_cmd_values + jointVec.push_back(joint_cmd.linear.x); + jointVec.push_back(joint_cmd.linear.y); + jointVec.push_back(joint_cmd.linear.z); + jointVec.push_back(joint_cmd.angular.x); + jointVec.push_back(joint_cmd.angular.y); + jointVec.push_back(joint_cmd.angular.z); +} +double deg2rad(double angle) +{ + return -angle / 180.0 * M_PI; +} +int main(int argc, char** argv) +{ + ros::init(argc, argv, "poppy_ros", ros::init_options::NoSigintHandler); + + // create a node handle + ros::NodeHandle nh; + + + //create a subscriber + ros::Subscriber sub = nh.subscribe("joint_cmd",1, jointCMDCallback); + + // create a loop rate + ros::Rate loopRate(10); + + + + ROS_INFO("===Launching Poppy node 2==="); + ros::Publisher jointCmdPublisher = nh.advertise("joint_states", 1); + std::vector jointCmdNameArray = {"m1", "m2", "m3", "m4", "m5", "m6"}; + while (ros::ok()) + { + sensor_msgs::JointState jointCmdMsg; + jointCmdMsg.header.stamp = ros::Time::now(); + jointCmdMsg.header.seq++; + jointCmdMsg.position = jointVec; + jointCmdMsg.name = jointCmdNameArray; + jointCmdPublisher.publish(jointCmdMsg); + ROS_INFO("===data published==="); + ros::spinOnce(); + loopRate.sleep(); + } + return 0; +}