cleaning

catkin_ws/src/joystick_ros/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(joystick_ros)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## 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
+  serial
+)
+
+## 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
+# )
+
+## 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
+# )
+
+################################################
+## 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 joystick_ros
+  CATKIN_DEPENDS roscpp rospy std_msgs serial
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/joystick_ros.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(readSerial src/readSerial.cpp)
+add_executable(parser src/parser.cpp)
+add_executable(position_ctrl src/position_ctrl.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${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})
+target_link_libraries(readSerial ${catkin_LIBRARIES})
+target_link_libraries(parser ${catkin_LIBRARIES})
+target_link_libraries(position_ctrl ${catkin_LIBRARIES})
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${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_joystick_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)

catkin_ws/src/joystick_ros/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>joystick_ros</name>
+  <version>0.0.0</version>
+  <description>The joystick_ros package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="maryne-dey@todo.todo">maryne-dey</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/joystick_ros</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>serial</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>serial</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>serial</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

catkin_ws/src/joystick_ros/src/parser.cpp

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+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <string>
+
+// Declare global variables to store Axis values
+float axis0_value = 0.0;
+float axis1_value = 0.0;
+
+ros::NodeHandle nh;
+
+
+    // Initialize publisher for Axis values
+    ros::Publisher axis_values_pub = nh.advertise<std_msgs::Float32MultiArray>("axis_values", 10);
+
+
+void serial_data_callback(const std_msgs::String::ConstPtr& msg) {
+    // Parse received string message
+    std::string data_str = msg->data;
+    if (data_str.find("Axis0") != std::string::npos) {
+        // Extract value for Axis0
+        axis0_value = std::stof(data_str.substr(data_str.find(":") + 1));
+    } else if (data_str.find("Axis1") != std::string::npos) {
+        // Extract value for Axis1
+        axis1_value = std::stof(data_str.substr(data_str.find(":") + 1));
+    }
+
+    // If both Axis0 and Axis1 values are available, publish them together
+    if (axis0_value != 0.0 && axis1_value != 0.0) {
+        std_msgs::Float32MultiArray float_array_msg;
+        float_array_msg.data.push_back(axis0_value);
+        float_array_msg.data.push_back(axis1_value);
+        axis_values_pub.publish(float_array_msg);
+    }
+}
+
+int main(int argc, char** argv) {
+    // Initialize ROS node
+    ros::init(argc, argv, "serial_data_parser");
+    
+    // Subscribe to serial data topic
+    ros::Subscriber sub = nh.subscribe("serial_data", 10, serial_data_callback);
+    // Spin ROS node
+    ros::spin();
+
+    return 0;
+}
+

catkin_ws/src/joystick_ros/src/position_ctrl.cpp

@@ -0,0 +1,70 @@
+#include <ros/ros.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <geometry_msgs/Point.h>
+
+// Constants
+const float DEAD_ZONE = 5.0; // Dead zone in percentage (0 to 100)
+const float MAX_SPEED = 1.0; // Maximum speed of the plate
+
+// Global variables
+float y_position = 0.0; // Initial y position
+float prev_time = 0.0; // Previous time
+float direction = 0.0; // Direction of movement
+
+void joystick_axis_callback(const std_msgs::Float32MultiArray::ConstPtr& msg) {
+    // Extract joystick x and y positions
+    float x_joystick = msg->data[0];
+    float y_joystick = msg->data[1];
+
+    // Determine direction based on joystick position
+    if (std::abs(x_joystick) < DEAD_ZONE) {
+        direction = 0.0; // Joystick in dead zone, no movement
+    } else {
+        direction = (x_joystick > 0) ? 1.0 : -1.0; // Joystick outside dead zone, set direction accordingly
+    }
+
+    // Calculate speed based on joystick position
+    float speed = MAX_SPEED * std::abs(x_joystick) / 100.0;
+
+    // Calculate time elapsed since last callback
+    float current_time = ros::Time::now().toSec();
+    float time_elapsed = current_time - prev_time;
+
+    // Calculate change in y position
+    y_position = y_position + time_elapsed * speed * direction;
+
+    // Store current time for next iteration
+    prev_time = current_time;
+
+    // Publish robot position in a point format
+    geometry_msgs::Point position_cmd;
+    position_cmd.x = 65.0; // Fixed x-coordinate
+    position_cmd.y = y_position;
+    position_cmd.z = 0.0; // Assuming z-coordinate is not used
+
+    // Publish position command
+    ros::NodeHandle nh;
+    ros::Publisher position_cmd_pub = nh.advertise<geometry_msgs::Point>("/position_cmd", 10);
+    position_cmd_pub.publish(position_cmd);
+}
+
+int main(int argc, char** argv) {
+    // Initialize ROS node
+    ros::init(argc, argv, "joystick_to_robot_converter");
+    ros::NodeHandle nh;
+
+    // Subscribe to joystick axis values topic
+    ros::Subscriber joystick_sub = nh.subscribe("joystick_axis_values", 10, joystick_axis_callback);
+
+    // Initialize y position
+    y_position = 0.0;
+
+    // Initialize previous time
+    prev_time = ros::Time::now().toSec();
+
+    // Spin ROS node
+    ros::spin();
+
+    return 0;
+}
+

catkin_ws/src/joystick_ros/src/readSerial.cpp

@@ -0,0 +1,47 @@
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <string>
+#include <serial/serial.h>  // Make sure to include the serial library, install using "sudo apt install ros-$ROS_DISTRO-serial"
+
+void readSerial(const std::string& port, uint32_t baud_rate) {
+    serial::Serial ser;
+    ser.setPort(port);
+    ser.setBaudrate(baud_rate);
+
+    try {
+        ser.open();
+    } catch (const std::exception& e) {
+        ROS_ERROR_STREAM("Failed to open serial port " << port << ": " << e.what());
+        return;
+    }
+
+    ros::NodeHandle nh;
+    ros::Publisher serial_pub = nh.advertise<std_msgs::String>("serial_data", 10);
+
+    ROS_INFO_STREAM("Reading from serial port " << port);
+
+    while (ros::ok()) {
+        if (ser.available()) {
+            std_msgs::String msg;
+            msg.data = ser.readline();
+            ROS_INFO_STREAM("Received data: " << msg.data);
+            serial_pub.publish(msg);
+        }
+        ros::spinOnce();
+        ros::Duration(0.1).sleep();  // Sleep for 0.1 second
+    }
+
+    ser.close();
+}
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "serial_reader");
+
+
+    std::string port = "/dev/ttyACM0"; // Get serial port from command-line argument
+    uint32_t baud_rate = 9600; // Convert string to integer
+
+    readSerial(port, baud_rate);
+
+    return 0;
+}

catkin_ws/src/poppy_ros

@@ -0,0 +1 @@
+Subproject commit 97d4093656a3ec9cfe8645457e00e55ccbdd8469

joystick_ros/src/parser.cpp

@@ -0,0 +1,46 @@
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <string>
+
+// Declare global variables to store Axis values
+float axis0_value = 0.0;
+float axis1_value = 0.0;
+
+void serial_data_callback(const std_msgs::String::ConstPtr& msg) {
+    // Parse received string message
+    std::string data_str = msg->data;
+    if (data_str.find("Axis0") != std::string::npos) {
+        // Extract value for Axis0
+        axis0_value = std::stof(data_str.substr(data_str.find(":") + 1));
+    } else if (data_str.find("Axis1") != std::string::npos) {
+        // Extract value for Axis1
+        axis1_value = std::stof(data_str.substr(data_str.find(":") + 1));
+    }
+
+    // If both Axis0 and Axis1 values are available, publish them together
+    if (axis0_value != 0.0 && axis1_value != 0.0) {
+        std_msgs::Float32MultiArray float_array_msg;
+        float_array_msg.data.push_back(axis0_value);
+        float_array_msg.data.push_back(axis1_value);
+        axis_values_pub.publish(float_array_msg);
+    }
+}
+
+int main(int argc, char** argv) {
+    // Initialize ROS node
+    ros::init(argc, argv, "serial_data_parser");
+    ros::NodeHandle nh;
+
+    // Subscribe to serial data topic
+    ros::Subscriber sub = nh.subscribe("serial_data", 10, serial_data_callback);
+
+    // Initialize publisher for Axis values
+    ros::Publisher axis_values_pub = nh.advertise<std_msgs::Float32MultiArray>("axis_values", 10);
+
+    // Spin ROS node
+    ros::spin();
+
+    return 0;
+}
+

joystick_ros/src/position_ctrl.cpp

@@ -0,0 +1,70 @@
+#include <ros/ros.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <geometry_msgs/Point.h>
+
+// Constants
+const float DEAD_ZONE = 5.0; // Dead zone in percentage (0 to 100)
+const float MAX_SPEED = 1.0; // Maximum speed of the plate
+
+// Global variables
+float y_position = 0.0; // Initial y position
+float prev_time = 0.0; // Previous time
+float direction = 0.0; // Direction of movement
+
+void joystick_axis_callback(const std_msgs::Float32MultiArray::ConstPtr& msg) {
+    // Extract joystick x and y positions
+    float x_joystick = msg->data[0];
+    float y_joystick = msg->data[1];
+
+    // Determine direction based on joystick position
+    if (std::abs(x_joystick) < DEAD_ZONE) {
+        direction = 0.0; // Joystick in dead zone, no movement
+    } else {
+        direction = (x_joystick > 0) ? 1.0 : -1.0; // Joystick outside dead zone, set direction accordingly
+    }
+
+    // Calculate speed based on joystick position
+    float speed = MAX_SPEED * std::abs(x_joystick) / 100.0;
+
+    // Calculate time elapsed since last callback
+    float current_time = ros::Time::now().toSec();
+    float time_elapsed = current_time - prev_time;
+
+    // Calculate change in y position
+    y_position = y_position + time_elapsed * speed * direction;
+
+    // Store current time for next iteration
+    prev_time = current_time;
+
+    // Publish robot position in a point format
+    geometry_msgs::Point position_cmd;
+    position_cmd.x = 65.0; // Fixed x-coordinate
+    position_cmd.y = y_position;
+    position_cmd.z = 0.0; // Assuming z-coordinate is not used
+
+    // Publish position command
+    ros::NodeHandle nh;
+    ros::Publisher position_cmd_pub = nh.advertise<geometry_msgs::Point>("/position_cmd", 10);
+    position_cmd_pub.publish(position_cmd);
+}
+
+int main(int argc, char** argv) {
+    // Initialize ROS node
+    ros::init(argc, argv, "joystick_to_robot_converter");
+    ros::NodeHandle nh;
+
+    // Subscribe to joystick axis values topic
+    ros::Subscriber joystick_sub = nh.subscribe("joystick_axis_values", 10, joystick_axis_callback);
+
+    // Initialize y position
+    y_position = 0.0;
+
+    // Initialize previous time
+    prev_time = ros::Time::now().toSec();
+
+    // Spin ROS node
+    ros::spin();
+
+    return 0;
+}
+