final push 07/01

2024-01-07 22:40:19 +01:00 · 2024-01-07 22:40:19 +01:00 · 8176deaa84
commit 8176deaa84
3 changed files with 385 additions and 0 deletions
--- a/poppy_ros/CMakeLists.txt
+++ b/poppy_ros/CMakeLists.txt
@ -0,0 +1,205 @@
+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)
+
+## 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
+  std_msgs
+)
+
+## 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 poppy_ros
+#  CATKIN_DEPENDS roscpp std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+/home/estevan/catkin_ws/src/poppy_ros/src/toolkit-dynamixel/include
+)
+
+## Declare a C++ library
+# add_library(${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} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(poppy_ros src/poppy_ros_node.cpp /home/estevan/catkin_ws/src/poppy_ros/src/toolkit-dynamixel//src/DynamixelHandler.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${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(poppy_ros  ${catkin_LIBRARIES})
+target_link_libraries(poppy_ros dxl_x64_cpp rt ${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)
+
--- a/poppy_ros/package.xml
+++ b/poppy_ros/package.xml
@ -0,0 +1,92 @@
+<package format="2">
+<name>poppy_ros</name>
+<version>0.0.0</version>
+<description>The poppy_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="ros@todo.todo">ros</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/poppy_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>std_msgs</build_depend>
+<build_export_depend>roscpp</build_export_depend>
+<build_export_depend>std_msgs</build_export_depend>
+<exec_depend>roscpp</exec_depend>
+<exec_depend>std_msgs</exec_depend>
+<!-- The export tag contains other, unspecified, tags -->
+<export>
+<!--
+ Other tools can request additional information be placed here 
+-->
+</export>
+</package>
--- a/poppy_ros/src/poppy_ros_node.cpp
+++ b/poppy_ros/src/poppy_ros_node.cpp
@ -0,0 +1,88 @@
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+#include <cmath> // for M_PI
+#include <sstream> // for stringstream
+#include <iostream> // for std::cin
+
+class PoppyArmPrinter
+{
+public:
+    PoppyArmPrinter() : nh_("~"), print_timer_(nh_.createTimer(ros::Duration(10.0), &PoppyArmPrinter::timerCallback, this))
+    {
+        sub_ = nh_.subscribe("/joint_states", 1000, &PoppyArmPrinter::jointStateCallback, this);
+        cmd_sub_ = nh_.subscribe("/joint_cmd", 1000, &PoppyArmPrinter::jointCmdCallback, this); // New subscriber for joint commands
+        joint_states_pub_ = nh_.advertise<sensor_msgs::JointState>("/joint_states", 1000);
+        joint_positions_pub_ = nh_.advertise<sensor_msgs::JointState>("/joint_positions", 1000);
+    }
+
+private:
+    void jointStateCallback(const sensor_msgs::JointState::ConstPtr& msg)
+    {
+        last_msg_ = *msg;
+    }
+
+    void jointCmdCallback(const sensor_msgs::JointState::ConstPtr& msg)
+    {
+        // Update robot state based on received command
+        // Assuming the message contains the desired joint positions
+        last_msg_ = *msg; 
+    }
+
+    void timerCallback(const ros::TimerEvent&)
+    {
+        printAndPublishJointStates();
+
+        // Ask for new joint values from the terminal
+        for (size_t i = 0; i < last_msg_.name.size(); ++i) {
+            std::cout << "Enter new position for joint " << last_msg_.name[i] << " (in degrees): ";
+            double new_position_deg;
+            std::cin >> new_position_deg;
+            last_msg_.position[i] = new_position_deg * (M_PI / 180.0);
+        }
+
+        // Print and publish the updated joint states
+        printAndPublishJointStates();
+    }
+
+    void printAndPublishJointStates()
+    {
+        sensor_msgs::JointState joint_deg_msg;
+        joint_deg_msg.header.stamp = ros::Time::now();
+        joint_deg_msg.name = last_msg_.name;
+
+        std::stringstream ss;
+        ss << "Joint States:\n";
+
+        for (size_t i = 0; i < last_msg_.name.size(); ++i) {
+            double position_deg = last_msg_.position[i] * (180.0 / M_PI);
+            ss << " - " << last_msg_.name[i] << ": " << position_deg << " degrees\n";
+            joint_deg_msg.position.push_back(position_deg);
+        }
+
+        ROS_INFO_STREAM(ss.str());
+
+        // Publishing the joint positions in degrees
+        joint_states_pub_.publish(joint_deg_msg);
+        joint_positions_pub_.publish(joint_deg_msg);
+    }
+
+    ros::NodeHandle nh_;
+    ros::Subscriber sub_;
+    ros::Subscriber cmd_sub_; // New subscriber for joint commands
+    sensor_msgs::JointState last_msg_;
+    ros::Publisher joint_states_pub_;
+    ros::Publisher joint_positions_pub_;
+    ros::Timer print_timer_;
+};
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "poppy_arm_printer");
+    
+    PoppyArmPrinter poppyArmPrinter;
+
+    ros::spin();
+
+    return 0;
+}
+