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poppy_ros
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Lucas MARAIS 2024-01-07 20:26:18 +01:00
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CMakeLists.txt Normal file
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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
${OpenCV_INCLUDE_DIRS}
/home/lucas/eigen/Eigen/include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${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(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)
## 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)

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package.xml Normal file
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<?xml version="1.0"?>
<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="lucas@todo.todo">lucas</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>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</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>

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src/ik_client.cpp Normal file
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#include <iostream>
#include "ros/ros.h"
#include "poppy_ros/ik.h"
int main(int argc, char** argv)
{
ros::init(argc, argv, "ik_client");
ros::NodeHandle nh;
ros::ServiceClient client = nh.serviceClient<poppy_ros::ik>("ik");
poppy_ros::ik srv;
srv.request.x = 1;
srv.request.y = 2;
srv.request.z = 2;
if (client.call(srv))
{
std::cout << srv.response.j1 << std::endl;
}
return 0;
}

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src/ik_server.cpp Normal file
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#include "ros/ros.h"
#include "poppy_ros/ik.h
bool add( poppy_ros::ik::Request& req,poppy_ros::ik::Response& res)
{
res.j1 = req.a + req.b;
return true;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "ik_server");
ros::NodeHandle nh;
ros::ServiceServer server = nh.advertiseService("ik", add);
ros::spin();
return 0;
}

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src/poppy_ros.cpp Normal file
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#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<uint16_t> 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);
//call sendTargetJOintPosition(vector) of DxlHandler
_oDxlHandler.sendTargetJointPosition(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;
}
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<geometry_msgs::Twist>("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<uint16_t> 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];
jointPositionMsg.angular.y = l_vCurrentJointPosition[4];
jointPositionMsg.angular.z = l_vCurrentJointPosition[5];
}
// 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;
}

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int64 x
int64 y
int64 z
---
int64 j1
int64 j2
int64 j3
int64 j4
int64 j5
int64 j6