From 2c34894a4c849ca23a04e6790b8987f112ca2ec4 Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin Date: Thu, 28 Sep 2023 00:49:21 +0000 Subject: [PATCH 01/50] Set up 2 basic nodes --- src/camera/camera/__init__.py | 0 src/camera/camera/roscamera.py | 22 ++++++++++++++++ src/camera/package.xml | 18 +++++++++++++ src/camera/resource/camera | 0 src/camera/setup.cfg | 4 +++ src/camera/setup.py | 26 +++++++++++++++++++ src/camera/test/test_copyright.py | 25 ++++++++++++++++++ src/camera/test/test_flake8.py | 25 ++++++++++++++++++ src/camera/test/test_pep257.py | 23 ++++++++++++++++ .../camera_subscriber_test/__init__.py | 0 .../camera_subscriber_test/roscamerasub.py | 22 ++++++++++++++++ src/camera_subscriber_test/package.xml | 18 +++++++++++++ .../resource/camera_subscriber_test | 0 src/camera_subscriber_test/setup.cfg | 4 +++ src/camera_subscriber_test/setup.py | 26 +++++++++++++++++++ .../test/test_copyright.py | 25 ++++++++++++++++++ .../test/test_flake8.py | 25 ++++++++++++++++++ .../test/test_pep257.py | 23 ++++++++++++++++ src/viator_launch/launch/robot.launch.py | 15 ++++++++++- src/viator_launch/package.xml | 2 ++ 20 files changed, 302 insertions(+), 1 deletion(-) create mode 100644 src/camera/camera/__init__.py create mode 100644 src/camera/camera/roscamera.py create mode 100644 src/camera/package.xml create mode 100644 src/camera/resource/camera create mode 100644 src/camera/setup.cfg create mode 100644 src/camera/setup.py create mode 100644 src/camera/test/test_copyright.py create mode 100644 src/camera/test/test_flake8.py create mode 100644 src/camera/test/test_pep257.py create mode 100644 src/camera_subscriber_test/camera_subscriber_test/__init__.py create mode 100644 src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py create mode 100644 src/camera_subscriber_test/package.xml create mode 100644 src/camera_subscriber_test/resource/camera_subscriber_test create mode 100644 src/camera_subscriber_test/setup.cfg create mode 100644 src/camera_subscriber_test/setup.py create mode 100644 src/camera_subscriber_test/test/test_copyright.py create mode 100644 src/camera_subscriber_test/test/test_flake8.py create mode 100644 src/camera_subscriber_test/test/test_pep257.py diff --git a/src/camera/camera/__init__.py b/src/camera/camera/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py new file mode 100644 index 0000000..60a71aa --- /dev/null +++ b/src/camera/camera/roscamera.py @@ -0,0 +1,22 @@ +import rclpy +from rclpy.node import Node + + +class RosCamera(Node): + + def __init__(self): + super().__init__("ros_camera") + self.get_logger().info("Launching ros_camera node") + + + + + + +def main(args=None): + rclpy.init(args=args) + node = RosCamera() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + diff --git a/src/camera/package.xml b/src/camera/package.xml new file mode 100644 index 0000000..5a428f3 --- /dev/null +++ b/src/camera/package.xml @@ -0,0 +1,18 @@ + + + + camera + 0.0.0 + TODO: Package description + trickfire + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/camera/resource/camera b/src/camera/resource/camera new file mode 100644 index 0000000..e69de29 diff --git a/src/camera/setup.cfg b/src/camera/setup.cfg new file mode 100644 index 0000000..cbcf7c1 --- /dev/null +++ b/src/camera/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/camera +[install] +install_scripts=$base/lib/camera diff --git a/src/camera/setup.py b/src/camera/setup.py new file mode 100644 index 0000000..7e977a1 --- /dev/null +++ b/src/camera/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'camera' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='trickfire', + maintainer_email='vladimirkupryukhin@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'roscamera = camera.roscamera:main' + ], + }, +) diff --git a/src/camera/test/test_copyright.py b/src/camera/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/camera/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/camera/test/test_flake8.py b/src/camera/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/camera/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/camera/test/test_pep257.py b/src/camera/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/camera/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/camera_subscriber_test/camera_subscriber_test/__init__.py b/src/camera_subscriber_test/camera_subscriber_test/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py new file mode 100644 index 0000000..fc24cfe --- /dev/null +++ b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py @@ -0,0 +1,22 @@ +import rclpy +from rclpy.node import Node + + +class RosCameraSub(Node): + + def __init__(self): + super().__init__("ros_camera_sub") + self.get_logger().info("Launching ros_camera_sub node") + + + + + + +def main(args=None): + rclpy.init(args=args) + node = RosCameraSub() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + diff --git a/src/camera_subscriber_test/package.xml b/src/camera_subscriber_test/package.xml new file mode 100644 index 0000000..1f1c7d3 --- /dev/null +++ b/src/camera_subscriber_test/package.xml @@ -0,0 +1,18 @@ + + + + camera_subscriber_test + 0.0.0 + TODO: Package description + trickfire + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/camera_subscriber_test/resource/camera_subscriber_test b/src/camera_subscriber_test/resource/camera_subscriber_test new file mode 100644 index 0000000..e69de29 diff --git a/src/camera_subscriber_test/setup.cfg b/src/camera_subscriber_test/setup.cfg new file mode 100644 index 0000000..279bc68 --- /dev/null +++ b/src/camera_subscriber_test/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/camera_subscriber_test +[install] +install_scripts=$base/lib/camera_subscriber_test diff --git a/src/camera_subscriber_test/setup.py b/src/camera_subscriber_test/setup.py new file mode 100644 index 0000000..142ee5f --- /dev/null +++ b/src/camera_subscriber_test/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'camera_subscriber_test' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='trickfire', + maintainer_email='vladimirkupryukhin@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'roscamerasub = camera_subscriber_test.roscamerasub:main' + ], + }, +) diff --git a/src/camera_subscriber_test/test/test_copyright.py b/src/camera_subscriber_test/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/camera_subscriber_test/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/camera_subscriber_test/test/test_flake8.py b/src/camera_subscriber_test/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/camera_subscriber_test/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/camera_subscriber_test/test/test_pep257.py b/src/camera_subscriber_test/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/camera_subscriber_test/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 103562f..8f5c6e7 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -15,6 +15,17 @@ name='can_moteus_node' ) +ros_camera_node = Node( + package='camera', + executable='roscamera', + name='ros_camera' +) + +ros_camera_test_node = Node( + package='camera_subscriber_test', + executable='roscamerasub', + name='ros_camera_sub' +) # Composable Nodes launched in a Composable Node container will share a process # and can use very fast inter-process communication instead of publishing @@ -36,5 +47,7 @@ def generate_launch_description(): return launch.LaunchDescription([ robot_container, - can_moteus_node + can_moteus_node, + ros_camera_node, + ros_camera_test_node ]) diff --git a/src/viator_launch/package.xml b/src/viator_launch/package.xml index 33dc6cf..853af22 100644 --- a/src/viator_launch/package.xml +++ b/src/viator_launch/package.xml @@ -10,6 +10,8 @@ hello_world can_moteus ros2launch + camera + camera_subscriber_test ament_copyright ament_flake8 From 885505ce5a975145afd4f06bb0e44a7aba18c44c Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin Date: Thu, 28 Sep 2023 09:16:25 -0700 Subject: [PATCH 02/50] Added cv_bridge --- .devcontainer/Dockerfile | 17 +++++++++++++++-- .gitmodules | 4 ++++ .../camera_subscriber_test/roscamerasub.py | 1 + src/vision_opencv | 1 + 4 files changed, 21 insertions(+), 2 deletions(-) create mode 100644 .gitmodules create mode 160000 src/vision_opencv diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index dc51847..02d13b9 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -11,16 +11,29 @@ RUN apt-get update && apt-get install -y \ ssh-client \ # Install usb utilities usbutils \ + #Used for cv_bridge + python3-numpy \ + #USed for cv_bridge + libboost-python-dev \ + #OpenCV + libopencv-dev \ + #Opencv + python3-opencv \ # Clean out the apt lists after `apt-get update` && rm -rf /var/lib/apt/lists/* #Install moteus python library https://github.com/mjbots/moteus/tree/main/lib/python Run pip3 install moteus - - # Update pydocstyle to remove a deprecation warning when testing for PEP257 RUN pip install --upgrade pydocstyle +#Install OpenCV for python +RUN pip3 install opencv-python + +#Install cv_bridge +#RUN apt install python3-numpy +#RUN apt-get install -y libboost-python-dev + # Add a user so we can remote into this container with a non-root user RUN useradd trickfire \ diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..6bf8dff --- /dev/null +++ b/.gitmodules @@ -0,0 +1,4 @@ +[submodule "src/vision_opencv"] + path = src/vision_opencv + url = https://github.com/ros-perception/vision_opencv.git + branch = humble diff --git a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py index fc24cfe..b3000f5 100644 --- a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py +++ b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py @@ -1,5 +1,6 @@ import rclpy from rclpy.node import Node +import cv2 class RosCameraSub(Node): diff --git a/src/vision_opencv b/src/vision_opencv new file mode 160000 index 0000000..066793a --- /dev/null +++ b/src/vision_opencv @@ -0,0 +1 @@ +Subproject commit 066793a23e5d06d76c78ca3d69824a501c3554fd From 888c965ef2d9e125b0b3fd21ffc35fb14c89e4c6 Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin Date: Fri, 29 Sep 2023 21:48:31 +0000 Subject: [PATCH 03/50] Publishing works I think --- .devcontainer/Dockerfile | 3 ++ .vscode/settings.json | 6 ++- src/camera/camera/roscamera.py | 45 ++++++++++++++++++- .../camera_subscriber_test/roscamerasub.py | 1 - 4 files changed, 51 insertions(+), 4 deletions(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 02d13b9..75a9b0e 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -30,6 +30,9 @@ RUN pip install --upgrade pydocstyle #Install OpenCV for python RUN pip3 install opencv-python +RUN pip3 install numpy --upgrade + + #Install cv_bridge #RUN apt install python3-numpy #RUN apt-get install -y libboost-python-dev diff --git a/.vscode/settings.json b/.vscode/settings.json index 6504369..9d6c809 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -8,5 +8,9 @@ "cmake.configureOnOpen": false, "python.linting.enabled": true, "python.linting.flake8Enabled": true, - "cmake.sourceDirectory": "${workspaceFolder}/src/hello_world" + "cmake.sourceDirectory": "${workspaceFolder}/src/hello_world", + "[python]": { + "editor.defaultFormatter": "ms-python.autopep8" + }, + "python.formatting.provider": "none" } \ No newline at end of file diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 60a71aa..8d0428d 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -1,5 +1,8 @@ -import rclpy -from rclpy.node import Node +import rclpy # Python Client Library for ROS 2 +from rclpy.node import Node # Handles the creation of nodes +from sensor_msgs.msg import Image # Image is the message type +from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images +import cv2 # OpenCV library class RosCamera(Node): @@ -8,6 +11,44 @@ def __init__(self): super().__init__("ros_camera") self.get_logger().info("Launching ros_camera node") + # Create the publisher. This publisher will publish an Image + # to the video_frames topic. The queue size is 10 messages. + self.publisher_ = self.create_publisher(Image, 'video_frames', 10) + + # We will publish a message every 0.1 seconds + timer_period = 0.1 # seconds + + # Create the timer + self.timer = self.create_timer(timer_period, self.timer_callback) + + # Create a VideoCapture object + # The argument '0' gets the default webcam. + self.cap = cv2.VideoCapture(0) + + # Used to convert between ROS and OpenCV images + self.br = CvBridge() + + + def timer_callback(self): + """ + Callback function. + This function gets called every 0.1 seconds. + """ + # Capture frame-by-frame + # This method returns True/False as well + # as the video frame. + ret, frame = self.cap.read() + + if ret == True: + # Publish the image. + # The 'cv2_to_imgmsg' method converts an OpenCV + # image to a ROS 2 image message + self.publisher_.publish(self.br.cv2_to_imgmsg(frame)) + + # Display the message on the console + self.get_logger().info('Publishing video frame') + + diff --git a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py index b3000f5..fc24cfe 100644 --- a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py +++ b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py @@ -1,6 +1,5 @@ import rclpy from rclpy.node import Node -import cv2 class RosCameraSub(Node): From ce1e08661620db909760cfff9fed90c3ea9eb17c Mon Sep 17 00:00:00 2001 From: VladimirKupryukhin Date: Mon, 9 Oct 2023 17:02:50 -0700 Subject: [PATCH 04/50] Added video test --- .../camera_subscriber_test/roscamerasub.py | 24 ++++++++++++++++++- 1 file changed, 23 insertions(+), 1 deletion(-) diff --git a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py index fc24cfe..7ff8e24 100644 --- a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py +++ b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py @@ -1,5 +1,8 @@ import rclpy from rclpy.node import Node +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import cv2 class RosCameraSub(Node): @@ -7,7 +10,26 @@ class RosCameraSub(Node): def __init__(self): super().__init__("ros_camera_sub") self.get_logger().info("Launching ros_camera_sub node") - + + self.subscription = self.create_subscription( + Image, + "video_frames", + self.listerner_callback, + 10 + ) + + self.subscription + + self.br = CvBridge() + + def listerner_callback(self, data): + self.get_logger().info("Getting video frame") + + current_frame = self.br.imgmsg_to_cv2(data) + + cv2.imshow("camera", current_frame) + + cv2.waitKey(1) From c7f7e47072922d0d4bb9a33723e8f6894a1b9838 Mon Sep 17 00:00:00 2001 From: VladimirKupryukhin Date: Mon, 9 Oct 2023 17:48:16 -0700 Subject: [PATCH 05/50] launch_only_docker connects to gui. Video output confirmed good --- launch_only_docker.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch_only_docker.sh b/launch_only_docker.sh index 167c8af..3d8257a 100755 --- a/launch_only_docker.sh +++ b/launch_only_docker.sh @@ -1,3 +1,3 @@ #Bind the host machine's urc-2023 root folder to the container's target path. #Launch the "trickfireimage" image by giving shell control over to the container -docker run --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" -it --privileged trickfireimage \ No newline at end of file +docker run --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" -it --privileged -e "DISPLAY=$DISPLAY" -v "$HOME/.Xauthority:/root/.Xauthority:ro" --network host trickfireimage From 5e7ef6f14d581a15f7b62a091f1bea0ca2020d64 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Fri, 1 Mar 2024 16:12:11 -0800 Subject: [PATCH 06/50] Changed to compressed image --- src/camera/camera/roscamera.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 8d0428d..7ee022b 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -1,6 +1,6 @@ import rclpy # Python Client Library for ROS 2 from rclpy.node import Node # Handles the creation of nodes -from sensor_msgs.msg import Image # Image is the message type +from sensor_msgs.msg import CompressedImage # Image is the message type from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images import cv2 # OpenCV library @@ -13,7 +13,7 @@ def __init__(self): # Create the publisher. This publisher will publish an Image # to the video_frames topic. The queue size is 10 messages. - self.publisher_ = self.create_publisher(Image, 'video_frames', 10) + self.publisher_ = self.create_publisher(CompressedImage, 'video_frames', 10) # We will publish a message every 0.1 seconds timer_period = 0.1 # seconds @@ -43,10 +43,11 @@ def timer_callback(self): # Publish the image. # The 'cv2_to_imgmsg' method converts an OpenCV # image to a ROS 2 image message - self.publisher_.publish(self.br.cv2_to_imgmsg(frame)) + msg = self.br.cv2_to_imgmsg(frame) + self.publisher_.publish(self.br.cv2_to_compressed_imgmsg(msg)) # Display the message on the console - self.get_logger().info('Publishing video frame') + self.get_logger().info('Publishing compressed video frame') @@ -60,4 +61,3 @@ def main(args=None): rclpy.spin(node) node.destroy_node() rclpy.shutdown() - From 22c00a8ebc663bbd18504d77fed4613567c093ce Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Fri, 1 Mar 2024 16:26:29 -0800 Subject: [PATCH 07/50] Changed to compressed image --- src/camera/camera/roscamera.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 7ee022b..387a4f0 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -41,10 +41,7 @@ def timer_callback(self): if ret == True: # Publish the image. - # The 'cv2_to_imgmsg' method converts an OpenCV - # image to a ROS 2 image message - msg = self.br.cv2_to_imgmsg(frame) - self.publisher_.publish(self.br.cv2_to_compressed_imgmsg(msg)) + self.publisher_.publish(self.br.cv2_to_compressed_imgmsg(frame)) # Display the message on the console self.get_logger().info('Publishing compressed video frame') From b421c7c184caa89741a7719123cb7043f2e7cf9a Mon Sep 17 00:00:00 2001 From: TrickFire Robotics Date: Wed, 10 Apr 2024 17:40:02 -0700 Subject: [PATCH 08/50] stopped running camera test and slower streaming for testing --- .devcontainer/Dockerfile | 1 + launch.sh | 2 +- src/camera/camera/roscamera.py | 5 +++-- src/viator_launch/launch/robot.launch.py | 2 +- 4 files changed, 6 insertions(+), 4 deletions(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 75a9b0e..3aeec77 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -9,6 +9,7 @@ RUN apt-get update && apt-get install -y \ python3-pip \ # To let us sync with GitHub over SSH ssh-client \ + ros-humble-rosbridge-server \ # Install usb utilities usbutils \ #Used for cv_bridge diff --git a/launch.sh b/launch.sh index 0afaa8b..7459dec 100755 --- a/launch.sh +++ b/launch.sh @@ -3,4 +3,4 @@ source /opt/ros/$ROS_DISTRO/setup.bash source /home/trickfire/urc-2023/install/setup.bash -ros2 launch viator_launch robot.launch.py +ros2 launch viator_launch robot.launch.py & ros2 launch rosbridge_server rosbridge_websocket_launch.xml diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 387a4f0..f2ee9f3 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -16,7 +16,8 @@ def __init__(self): self.publisher_ = self.create_publisher(CompressedImage, 'video_frames', 10) # We will publish a message every 0.1 seconds - timer_period = 0.1 # seconds + # timer_period = 0.1 # seconds + timer_period = 2 # seconds # Create the timer self.timer = self.create_timer(timer_period, self.timer_callback) @@ -44,7 +45,7 @@ def timer_callback(self): self.publisher_.publish(self.br.cv2_to_compressed_imgmsg(frame)) # Display the message on the console - self.get_logger().info('Publishing compressed video frame') + #self.get_logger().info('Publishing compressed video frame') diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 8f5c6e7..00040c6 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -49,5 +49,5 @@ def generate_launch_description(): robot_container, can_moteus_node, ros_camera_node, - ros_camera_test_node + #ros_camera_test_node ]) From 1f3c975bc4b79e7a609f0525acd69f30e2c06ff1 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 15 Apr 2024 13:26:47 -0700 Subject: [PATCH 09/50] Spin up a camera node for every camera detected --- src/camera/camera/roscamera.py | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index f2ee9f3..66a4889 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -3,11 +3,11 @@ from sensor_msgs.msg import CompressedImage # Image is the message type from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images import cv2 # OpenCV library - +from pathlib import Path class RosCamera(Node): - def __init__(self): + def __init__(self, camera: int): super().__init__("ros_camera") self.get_logger().info("Launching ros_camera node") @@ -24,7 +24,7 @@ def __init__(self): # Create a VideoCapture object # The argument '0' gets the default webcam. - self.cap = cv2.VideoCapture(0) + self.cap = cv2.VideoCapture(camera) # Used to convert between ROS and OpenCV images self.br = CvBridge() @@ -54,8 +54,16 @@ def timer_callback(self): def main(args=None): + pathlist = Path('/dev/').glob('video*') + videoId = 0 + rclpy.init(args=args) - node = RosCamera() - rclpy.spin(node) - node.destroy_node() + + for _ in pathlist: # loop through every camera device in dev directory + node = RosCamera(videoId) + videoId = videoId + 1 + + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() From 418ae4e832db1c76aec35892143217be27ff0b7c Mon Sep 17 00:00:00 2001 From: TrickFire Robotics Date: Wed, 17 Apr 2024 13:03:07 -0700 Subject: [PATCH 10/50] Pushing any changes that were done. I am switching branches -vlad --- src/camera/camera/roscamera.py | 24 +++++++++++------------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 66a4889..1996e93 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -25,6 +25,7 @@ def __init__(self, camera: int): # Create a VideoCapture object # The argument '0' gets the default webcam. self.cap = cv2.VideoCapture(camera) + self.get_logger().info("Using video ID: " + str(camera) + ", ON: " + str(self.cap.isOpened())) # Used to convert between ROS and OpenCV images self.br = CvBridge() @@ -49,21 +50,18 @@ def timer_callback(self): - - - - def main(args=None): - pathlist = Path('/dev/').glob('video*') - videoId = 0 - rclpy.init(args=args) - for _ in pathlist: # loop through every camera device in dev directory - node = RosCamera(videoId) - videoId = videoId + 1 + node = RosCamera(0) + rclpy.spin(node) + node.destroy_node() - rclpy.spin(node) - node.destroy_node() - + node2 = RosCamera(2) + rclpy.spin(node2) + node2.destroy_node() + + + node.destroy_node() + node2.destroy_node() rclpy.shutdown() From 043ae57ed82d5fad80d6b5980b302ac381dbc193 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 22 Apr 2024 12:27:02 -0700 Subject: [PATCH 11/50] multi threaded executor for all cameras --- src/camera/camera/roscamera.py | 62 ++++++++++++++++++++++++++-------- 1 file changed, 48 insertions(+), 14 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 1996e93..fe58bd1 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -2,9 +2,31 @@ from rclpy.node import Node # Handles the creation of nodes from sensor_msgs.msg import CompressedImage # Image is the message type from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images +from rclpy.executors import MultiThreadedExecutor import cv2 # OpenCV library from pathlib import Path +# returns a list of working camera ids to capture every camera connected to the robot +def get_cameras() -> list[int]: + nonWorkingPorts = 0 + devPort = 0 + workingPorts = [] + + while nonWorkingPorts < 6: + camera = cv2.VideoCapture(devPort) + if not camera.isOpened(): + nonWorkingPorts += 1 + else: + isReading, img = camera.read() + _ = camera.get(3) + _ = camera.get(4) + if isReading: + workingPorts.append(devPort) + + devPort += 1 + + return workingPorts + class RosCamera(Node): def __init__(self, camera: int): @@ -13,7 +35,7 @@ def __init__(self, camera: int): # Create the publisher. This publisher will publish an Image # to the video_frames topic. The queue size is 10 messages. - self.publisher_ = self.create_publisher(CompressedImage, 'video_frames', 10) + self._publisher = self.create_publisher(CompressedImage, 'video_frames', 10) # We will publish a message every 0.1 seconds # timer_period = 0.1 # seconds @@ -43,25 +65,37 @@ def timer_callback(self): if ret == True: # Publish the image. - self.publisher_.publish(self.br.cv2_to_compressed_imgmsg(frame)) + self._publisher.publish(self.br.cv2_to_compressed_imgmsg(frame)) # Display the message on the console - #self.get_logger().info('Publishing compressed video frame') + # self.get_logger().info('Publishing compressed video frame') def main(args=None): rclpy.init(args=args) + try: + """ + we need an executor because running .spin() is a blocking function. + using the MultiThreadedExecutor, we can run multiple nodes on the same topic + """ + executor = MultiThreadedExecutor() + nodes = [] - node = RosCamera(0) - rclpy.spin(node) - node.destroy_node() - - node2 = RosCamera(2) - rclpy.spin(node2) - node2.destroy_node() - + for cameraID in get_cameras(): + node = RosCamera(cameraID) + nodes.append(node) + executor.add_node(node) + + try: + executor.spin() + finally: + executor.shutdown() + for node in nodes: + node.destroy_node() + + finally: + rclpy.shutdown() - node.destroy_node() - node2.destroy_node() - rclpy.shutdown() +if __name__ == '__main__': + main() From 3261f6a0bbcc078f8e479e2410fa7f478df767c5 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 22 Apr 2024 15:08:34 -0700 Subject: [PATCH 12/50] changed to individual topic for each camera --- src/camera/camera/roscamera.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index fe58bd1..65e9ff0 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -29,13 +29,14 @@ def get_cameras() -> list[int]: class RosCamera(Node): - def __init__(self, camera: int): + def __init__(self, topicName: str, camera: int): super().__init__("ros_camera") self.get_logger().info("Launching ros_camera node") # Create the publisher. This publisher will publish an Image # to the video_frames topic. The queue size is 10 messages. - self._publisher = self.create_publisher(CompressedImage, 'video_frames', 10) + self._publisher = self.create_publisher(CompressedImage, topicName, 10) + self.get_logger().info("Created Publisher " + topicName) # We will publish a message every 0.1 seconds # timer_period = 0.1 # seconds @@ -77,13 +78,14 @@ def main(args=None): try: """ we need an executor because running .spin() is a blocking function. - using the MultiThreadedExecutor, we can run multiple nodes on the same topic + using the MultiThreadedExecutor, we can control multiple nodes """ executor = MultiThreadedExecutor() nodes = [] + cameraNum = 0 for cameraID in get_cameras(): - node = RosCamera(cameraID) + node = RosCamera("video_frames" + cameraNum, cameraID) nodes.append(node) executor.add_node(node) From 9ea485d9da3da52a20b22c4327582c93732c7ef4 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 22 Apr 2024 15:11:25 -0700 Subject: [PATCH 13/50] bug fix to append string to string --- src/camera/camera/roscamera.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 65e9ff0..3262ef2 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -85,7 +85,7 @@ def main(args=None): cameraNum = 0 for cameraID in get_cameras(): - node = RosCamera("video_frames" + cameraNum, cameraID) + node = RosCamera("video_frames" + str(cameraNum), cameraID) nodes.append(node) executor.add_node(node) From a6d8cd43eda8f8a9e841c75add4a698fd74adebe Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 22 Apr 2024 15:15:19 -0700 Subject: [PATCH 14/50] another bug fix to iterate camera topic name --- src/camera/camera/roscamera.py | 1 + 1 file changed, 1 insertion(+) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 3262ef2..9388068 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -88,6 +88,7 @@ def main(args=None): node = RosCamera("video_frames" + str(cameraNum), cameraID) nodes.append(node) executor.add_node(node) + cameraNum += 1 try: executor.spin() From 81fa80b4acb28c74a803a9fc0abe64a30368a6f1 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 29 Apr 2024 14:07:45 -0700 Subject: [PATCH 15/50] added a test for custom camera executor --- src/executor_test/executor_test/__init__.py | 0 .../executor_test/executor_test.py | 23 +++++++++ src/executor_test/executor_test/utils.py | 51 +++++++++++++++++++ src/executor_test/package.xml | 18 +++++++ src/executor_test/resource/executor_test | 0 src/executor_test/setup.cfg | 4 ++ src/executor_test/setup.py | 25 +++++++++ src/executor_test/test/test_copyright.py | 25 +++++++++ src/executor_test/test/test_flake8.py | 25 +++++++++ src/executor_test/test/test_pep257.py | 23 +++++++++ src/viator_launch/launch/robot.launch.py | 7 +++ 11 files changed, 201 insertions(+) create mode 100644 src/executor_test/executor_test/__init__.py create mode 100644 src/executor_test/executor_test/executor_test.py create mode 100644 src/executor_test/executor_test/utils.py create mode 100644 src/executor_test/package.xml create mode 100644 src/executor_test/resource/executor_test create mode 100644 src/executor_test/setup.cfg create mode 100644 src/executor_test/setup.py create mode 100644 src/executor_test/test/test_copyright.py create mode 100644 src/executor_test/test/test_flake8.py create mode 100644 src/executor_test/test/test_pep257.py diff --git a/src/executor_test/executor_test/__init__.py b/src/executor_test/executor_test/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/executor_test/executor_test/executor_test.py b/src/executor_test/executor_test/executor_test.py new file mode 100644 index 0000000..023355d --- /dev/null +++ b/src/executor_test/executor_test/executor_test.py @@ -0,0 +1,23 @@ +from .utils import CameraExecutor, CameraNode +import rclpy + +def main(args=None): + rclpy.init(args=args) + try: + node1 = CameraNode(0) + node2 = CameraNode(1) + + executor = CameraExecutor() + executor.add_node(node1) + executor.add_node(node2) + try: + executor.spin() + finally: + executor.shutdown() + node1.destroy_node() + node2.destroy_node() + finally: + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/executor_test/executor_test/utils.py b/src/executor_test/executor_test/utils.py new file mode 100644 index 0000000..5dc21d6 --- /dev/null +++ b/src/executor_test/executor_test/utils.py @@ -0,0 +1,51 @@ +from rclpy.executors import Executor +from concurrent.futures import ThreadPoolExecutor +from rclpy.node import Node +from std_msgs.msg import String +import os + +""" +This class is useful for the camera service and topics. +Service to shut down topics should be put as the priority node +and all camera publishers should be low priority. +Service gets its own thread and publishers get more +""" +class CameraExecutor(Executor): + def __init__(self): + super().__init__() + self.high_priority_nodes = set() + self.hp_executor = ThreadPoolExecutor(max_workers = 1) + self.lp_executor = ThreadPoolExecutor(max_workers = os.cpu_count() or 4) + + def add_hp_node(self, node): + self.high_priority_nodes.add(node) + self.add_node(node) # inherited + + # Function override. + # Executes the callbacks + def spin_once(self, timeout_sec=None): + try: + handler, group, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + except StopIteration: + pass + else: + if node in self.high_priority_nodes: + self.hp_executor.submit(handler) + else: + self.lp_executor.submit(handler) + + +class CameraNode(Node): + def __init__(self, topic_id: int): + super().__init_("executor_camera_test_node") + + self.i = 0 + self.pub = self.create_publisher(String, '/video_frames' + str(topic_id) + 10) + + self.timer = self.create_timer(2, self.timer_callback) + + def timer_callback(self): + msg = String() + msg.data = "Hello World: {0}".format(self.i) + self.i += 1 + self.pub.publish(msg) \ No newline at end of file diff --git a/src/executor_test/package.xml b/src/executor_test/package.xml new file mode 100644 index 0000000..763128e --- /dev/null +++ b/src/executor_test/package.xml @@ -0,0 +1,18 @@ + + + + executor_test + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/executor_test/resource/executor_test b/src/executor_test/resource/executor_test new file mode 100644 index 0000000..e69de29 diff --git a/src/executor_test/setup.cfg b/src/executor_test/setup.cfg new file mode 100644 index 0000000..a6ba7b9 --- /dev/null +++ b/src/executor_test/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/executor_test +[install] +install_scripts=$base/lib/executor_test diff --git a/src/executor_test/setup.py b/src/executor_test/setup.py new file mode 100644 index 0000000..81d6d04 --- /dev/null +++ b/src/executor_test/setup.py @@ -0,0 +1,25 @@ +from setuptools import find_packages, setup + +package_name = 'executor_test' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='root', + maintainer_email='root@todo.todo', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/src/executor_test/test/test_copyright.py b/src/executor_test/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/executor_test/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/executor_test/test/test_flake8.py b/src/executor_test/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/executor_test/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/executor_test/test/test_pep257.py b/src/executor_test/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/executor_test/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 00040c6..03cc064 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -27,6 +27,12 @@ name='ros_camera_sub' ) +ros_executor_test_node = Node( + package='executor_test', + executable='executor_test', + name='executor_camera_test_node' +) + # Composable Nodes launched in a Composable Node container will share a process # and can use very fast inter-process communication instead of publishing # messages over a network socket. @@ -49,5 +55,6 @@ def generate_launch_description(): robot_container, can_moteus_node, ros_camera_node, + ros_executor_test_node, #ros_camera_test_node ]) From c8a0373e6394b7212735c558a4622576f1905924 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 29 Apr 2024 14:50:10 -0700 Subject: [PATCH 16/50] temporarily removing camera node because it's broken --- src/viator_launch/launch/robot.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 03cc064..ef16337 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -54,7 +54,7 @@ def generate_launch_description(): return launch.LaunchDescription([ robot_container, can_moteus_node, - ros_camera_node, + #ros_camera_node, ros_executor_test_node, #ros_camera_test_node ]) From c2d3b16ee47fd86c4f5c18adc2fcb0666956e8dc Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 29 Apr 2024 15:06:52 -0700 Subject: [PATCH 17/50] added camera node back --- src/viator_launch/launch/robot.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index ef16337..03cc064 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -54,7 +54,7 @@ def generate_launch_description(): return launch.LaunchDescription([ robot_container, can_moteus_node, - #ros_camera_node, + ros_camera_node, ros_executor_test_node, #ros_camera_test_node ]) From ec359ae5f97802cb4356bc5ab60fbb51be33870b Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 29 Apr 2024 15:12:30 -0700 Subject: [PATCH 18/50] changed executor publisher name because name conflict with roscamera --- src/executor_test/executor_test/utils.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/executor_test/executor_test/utils.py b/src/executor_test/executor_test/utils.py index 5dc21d6..801913d 100644 --- a/src/executor_test/executor_test/utils.py +++ b/src/executor_test/executor_test/utils.py @@ -40,7 +40,7 @@ def __init__(self, topic_id: int): super().__init_("executor_camera_test_node") self.i = 0 - self.pub = self.create_publisher(String, '/video_frames' + str(topic_id) + 10) + self.pub = self.create_publisher(String, '/exec_frames' + str(topic_id) + 10) self.timer = self.create_timer(2, self.timer_callback) From c694f918d9fafb9c72034bbc98aa6585d2ef5488 Mon Sep 17 00:00:00 2001 From: Razvan Anghel Date: Mon, 29 Apr 2024 15:15:13 -0700 Subject: [PATCH 19/50] something is wrong with publisher name. removed executor test from launch file --- src/viator_launch/launch/robot.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 03cc064..92d05f4 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -55,6 +55,6 @@ def generate_launch_description(): robot_container, can_moteus_node, ros_camera_node, - ros_executor_test_node, + #ros_executor_test_node, #ros_camera_test_node ]) From 046154e15308deac80a124ace04fa294ec30d2b8 Mon Sep 17 00:00:00 2001 From: dkim03 Date: Mon, 9 Sep 2024 10:20:07 -0700 Subject: [PATCH 20/50] Implemented camera toggle control via a mission control topic called 'camera_control' that sends string messages --- .vscode/settings.json | 3 ++- src/camera/camera/roscamera.py | 34 ++++++++++++++++++++++++++++++++-- src/camera/package.xml | 5 +++++ 3 files changed, 39 insertions(+), 3 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index 9d6c809..b04318f 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -12,5 +12,6 @@ "[python]": { "editor.defaultFormatter": "ms-python.autopep8" }, - "python.formatting.provider": "none" + "python.formatting.provider": "none", + "ros.distro": "humble" } \ No newline at end of file diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 9388068..791f55c 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -5,6 +5,7 @@ from rclpy.executors import MultiThreadedExecutor import cv2 # OpenCV library from pathlib import Path +from std_msgs.msg import String # returns a list of working camera ids to capture every camera connected to the robot def get_cameras() -> list[int]: @@ -38,6 +39,20 @@ def __init__(self, topicName: str, camera: int): self._publisher = self.create_publisher(CompressedImage, topicName, 10) self.get_logger().info("Created Publisher " + topicName) + # Create a subscription to read 'camera_control' topic from + # mission control. Topic messages are Strings. + # ex. topic message: "toggle arm_camera, ID: 0" + # The topic message should always have the corresponding camera number + # at the last index of each message. + subTopicName = "camera_control" + self.subscription = self.create_subscription( + String, + subTopicName, + self.toggle_camera, + 10) + self.subscription + self.get_logger().info("Created Subscription to" + subTopicName) + # We will publish a message every 0.1 seconds # timer_period = 0.1 # seconds timer_period = 2 # seconds @@ -52,7 +67,10 @@ def __init__(self, topicName: str, camera: int): # Used to convert between ROS and OpenCV images self.br = CvBridge() - + + # Declare parameters for each 'ros_camera' node thread + self.declare_parameter("cameraNumber", camera) + self.declare_parameter("isOn", True) def timer_callback(self): """ @@ -64,14 +82,26 @@ def timer_callback(self): # as the video frame. ret, frame = self.cap.read() - if ret == True: + # Get 'ros_camera' parameter, isOn, then check the state of the camera to publish frame or not + isOn = bool(self.get_parameter("isOn")._value) + if ret and isOn: # Publish the image. self._publisher.publish(self.br.cv2_to_compressed_imgmsg(frame)) # Display the message on the console # self.get_logger().info('Publishing compressed video frame') + def toggle_camera(self, msg) -> None: + # Read the last index of the message and check whether mission control is targeting this + # instance of 'ros_camera' + cameraNumber = int(self.get_parameter("cameraNumber")._value) + if (int(msg.data[-1]) != cameraNumber): + return + # Toggle by not'ing the bool value + isOn = bool(self.get_parameter("isOn")._value) + self.undeclare_parameter("isOn") + self.declare_parameter("isOn", not isOn) def main(args=None): rclpy.init(args=args) diff --git a/src/camera/package.xml b/src/camera/package.xml index 5a428f3..cabb39a 100644 --- a/src/camera/package.xml +++ b/src/camera/package.xml @@ -7,6 +7,11 @@ trickfire TODO: License declaration + rclpy + std_msgs + cv2 + cv_bridge + ament_copyright ament_flake8 ament_pep257 From 46eb01068e5a28a357c4cf5b5372c0072147454b Mon Sep 17 00:00:00 2001 From: dkim03 Date: Fri, 27 Sep 2024 23:03:07 -0700 Subject: [PATCH 21/50] delete camera_subscriber (unused) --- .../camera_subscriber_test/__init__.py | 0 .../camera_subscriber_test/roscamerasub.py | 44 ------------------- src/camera_subscriber_test/package.xml | 18 -------- .../resource/camera_subscriber_test | 0 src/camera_subscriber_test/setup.cfg | 4 -- src/camera_subscriber_test/setup.py | 26 ----------- .../test/test_copyright.py | 25 ----------- .../test/test_flake8.py | 25 ----------- .../test/test_pep257.py | 23 ---------- 9 files changed, 165 deletions(-) delete mode 100644 src/camera_subscriber_test/camera_subscriber_test/__init__.py delete mode 100644 src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py delete mode 100644 src/camera_subscriber_test/package.xml delete mode 100644 src/camera_subscriber_test/resource/camera_subscriber_test delete mode 100644 src/camera_subscriber_test/setup.cfg delete mode 100644 src/camera_subscriber_test/setup.py delete mode 100644 src/camera_subscriber_test/test/test_copyright.py delete mode 100644 src/camera_subscriber_test/test/test_flake8.py delete mode 100644 src/camera_subscriber_test/test/test_pep257.py diff --git a/src/camera_subscriber_test/camera_subscriber_test/__init__.py b/src/camera_subscriber_test/camera_subscriber_test/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py b/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py deleted file mode 100644 index 7ff8e24..0000000 --- a/src/camera_subscriber_test/camera_subscriber_test/roscamerasub.py +++ /dev/null @@ -1,44 +0,0 @@ -import rclpy -from rclpy.node import Node -from sensor_msgs.msg import Image -from cv_bridge import CvBridge -import cv2 - - -class RosCameraSub(Node): - - def __init__(self): - super().__init__("ros_camera_sub") - self.get_logger().info("Launching ros_camera_sub node") - - self.subscription = self.create_subscription( - Image, - "video_frames", - self.listerner_callback, - 10 - ) - - self.subscription - - self.br = CvBridge() - - def listerner_callback(self, data): - self.get_logger().info("Getting video frame") - - current_frame = self.br.imgmsg_to_cv2(data) - - cv2.imshow("camera", current_frame) - - cv2.waitKey(1) - - - - - -def main(args=None): - rclpy.init(args=args) - node = RosCameraSub() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() - diff --git a/src/camera_subscriber_test/package.xml b/src/camera_subscriber_test/package.xml deleted file mode 100644 index 1f1c7d3..0000000 --- a/src/camera_subscriber_test/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - camera_subscriber_test - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - - - ament_python - - diff --git a/src/camera_subscriber_test/resource/camera_subscriber_test b/src/camera_subscriber_test/resource/camera_subscriber_test deleted file mode 100644 index e69de29..0000000 diff --git a/src/camera_subscriber_test/setup.cfg b/src/camera_subscriber_test/setup.cfg deleted file mode 100644 index 279bc68..0000000 --- a/src/camera_subscriber_test/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/camera_subscriber_test -[install] -install_scripts=$base/lib/camera_subscriber_test diff --git a/src/camera_subscriber_test/setup.py b/src/camera_subscriber_test/setup.py deleted file mode 100644 index 142ee5f..0000000 --- a/src/camera_subscriber_test/setup.py +++ /dev/null @@ -1,26 +0,0 @@ -from setuptools import find_packages, setup - -package_name = 'camera_subscriber_test' - -setup( - name=package_name, - version='0.0.0', - packages=find_packages(exclude=['test']), - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='trickfire', - maintainer_email='vladimirkupryukhin@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - 'roscamerasub = camera_subscriber_test.roscamerasub:main' - ], - }, -) diff --git a/src/camera_subscriber_test/test/test_copyright.py b/src/camera_subscriber_test/test/test_copyright.py deleted file mode 100644 index 97a3919..0000000 --- a/src/camera_subscriber_test/test/test_copyright.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/src/camera_subscriber_test/test/test_flake8.py b/src/camera_subscriber_test/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/camera_subscriber_test/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/camera_subscriber_test/test/test_pep257.py b/src/camera_subscriber_test/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/camera_subscriber_test/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' From 0153dc01e46b257aa2ffcea846db180a5eb2d81d Mon Sep 17 00:00:00 2001 From: dkim03 Date: Fri, 27 Sep 2024 23:38:48 -0700 Subject: [PATCH 22/50] rebase + updated roscamera.py with on, off functionality instead of toggle and added better documentation, fixed formatting --- .devcontainer/Dockerfile | 28 +- .devcontainer/devcontainer.json | 4 + .gitmodules | 4 - .pylintrc | 635 ++++++++++++++++++ .vscode/c_cpp_properties.json | 2 +- .vscode/settings.json | 32 +- README.md | 22 +- build_only_docker.sh | 3 - connect_to_container.sh | 2 + container_launch.sh | 80 +++ docs/can_moteus.md | 99 +-- docs/can_moteus_overview.png | Bin 0 -> 83907 bytes docs/code_overview.md | 75 +-- docs/formatting.md | 173 +++++ docs/getting_started.md | 7 +- docs/install_on_linux.md | 3 + docs/install_on_windows.md | 11 +- docs/installing_on_mac.md | 3 + docs/python_creating_a_new_node.md | 110 +++ docs/resources/code_funnel.png | Bin 0 -> 1421673 bytes docs/resources/code_overview.png | Bin 0 -> 197994 bytes docs/resources/moteus_docs.png | Bin 92025 -> 0 bytes launch.sh | 11 +- launch_only_docker.sh | 3 - mypy.ini | 10 + src/arm/arm/ResponseStructure.srv | 3 + .../executor_test => arm/arm}/__init__.py | 0 src/arm/arm/arm.py | 85 +++ src/arm/arm/individual_control_vel.py | 197 ++++++ src/arm/package.xml | 12 +- .../executor_test => arm/resource/arm} | 0 src/arm/setup.cfg | 4 + src/arm/setup.py | 23 + src/arm/src/my_node.cpp | 10 - .../test/test_copyright.py | 6 +- src/camera/camera/roscamera.py | 83 ++- src/camera/package.xml | 7 +- src/camera/setup.py | 6 +- src/camera/test/test_flake8.py | 25 - src/camera/test/test_pep257.py | 23 - src/can/CMakeLists.txt | 34 - src/can/package.xml | 18 - src/can/src/my_node.cpp | 10 - src/can_moteus/can_moteus/moteus_motor.py | 211 +++--- .../can_moteus/moteus_multiprocess.py | 208 ------ .../can_moteus/moteus_thread_manager.py | 260 +++++++ .../can_moteus/ros_moteus_bridge.py | 148 ++-- src/can_moteus/setup.py | 30 +- src/can_moteus/test/test_copyright.py | 8 +- src/can_moteus/test/test_flake8.py | 25 - src/can_moteus/test/test_pep257.py | 23 - src/communication/CMakeLists.txt | 34 - src/communication/package.xml | 18 - src/communication/src/my_node.cpp | 10 - src/{arm => custom_interfaces}/CMakeLists.txt | 22 +- .../package.xml | 11 +- src/custom_interfaces/srv/ArmMode.srv | 3 + src/drivebase/drivebase/drivebase.py | 66 +- src/drivebase/package.xml | 4 +- src/drivebase/setup.py | 25 +- src/drivebase/test/test_copyright.py | 4 +- src/drivebase/test/test_flake8.py | 25 - src/drivebase/test/test_pep257.py | 23 - .../example_node}/__init__.py | 0 src/example_node/example_node/example.py | 89 +++ .../package.xml | 4 +- .../resource/example_node} | 0 src/example_node/setup.cfg | 4 + src/{executor_test => example_node}/setup.py | 9 +- .../test/test_copyright.py | 0 .../executor_test/executor_test.py | 23 - src/executor_test/executor_test/utils.py | 51 -- src/executor_test/package.xml | 18 - src/executor_test/setup.cfg | 4 - src/executor_test/test/test_flake8.py | 25 - src/executor_test/test/test_pep257.py | 23 - src/hello_world/CMakeLists.txt | 48 -- .../include/hello_world/hello_node.hpp | 14 - src/hello_world/src/hello_node.cpp | 15 - src/interface/CMakeLists.txt | 34 - src/interface/package.xml | 18 - src/interface/src/my_node.cpp | 10 - src/lib/color_codes.py | 44 ++ src/lib/configs.py | 192 ++++++ src/lib/interface/robot_info.py | 43 ++ src/lib/interface/robot_interface.py | 103 +++ src/lib/json_msg.py | 70 ++ src/lib/moteus_motor_state.py | 95 +++ .../life_detection/life_detection.py | 6 - src/life_detection/setup.cfg | 4 - src/life_detection/setup.py | 26 - src/life_detection/test/test_flake8.py | 25 - src/life_detection/test/test_pep257.py | 23 - src/localization/localization/localization.py | 6 - src/localization/setup.cfg | 4 - src/localization/setup.py | 26 - src/localization/test/test_flake8.py | 25 - src/localization/test/test_pep257.py | 23 - src/mission_control/CMakeLists.txt | 34 - src/mission_control/package.xml | 18 - src/mission_control/src/my_node.cpp | 10 - .../mission_control_updater}/__init__.py | 0 .../info_to_json_helper.py | 25 + .../mission_control_updater/updater.py | 61 ++ .../package.xml | 4 +- .../resource/mission_control_updater} | 0 src/mission_control_updater/setup.cfg | 4 + src/mission_control_updater/setup.py | 23 + .../test/test_copyright.py | 6 +- src/monitering/CMakeLists.txt | 34 - src/monitering/package.xml | 18 - src/monitering/src/my_node.cpp | 10 - src/sensor/CMakeLists.txt | 34 - src/sensor/package.xml | 18 - src/sensor/src/my_node.cpp | 10 - src/teleoperation/package.xml | 18 - src/teleoperation/resource/teleoperation | 0 src/teleoperation/setup.cfg | 4 - src/teleoperation/setup.py | 26 - src/teleoperation/teleoperation/__init__.py | 0 .../teleoperation/teleoperation.py | 6 - src/teleoperation/test/test_copyright.py | 23 - src/teleoperation/test/test_flake8.py | 25 - src/teleoperation/test/test_pep257.py | 23 - src/viator_launch/launch/robot.launch.py | 66 +- src/viator_launch/package.xml | 8 +- src/viator_launch/setup.py | 22 +- src/viator_launch/test/test_copyright.py | 4 +- src/viator_launch/test/test_flake8.py | 25 - src/viator_launch/test/test_pep257.py | 23 - src/vision_opencv | 1 - 131 files changed, 2884 insertions(+), 1824 deletions(-) delete mode 100644 .gitmodules create mode 100644 .pylintrc delete mode 100755 build_only_docker.sh create mode 100755 connect_to_container.sh create mode 100755 container_launch.sh create mode 100644 docs/can_moteus_overview.png create mode 100644 docs/formatting.md create mode 100644 docs/python_creating_a_new_node.md create mode 100644 docs/resources/code_funnel.png create mode 100644 docs/resources/code_overview.png delete mode 100644 docs/resources/moteus_docs.png delete mode 100755 launch_only_docker.sh create mode 100644 mypy.ini create mode 100644 src/arm/arm/ResponseStructure.srv rename src/{executor_test/executor_test => arm/arm}/__init__.py (100%) create mode 100644 src/arm/arm/arm.py create mode 100644 src/arm/arm/individual_control_vel.py rename src/{executor_test/resource/executor_test => arm/resource/arm} (100%) create mode 100644 src/arm/setup.cfg create mode 100644 src/arm/setup.py delete mode 100644 src/arm/src/my_node.cpp rename src/{life_detection => arm}/test/test_copyright.py (74%) delete mode 100644 src/camera/test/test_flake8.py delete mode 100644 src/camera/test/test_pep257.py delete mode 100644 src/can/CMakeLists.txt delete mode 100644 src/can/package.xml delete mode 100644 src/can/src/my_node.cpp mode change 100755 => 100644 src/can_moteus/can_moteus/moteus_motor.py delete mode 100644 src/can_moteus/can_moteus/moteus_multiprocess.py create mode 100644 src/can_moteus/can_moteus/moteus_thread_manager.py mode change 100755 => 100644 src/can_moteus/can_moteus/ros_moteus_bridge.py delete mode 100644 src/can_moteus/test/test_flake8.py delete mode 100644 src/can_moteus/test/test_pep257.py delete mode 100644 src/communication/CMakeLists.txt delete mode 100644 src/communication/package.xml delete mode 100644 src/communication/src/my_node.cpp rename src/{arm => custom_interfaces}/CMakeLists.txt (52%) rename src/{hello_world => custom_interfaces}/package.xml (64%) create mode 100644 src/custom_interfaces/srv/ArmMode.srv delete mode 100644 src/drivebase/test/test_flake8.py delete mode 100644 src/drivebase/test/test_pep257.py rename src/{life_detection/life_detection => example_node/example_node}/__init__.py (100%) create mode 100644 src/example_node/example_node/example.py rename src/{life_detection => example_node}/package.xml (84%) rename src/{life_detection/resource/life_detection => example_node/resource/example_node} (100%) create mode 100644 src/example_node/setup.cfg rename src/{executor_test => example_node}/setup.py (73%) rename src/{executor_test => example_node}/test/test_copyright.py (100%) delete mode 100644 src/executor_test/executor_test/executor_test.py delete mode 100644 src/executor_test/executor_test/utils.py delete mode 100644 src/executor_test/package.xml delete mode 100644 src/executor_test/setup.cfg delete mode 100644 src/executor_test/test/test_flake8.py delete mode 100644 src/executor_test/test/test_pep257.py delete mode 100644 src/hello_world/CMakeLists.txt delete mode 100644 src/hello_world/include/hello_world/hello_node.hpp delete mode 100644 src/hello_world/src/hello_node.cpp delete mode 100644 src/interface/CMakeLists.txt delete mode 100644 src/interface/package.xml delete mode 100644 src/interface/src/my_node.cpp create mode 100644 src/lib/color_codes.py create mode 100644 src/lib/configs.py create mode 100644 src/lib/interface/robot_info.py create mode 100644 src/lib/interface/robot_interface.py create mode 100644 src/lib/json_msg.py create mode 100644 src/lib/moteus_motor_state.py delete mode 100644 src/life_detection/life_detection/life_detection.py delete mode 100644 src/life_detection/setup.cfg delete mode 100644 src/life_detection/setup.py delete mode 100644 src/life_detection/test/test_flake8.py delete mode 100644 src/life_detection/test/test_pep257.py delete mode 100644 src/localization/localization/localization.py delete mode 100644 src/localization/setup.cfg delete mode 100644 src/localization/setup.py delete mode 100644 src/localization/test/test_flake8.py delete mode 100644 src/localization/test/test_pep257.py delete mode 100644 src/mission_control/CMakeLists.txt delete mode 100644 src/mission_control/package.xml delete mode 100644 src/mission_control/src/my_node.cpp rename src/{localization/localization => mission_control_updater/mission_control_updater}/__init__.py (100%) create mode 100644 src/mission_control_updater/mission_control_updater/info_to_json_helper.py create mode 100644 src/mission_control_updater/mission_control_updater/updater.py rename src/{localization => mission_control_updater}/package.xml (82%) rename src/{localization/resource/localization => mission_control_updater/resource/mission_control_updater} (100%) create mode 100644 src/mission_control_updater/setup.cfg create mode 100644 src/mission_control_updater/setup.py rename src/{localization => mission_control_updater}/test/test_copyright.py (74%) delete mode 100644 src/monitering/CMakeLists.txt delete mode 100644 src/monitering/package.xml delete mode 100644 src/monitering/src/my_node.cpp delete mode 100644 src/sensor/CMakeLists.txt delete mode 100644 src/sensor/package.xml delete mode 100644 src/sensor/src/my_node.cpp delete mode 100644 src/teleoperation/package.xml delete mode 100644 src/teleoperation/resource/teleoperation delete mode 100644 src/teleoperation/setup.cfg delete mode 100644 src/teleoperation/setup.py delete mode 100644 src/teleoperation/teleoperation/__init__.py delete mode 100644 src/teleoperation/teleoperation/teleoperation.py delete mode 100644 src/teleoperation/test/test_copyright.py delete mode 100644 src/teleoperation/test/test_flake8.py delete mode 100644 src/teleoperation/test/test_pep257.py delete mode 100644 src/viator_launch/test/test_flake8.py delete mode 100644 src/viator_launch/test/test_pep257.py delete mode 160000 src/vision_opencv diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 3aeec77..6fe2b1c 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,4 +1,4 @@ -# Base image: Ubuntu 20.04 with ROS2 Galactic installed +# Base image: Ubuntu 20.04 with ROS2 Humble installed FROM ros:humble # Install dependencies from apt @@ -12,32 +12,20 @@ RUN apt-get update && apt-get install -y \ ros-humble-rosbridge-server \ # Install usb utilities usbutils \ - #Used for cv_bridge - python3-numpy \ - #USed for cv_bridge - libboost-python-dev \ - #OpenCV - libopencv-dev \ - #Opencv - python3-opencv \ + can-utils \ + iproute2 \ + kmod \ # Clean out the apt lists after `apt-get update` && rm -rf /var/lib/apt/lists/* #Install moteus python library https://github.com/mjbots/moteus/tree/main/lib/python -Run pip3 install moteus -# Update pydocstyle to remove a deprecation warning when testing for PEP257 -RUN pip install --upgrade pydocstyle -#Install OpenCV for python -RUN pip3 install opencv-python - -RUN pip3 install numpy --upgrade +RUN pip3 install moteus +RUN pip3 install pyusb -#Install cv_bridge -#RUN apt install python3-numpy -#RUN apt-get install -y libboost-python-dev - +# Update pydocstyle to remove a deprecation warning when testing for PEP257 +RUN pip install --upgrade pydocstyle # Add a user so we can remote into this container with a non-root user RUN useradd trickfire \ diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 2739118..f576f75 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -14,6 +14,10 @@ "ms-azuretools.vscode-docker", "ms-python.python", "ms-python.vscode-pylance", + "ms-python.pylint", + "ms-python.mypy-type-checker", + "ms-python.isort", + "ms-python.black-formatter", "ms-vscode.cmake-tools", "ms-vscode.cpptools", "twxs.cmake", diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index 6bf8dff..0000000 --- a/.gitmodules +++ /dev/null @@ -1,4 +0,0 @@ -[submodule "src/vision_opencv"] - path = src/vision_opencv - url = https://github.com/ros-perception/vision_opencv.git - branch = humble diff --git a/.pylintrc b/.pylintrc new file mode 100644 index 0000000..2350100 --- /dev/null +++ b/.pylintrc @@ -0,0 +1,635 @@ +[MAIN] + +# Analyse import fallback blocks. This can be used to support both Python 2 and +# 3 compatible code, which means that the block might have code that exists +# only in one or another interpreter, leading to false positives when analysed. +analyse-fallback-blocks=no + +# Clear in-memory caches upon conclusion of linting. Useful if running pylint +# in a server-like mode. +clear-cache-post-run=no + +# Load and enable all available extensions. Use --list-extensions to see a list +# all available extensions. +#enable-all-extensions= + +# In error mode, messages with a category besides ERROR or FATAL are +# suppressed, and no reports are done by default. Error mode is compatible with +# disabling specific errors. +#errors-only= + +# Always return a 0 (non-error) status code, even if lint errors are found. +# This is primarily useful in continuous integration scripts. +#exit-zero= + +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code. +extension-pkg-allow-list= + +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code. (This is an alternative name to extension-pkg-allow-list +# for backward compatibility.) +extension-pkg-whitelist= + +# Return non-zero exit code if any of these messages/categories are detected, +# even if score is above --fail-under value. Syntax same as enable. Messages +# specified are enabled, while categories only check already-enabled messages. +fail-on= + +# Specify a score threshold under which the program will exit with error. +fail-under=10.0 + +# Interpret the stdin as a python script, whose filename needs to be passed as +# the module_or_package argument. +#from-stdin= + +# Files or directories to be skipped. They should be base names, not paths. +ignore=CVS + +# Add files or directories matching the regular expressions patterns to the +# ignore-list. The regex matches against paths and can be in Posix or Windows +# format. Because '\\' represents the directory delimiter on Windows systems, +# it can't be used as an escape character. +ignore-paths= + +# Files or directories matching the regular expression patterns are skipped. +# The regex matches against base names, not paths. The default value ignores +# Emacs file locks +ignore-patterns=^\.# + +# List of module names for which member attributes should not be checked +# (useful for modules/projects where namespaces are manipulated during runtime +# and thus existing member attributes cannot be deduced by static analysis). It +# supports qualified module names, as well as Unix pattern matching. +ignored-modules= + +# Python code to execute, usually for sys.path manipulation such as +# pygtk.require(). +#init-hook= + +# Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the +# number of processors available to use, and will cap the count on Windows to +# avoid hangs. +jobs=1 + +# Control the amount of potential inferred values when inferring a single +# object. This can help the performance when dealing with large functions or +# complex, nested conditions. +limit-inference-results=100 + +# List of plugins (as comma separated values of python module names) to load, +# usually to register additional checkers. +load-plugins= + +# Pickle collected data for later comparisons. +persistent=yes + +# Minimum Python version to use for version dependent checks. Will default to +# the version used to run pylint. +py-version=3.10 + +# Discover python modules and packages in the file system subtree. +recursive=no + +# Add paths to the list of the source roots. Supports globbing patterns. The +# source root is an absolute path or a path relative to the current working +# directory used to determine a package namespace for modules located under the +# source root. +source-roots= + +# When enabled, pylint would attempt to guess common misconfiguration and emit +# user-friendly hints instead of false-positive error messages. +suggestion-mode=yes + +# Allow loading of arbitrary C extensions. Extensions are imported into the +# active Python interpreter and may run arbitrary code. +unsafe-load-any-extension=no + +# In verbose mode, extra non-checker-related info will be displayed. +#verbose= + + +[BASIC] + +# Naming style matching correct argument names. +argument-naming-style=snake_case + +# Regular expression matching correct argument names. Overrides argument- +# naming-style. If left empty, argument names will be checked with the set +# naming style. +#argument-rgx= + +# Naming style matching correct attribute names. +attr-naming-style=snake_case + +# Regular expression matching correct attribute names. Overrides attr-naming- +# style. If left empty, attribute names will be checked with the set naming +# style. +#attr-rgx= + +# Bad variable names which should always be refused, separated by a comma. +bad-names=foo, + bar, + baz, + toto, + tutu, + tata + +# Bad variable names regexes, separated by a comma. If names match any regex, +# they will always be refused +bad-names-rgxs= + +# Naming style matching correct class attribute names. +class-attribute-naming-style=any + +# Regular expression matching correct class attribute names. Overrides class- +# attribute-naming-style. If left empty, class attribute names will be checked +# with the set naming style. +#class-attribute-rgx= + +# Naming style matching correct class constant names. +class-const-naming-style=UPPER_CASE + +# Regular expression matching correct class constant names. Overrides class- +# const-naming-style. If left empty, class constant names will be checked with +# the set naming style. +#class-const-rgx= + +# Naming style matching correct class names. +class-naming-style=PascalCase + +# Regular expression matching correct class names. Overrides class-naming- +# style. If left empty, class names will be checked with the set naming style. +#class-rgx= + +# Naming style matching correct constant names. +const-naming-style=UPPER_CASE + +# Regular expression matching correct constant names. Overrides const-naming- +# style. If left empty, constant names will be checked with the set naming +# style. +#const-rgx= + +# Minimum line length for functions/classes that require docstrings, shorter +# ones are exempt. +docstring-min-length=-1 + +# Naming style matching correct function names. +function-naming-style=camelCase + +# Regular expression matching correct function names. Overrides function- +# naming-style. If left empty, function names will be checked with the set +# naming style. +#function-rgx= + +# Good variable names which should always be accepted, separated by a comma. +good-names=i, + j, + k, + ex, + Run, + _ + +# Good variable names regexes, separated by a comma. If names match any regex, +# they will always be accepted +good-names-rgxs= + +# Include a hint for the correct naming format with invalid-name. +include-naming-hint=no + +# Naming style matching correct inline iteration names. +inlinevar-naming-style=any + +# Regular expression matching correct inline iteration names. Overrides +# inlinevar-naming-style. If left empty, inline iteration names will be checked +# with the set naming style. +#inlinevar-rgx= + +# Naming style matching correct method names. +method-naming-style=camelCase + +# Regular expression matching correct method names. Overrides method-naming- +# style. If left empty, method names will be checked with the set naming style. +#method-rgx= + +# Naming style matching correct module names. +module-naming-style=snake_case + +# Regular expression matching correct module names. Overrides module-naming- +# style. If left empty, module names will be checked with the set naming style. +#module-rgx= + +# Colon-delimited sets of names that determine each other's naming style when +# the name regexes allow several styles. +name-group= + +# Regular expression which should only match function or class names that do +# not require a docstring. +no-docstring-rgx=^_ + +# List of decorators that produce properties, such as abc.abstractproperty. Add +# to this list to register other decorators that produce valid properties. +# These decorators are taken in consideration only for invalid-name. +property-classes=abc.abstractproperty + +# Regular expression matching correct type alias names. If left empty, type +# alias names will be checked with the set naming style. +#typealias-rgx= + +# Regular expression matching correct type variable names. If left empty, type +# variable names will be checked with the set naming style. +#typevar-rgx= + +# Naming style matching correct variable names. +variable-naming-style=snake_case + +# Regular expression matching correct variable names. Overrides variable- +# naming-style. If left empty, variable names will be checked with the set +# naming style. +#variable-rgx= + + +[CLASSES] + +# Warn about protected attribute access inside special methods +check-protected-access-in-special-methods=no + +# List of method names used to declare (i.e. assign) instance attributes. +defining-attr-methods=__init__, + __new__, + setUp, + asyncSetUp, + __post_init__ + +# List of member names, which should be excluded from the protected access +# warning. +exclude-protected=_asdict,_fields,_replace,_source,_make,os._exit + +# List of valid names for the first argument in a class method. +valid-classmethod-first-arg=cls + +# List of valid names for the first argument in a metaclass class method. +valid-metaclass-classmethod-first-arg=mcs + + +[DESIGN] + +# List of regular expressions of class ancestor names to ignore when counting +# public methods (see R0903) +exclude-too-few-public-methods= + +# List of qualified class names to ignore when counting class parents (see +# R0901) +ignored-parents= + +# Maximum number of arguments for function / method. +max-args=5 + +# Maximum number of attributes for a class (see R0902). +# Setting this high because this is kind of unavoidable on some data classes +max-attributes=100 + +# Maximum number of boolean expressions in an if statement (see R0916). +max-bool-expr=5 + +# Maximum number of branch for function / method body. +max-branches=12 + +# Maximum number of locals for function / method body. +max-locals=15 + +# Maximum number of parents for a class (see R0901). +max-parents=7 + +# Maximum number of public methods for a class (see R0904). +max-public-methods=20 + +# Maximum number of return / yield for function / method body. +max-returns=6 + +# Maximum number of statements in function / method body. +max-statements=50 + +# Minimum number of public methods for a class (see R0903). +min-public-methods=2 + + +[EXCEPTIONS] + +# Exceptions that will emit a warning when caught. +overgeneral-exceptions=builtins.BaseException,builtins.Exception + + +[FORMAT] + +# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. +expected-line-ending-format= + +# Regexp for a line that is allowed to be longer than the limit. +ignore-long-lines=^\s*(# )??$ + +# Number of spaces of indent required inside a hanging or continued line. +indent-after-paren=4 + +# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 +# tab). +indent-string=' ' + +# Maximum number of characters on a single line. +max-line-length=100 + +# Maximum number of lines in a module. +max-module-lines=1000 + +# Allow the body of a class to be on the same line as the declaration if body +# contains single statement. +single-line-class-stmt=no + +# Allow the body of an if to be on the same line as the test if there is no +# else. +single-line-if-stmt=no + + +[IMPORTS] + +# List of modules that can be imported at any level, not just the top level +# one. +allow-any-import-level= + +# Allow explicit reexports by alias from a package __init__. +allow-reexport-from-package=no + +# Allow wildcard imports from modules that define __all__. +allow-wildcard-with-all=no + +# Deprecated modules which should not be used, separated by a comma. +deprecated-modules= + +# Output a graph (.gv or any supported image format) of external dependencies +# to the given file (report RP0402 must not be disabled). +ext-import-graph= + +# Output a graph (.gv or any supported image format) of all (i.e. internal and +# external) dependencies to the given file (report RP0402 must not be +# disabled). +import-graph= + +# Output a graph (.gv or any supported image format) of internal dependencies +# to the given file (report RP0402 must not be disabled). +int-import-graph= + +# Force import order to recognize a module as part of the standard +# compatibility libraries. +known-standard-library= + +# Force import order to recognize a module as part of a third party library. +known-third-party=enchant + +# Couples of modules and preferred modules, separated by a comma. +preferred-modules= + + +[LOGGING] + +# The type of string formatting that logging methods do. `old` means using % +# formatting, `new` is for `{}` formatting. +logging-format-style=old + +# Logging modules to check that the string format arguments are in logging +# function parameter format. +logging-modules=logging + + +[MESSAGES CONTROL] + +# Only show warnings with the listed confidence levels. Leave empty to show +# all. Valid levels: HIGH, CONTROL_FLOW, INFERENCE, INFERENCE_FAILURE, +# UNDEFINED. +confidence=HIGH, + CONTROL_FLOW, + INFERENCE, + INFERENCE_FAILURE, + UNDEFINED + +# Disable the message, report, category or checker with the given id(s). You +# can either give multiple identifiers separated by comma (,) or put this +# option multiple times (only on the command line, not in the configuration +# file where it should appear only once). You can also use "--disable=all" to +# disable everything first and then re-enable specific checks. For example, if +# you want to run only the similarities checker, you can use "--disable=all +# --enable=similarities". If you want to run only the classes checker, but have +# no Warning level messages displayed, use "--disable=all --enable=classes +# --disable=W". +disable=raw-checker-failed, + bad-inline-option, + locally-disabled, + file-ignored, + suppressed-message, + useless-suppression, + deprecated-pragma, + use-implicit-booleaness-not-comparison-to-string, + use-implicit-booleaness-not-comparison-to-zero, + use-symbolic-message-instead + +# Enable the message, report, category or checker with the given id(s). You can +# either give multiple identifier separated by comma (,) or put this option +# multiple time (only on the command line, not in the configuration file where +# it should appear only once). See also the "--disable" option for examples. +enable= + + +[METHOD_ARGS] + +# List of qualified names (i.e., library.method) which require a timeout +# parameter e.g. 'requests.api.get,requests.api.post' +timeout-methods=requests.api.delete,requests.api.get,requests.api.head,requests.api.options,requests.api.patch,requests.api.post,requests.api.put,requests.api.request + + +[MISCELLANEOUS] + +# List of note tags to take in consideration, separated by a comma. +notes=FIXME, + XXX, + TODO + +# Regular expression of note tags to take in consideration. +notes-rgx= + + +[REFACTORING] + +# Maximum number of nested blocks for function / method body +max-nested-blocks=5 + +# Complete name of functions that never returns. When checking for +# inconsistent-return-statements if a never returning function is called then +# it will be considered as an explicit return statement and no message will be +# printed. +never-returning-functions=sys.exit,argparse.parse_error + + +[REPORTS] + +# Python expression which should return a score less than or equal to 10. You +# have access to the variables 'fatal', 'error', 'warning', 'refactor', +# 'convention', and 'info' which contain the number of messages in each +# category, as well as 'statement' which is the total number of statements +# analyzed. This score is used by the global evaluation report (RP0004). +evaluation=max(0, 0 if fatal else 10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)) + +# Template used to display messages. This is a python new-style format string +# used to format the message information. See doc for all details. +msg-template= + +# Set the output format. Available formats are: text, parseable, colorized, +# json2 (improved json format), json (old json format) and msvs (visual +# studio). You can also give a reporter class, e.g. +# mypackage.mymodule.MyReporterClass. +#output-format= + +# Tells whether to display a full report or only the messages. +reports=no + +# Activate the evaluation score. +score=yes + + +[SIMILARITIES] + +# Comments are removed from the similarity computation +ignore-comments=yes + +# Docstrings are removed from the similarity computation +ignore-docstrings=yes + +# Imports are removed from the similarity computation +ignore-imports=yes + +# Signatures are removed from the similarity computation +ignore-signatures=yes + +# Minimum lines number of a similarity. +min-similarity-lines=4 + + +[SPELLING] + +# Limits count of emitted suggestions for spelling mistakes. +max-spelling-suggestions=4 + +# Spelling dictionary name. No available dictionaries : You need to install +# both the python package and the system dependency for enchant to work. +spelling-dict= + +# List of comma separated words that should be considered directives if they +# appear at the beginning of a comment and should not be checked. +spelling-ignore-comment-directives=fmt: on,fmt: off,noqa:,noqa,nosec,isort:skip,mypy: + +# List of comma separated words that should not be checked. +spelling-ignore-words= + +# A path to a file that contains the private dictionary; one word per line. +spelling-private-dict-file= + +# Tells whether to store unknown words to the private dictionary (see the +# --spelling-private-dict-file option) instead of raising a message. +spelling-store-unknown-words=no + + +[STRING] + +# This flag controls whether inconsistent-quotes generates a warning when the +# character used as a quote delimiter is used inconsistently within a module. +check-quote-consistency=no + +# This flag controls whether the implicit-str-concat should generate a warning +# on implicit string concatenation in sequences defined over several lines. +check-str-concat-over-line-jumps=no + + +[TYPECHECK] + +# List of decorators that produce context managers, such as +# contextlib.contextmanager. Add to this list to register other decorators that +# produce valid context managers. +contextmanager-decorators=contextlib.contextmanager + +# List of members which are set dynamically and missed by pylint inference +# system, and so shouldn't trigger E1101 when accessed. Python regular +# expressions are accepted. +generated-members= + +# Tells whether to warn about missing members when the owner of the attribute +# is inferred to be None. +ignore-none=yes + +# This flag controls whether pylint should warn about no-member and similar +# checks whenever an opaque object is returned when inferring. The inference +# can return multiple potential results while evaluating a Python object, but +# some branches might not be evaluated, which results in partial inference. In +# that case, it might be useful to still emit no-member and other checks for +# the rest of the inferred objects. +ignore-on-opaque-inference=yes + +# List of symbolic message names to ignore for Mixin members. +ignored-checks-for-mixins=no-member, + not-async-context-manager, + not-context-manager, + attribute-defined-outside-init + +# List of class names for which member attributes should not be checked (useful +# for classes with dynamically set attributes). This supports the use of +# qualified names. +ignored-classes=optparse.Values,thread._local,_thread._local,argparse.Namespace + +# Show a hint with possible names when a member name was not found. The aspect +# of finding the hint is based on edit distance. +missing-member-hint=yes + +# The minimum edit distance a name should have in order to be considered a +# similar match for a missing member name. +missing-member-hint-distance=1 + +# The total number of similar names that should be taken in consideration when +# showing a hint for a missing member. +missing-member-max-choices=1 + +# Regex pattern to define which classes are considered mixins. +mixin-class-rgx=.*[Mm]ixin + +# List of decorators that change the signature of a decorated function. +signature-mutators= + + +[VARIABLES] + +# List of additional names supposed to be defined in builtins. Remember that +# you should avoid defining new builtins when possible. +additional-builtins= + +# Tells whether unused global variables should be treated as a violation. +allow-global-unused-variables=yes + +# List of names allowed to shadow builtins +allowed-redefined-builtins= + +# List of strings which can identify a callback function by name. A callback +# name must start or end with one of those strings. +callbacks=cb_, + _cb + +# A regular expression matching the name of dummy variables (i.e. expected to +# not be used). +dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ + +# Argument names that match this expression will be ignored. +ignored-argument-names=_.*|^ignored_|^unused_ + +# Tells whether we should check for unused import in __init__ files. +init-import=no + +# List of qualified module names which can have objects that can redefine +# builtins. +redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 63d2325..1d71ad3 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -4,7 +4,7 @@ "name": "Linux", "includePath": [ "${workspaceFolder}/**", - "/opt/ros/galactic/include/**" + "/opt/ros/humble/include/**" ], "defines": [], "compilerPath": "/usr/bin/gcc", diff --git a/.vscode/settings.json b/.vscode/settings.json index b04318f..92828ed 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,17 +1,33 @@ { "python.autoComplete.extraPaths": [ - "/opt/ros/galactic/lib/python3.8/site-packages" + "/opt/ros/humble/lib/python3.10/site-packages", + "./src", + // Add type checking to srv files and msg files + "/home/trickfire/urc-2023/install/custom_interfaces/local/lib/python3.10/dist-packages" ], "python.analysis.extraPaths": [ - "/opt/ros/galactic/lib/python3.8/site-packages" + "/opt/ros/humble/lib/python3.10/site-packages", + "./src", + "/home/trickfire/urc-2023/install/custom_interfaces/local/lib/python3.10/dist-packages" ], + "python.defaultInterpreterPath": "python3", + "pylint.args": [ + "--rcfile=.pylintrc" + ], + "editor.codeActionsOnSave": { + "source.organizeImports": "explicit" + }, + "[python]": { + "editor.defaultFormatter": "ms-python.black-formatter", + "editor.formatOnSave": true + }, + "black-formatter.args": ["-l", "100"], "cmake.configureOnOpen": false, - "python.linting.enabled": true, - "python.linting.flake8Enabled": true, "cmake.sourceDirectory": "${workspaceFolder}/src/hello_world", - "[python]": { - "editor.defaultFormatter": "ms-python.autopep8" + "files.associations": { + "*.tcc": "cpp" }, - "python.formatting.provider": "none", - "ros.distro": "humble" + "editor.rulers": [ + 100 + ] } \ No newline at end of file diff --git a/README.md b/README.md index de09693..c4e099e 100644 --- a/README.md +++ b/README.md @@ -1,22 +1,28 @@ # Trickfire Robotics University Rover Challenge Software -Software developed by [Trickfire Robotics'](https://www.linkedin.com/company/trickfire-robotics/) for the Mars' Society [University Rover Challenge](https://urc.marssociety.org/), written for [ROS2](https://design.ros2.org/articles/why_ros2.html). +Software developed by [Trickfire Robotics'](https://www.trickfirerobotics.org/) for the Mars' Society [University Rover Challenge](https://urc.marssociety.org/), written for [ROS2](https://design.ros2.org/articles/why_ros2.html). -## Getting Started -We develop using [Docker](https://en.wikipedia.org/wiki/Docker_(software)) and [Visual Studio Code](https://code.visualstudio.com/). Docker containers keep the development environment well-defined and repeatable: no more mysterious missing dependencies. VS Code is a customizable text editor that has extensions for Docker and all of our programming languages. +We develop using [Docker](https://en.wikipedia.org/wiki/Docker_(software)) and [Visual Studio Code](https://code.visualstudio.com/). Docker containers keep the development environment well-defined and repeatable: no more mysterious missing dependencies. -A new member with no clue what to do? Get started [here!](./docs/getting_started.md) +## `Getting Started` +**A new member with no clue what to do? Go read the [getting_started.md](./docs/getting_started.md) docs!** -Already know how ROS, Git, and Docker work? Then setup your workspace! [Windows](docs/install_on_windows.md) | [Linux](docs/install_on_linux.md) +Already know how ROS, Git, and Docker work? Then setup your workspace! [Windows](docs/install_on_windows.md) | [Linux](docs/install_on_linux.md) | [Mac](docs/installing_on_mac.md) -## Quick Reference (VS Code) -Open/close the terminal in VS Code with `` Ctrl+` `` (backtick `` ` `` is on the same key as tilde `~`). +Read how the codebase is organized by reading the [code_overview.md](./docs/code_overview.md) docs. + +Make sure you understand how to format your Python code. Go read the [formatting.md](./docs/formatting.md) docs. + + + +## `Quick Reference (VS Code)` +Open/close the terminal in VS Code with `` Ctrl + ` `` (backtick `` ` `` is on the same key as tilde `~`). | Action | Terminal command | VS Code shortcut | | ------------------ | ---------------- | ----------------------------------------- | | Build all packages | `./build.sh` | `Ctrl+Shift+B` | -| Test all packages | `./test.sh` | `Ctrl+P`, type `task test`, press `Enter` | | Launch nodes | `./launch.sh` | | | Build Docker Image | `./build_only_docker.sh` | | Launch Docker Image| `./launch_only_docker.sh`| +| Connect to Docker Container | `./connect_to_container.sh` Where available, use the VS Code shortcuts because they come with in-editor features such as problem matchers. \ No newline at end of file diff --git a/build_only_docker.sh b/build_only_docker.sh deleted file mode 100755 index d1678b7..0000000 --- a/build_only_docker.sh +++ /dev/null @@ -1,3 +0,0 @@ -#Build the docker image with the name "trickfireimage", and define the context of this build to be -#the urc-2023 directory while refering the Dockerfile in .devcontainer -docker build -t trickfireimage -f .devcontainer/Dockerfile . \ No newline at end of file diff --git a/connect_to_container.sh b/connect_to_container.sh new file mode 100755 index 0000000..a41b5f9 --- /dev/null +++ b/connect_to_container.sh @@ -0,0 +1,2 @@ +#Connect to trickfirerobot container +sudo docker exec -it trickfirerobot /bin/bash \ No newline at end of file diff --git a/container_launch.sh b/container_launch.sh new file mode 100755 index 0000000..e85c327 --- /dev/null +++ b/container_launch.sh @@ -0,0 +1,80 @@ +# /bin/bash + +# A script file `./container_launch.sh` that handles connecting to the `trickfirerobot` Docker container. + +# You can add the following flags to the shell script: +# `-b` -> Force build the `trickfireimage`, even if it exists +# `-n` -> Force the `trickfireimage` image to be built without cache +# `-c` -> Force create the `trickfirerobot` container, even if it exists + +text_helper="TRICKFIRE DOCKER LAUNCH" +trickire_container="trickfirerobot" +trickfire_image="trickfireimage" + +# Colors +bold=$(tput bold) +BLUE='\033[0;34m' +NC='\033[0m' # No Color + +b_flag='' # Force build docker container "-b" +no_cache_flag='' # Build docker container without cache "-n" +c_flag='' # Force create container "-c" + +# Read the flags, if any were passed +while getopts 'bnc' flag; do + case "${flag}" in + b) b_flag='true' ;; + n) no_cache_flag='true' ;; + c) c_flag='true' ;; + *) break ;; + esac +done + +# --- Shutdown the current trickfirerobot container if it is running +if [ "$( docker container inspect -f '{{.State.Running}}' ${trickire_container} )" = "true" ]; then + echo -e "${BLUE}$(tput bold)[${text_helper}] Shutting down current \"${trickire_container}\" container${NC}" + docker container kill ${trickire_container} +fi + +# --- Handle the Docker image --- + +# If the image does NOT exist OR we force the image to be built +if [ -z "$(docker images -q ${trickire_container}:latest 2> /dev/null)" ] || [ "$b_flag" = true ]; then + # Should we build without cache? + if [ "$no_cache_flag" = true ]; then + echo -e "${BLUE}$(tput bold)[${text_helper}] Building \"${trickire_container}\" without cache${NC}" + docker build --no-cache -t ${trickire_container} -f .devcontainer/Dockerfile . + else + echo -e "${BLUE}$(tput bold)[${text_helper}] Building \"${trickire_container}\" with cache${NC}" + docker build -t ${trickire_container} -f .devcontainer/Dockerfile . + fi +else + echo -e "${BLUE}$(tput bold)[${text_helper}] Image \"${trickire_container}\" exists. Skipping${NC}" +fi + + +# Handle the Docker image + +# If the container does NOT exist OR we force the container to be built +if [ ! "$(docker ps -a -q -f name=${trickire_container})" ]; then + echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"${trickire_container}\" does not exist. Creating${NC}" + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name ${trickire_container} -it --privileged --network=host --workdir /home/trickfire/urc-2023 ${trickire_container} +else + echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"${trickire_container}\" does exist${NC}" + # Should we remake the container? + if [ "$c_flag" = true ]; then + echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfire exists. Forcing removal and creation of a new \"${trickire_container}\" container${NC}" + docker container rm ${trickire_container} + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name ${trickire_container} -it --privileged --network=host --workdir /home/trickfire/urc-2023 ${trickire_container} + + fi +fi + +#Start the container +echo -e "${BLUE}$(tput bold)[${text_helper}] Starting \"${trickire_container}\" container${NC}" +docker container restart ${trickire_container} + +# Have the container take over the shell that executed this script +echo -e "${BLUE}$(tput bold)[${text_helper}] Connecting to \"${trickire_container}\" container${NC}" +docker exec -it ${trickire_container} /bin/bash +echo "" \ No newline at end of file diff --git a/docs/can_moteus.md b/docs/can_moteus.md index 0bbec6a..29019e4 100644 --- a/docs/can_moteus.md +++ b/docs/can_moteus.md @@ -2,101 +2,52 @@ ## **What is it?** -This is a **ROS Node** that is responsible for communication between the [**Moteus motor controllers**](https://github.com/mjbots/moteus) (via a FDCAN/CAN Bus) and **ROS** that the rest of the codebase is written in. +This is a **ROS Node** that is responsible for communication between the [**Moteus motor controllers**](https://github.com/mjbots/moteus) (via a CAN-FD Bus) and **ROS**, which the rest of the codebase is written in. -Motors are created that represent their real-life counterparts. Each motor subscribes to a topic that contains data for the motors to use depending on the motor's mode; i.e. a motor in VELOCITY mode would subscribe to data that would set that motor's velocity. Each motor can publish data to the ROS network that it reads from the Moteus controllers depending on what data the programmer wanted that motor to publish. +Motors are created that represent their real-life counterparts that are connected to a Moteus controller. Each motor has both a subscriber that gets data from the rest of the codebase (position, velocity, etc), and a publisher that sends data from the motor to the rest of the codebase (torque, power usage, voltage, etc). The data contained in these topics is a String in the format of a JSON. -The only structure in the whole codebase that should be directly sending data for these motors to subscribe to is the [`RobotInterface`](../src/interface); see [`code_overview.md`](./code_overview.md) for a diagram. +The only two structures in the whole codebase that should be directly sending and reading JSONs to the `can_moteus` are `RobotInterface` and `RobotInfo`. See [`code_overview.md`](./code_overview.md) for a diagram. -## **How to use it** - -### **Adding a Motor in Code** -As each Moteus controller is connected to **only a single** motor, each motor is represented as a [`MoteusMotor`](../src/can_moteus/can_moteus/moteus_motor.py) object. However, the [`MoteusMultiprocess`](../src/can_moteus/can_moteus/moteus_multiprocess.py) object, of which only one should exist, handles these `MoteusMotors`. As such, motors are added via the `MoteusMultiprocess` object inside [`ros_moteus_bridge.py`](../src/can_moteus/can_moteus/ros_moteus_bridge.py). - -To create a motor, we need to pass in the following parameters in this order: -- The CAN ID of the motor. This is an **integer** -- The name of the motor. This is a **String** -- The motor mode. This is a **moteus_motor.Mode** -- A list of data to publish to the ROS network. This is an **array of moteus.Register** -Here is an example of adding a motor +## **How to use it** +In order to add a new motor, make sure that the motor has a Moteus controller connected to it and is on the same CAN-FD bus. Modify `ros_moteus_bridge.py` in order to add a motor under the `createMoteusMotors()` method - see the following example: ``` -moteusPubList = [moteus.Register.VELOCITY, moteus.Register.POSITION] - -moteusMultiprocess.addMotor( - 3, - "topmotor", - moteus_motor.Mode.VELOCITY, - moteusPubList, -) +self.threadManager.addMotor(, "NAME OF MOTOR") ``` -This motor has a CAN ID of **three** with the name **"topmotor"**. The motor is running in **VELOCITY** mode, and as such expects incoming data intended for the motor to set its velocity in Moteus units. Each time the motor reads data from the Moteus controller, it will publish its **VELOCITY** and **POSITION** values to the ROS network in Moteus units. - - -### **Inputs** - -When a motor is created, it will create a ROS subscriber to the following topic: - -```__from_robot_interface``` - -For example, using the motor above, it would subscribe to the topic of: - -```/topmotor_velocity_from_robot_interface``` - -The data sent to this topic will control the particular motor that it is sent to. Keep in mind that this data has to be formatted in Moteus units. - -Every cycle (every 0.02 seconds), the motor will send the last recieved data to send to the Moteus controller. The default is a value of **zero.** -**NOTE: All subscribers and publishers handle data in std_msgs.msg.Float32** +That's it. Simple as. Simple is. -### **Outputs** -When a motor is created, it will publish to the following topic(s) depending on the **moteus.Register array** that was passed in. The topic is in the following format: +## **JSON Data** +There are two ways to communicate to the Moteus controllers using JSON, one for input and one for output. -```__from_can``` +### Input [`moteus_data_in_json_helper.py`](../src/utility/moteus_data_in_json_helper.py) +The data contained here is used to set the data that the motor should be sending to the Moteus controller. By default, everything is set to `None` with the exception of `setStop`, which is set to `True`. The parameter `setStop` disables the controller, thus allowing the motor to freely spin. -For example, using the motor above, it would publish to the topics of: +### Output [`moteus_data_out_json_helper.py`](../src/utility/moteus_data_out_json_helper.py) +The data contained here is used to set the results from the Moteus motors. By default, all variables are set to `None`. This should be used by the `RobotInfo` to process the raw data. -```/topmotor_velocity_from_can``` - -```/topmotor_position_from_can``` - -Every cycle (every 0.02 seconds), the motor would read data it recieved from the Moteus controller and publish it. - -**NOTE: All subscribers and publishers handle data in std_msgs.msg.Float32** - -**NOTE: The data that can be sent must match up exactly to the data that the Moteus controllers send back; which is precisely the values from [`moteus.Register`](https://github.com/mjbots/moteus/blob/38d688a933ce1584ee09f2628b5849d5e758ac21/lib/python/moteus/moteus.py#L148)!** - -## **What is a Moteus Unit?** - -The documentation for the Moteus units are found [here](https://github.com/mjbots/moteus/blob/main/docs/reference.md#a2-register-usage). Each type of data has different units, so keep that in mind. +Note: All data **must** be in the units that the Moteus controller expects. Reference the Moteus documentation on their Github to find these units. ## **Deep Dive - How is `can_moteus` Implemented?** +The Moteus library uses Python's [asynchronous I/O](https://docs.python.org/3/library/asyncio.html) features, but ROS does not work well with Python's async. As such, we make a new thread ([`moteus_thread`](../src/can_moteus/can_moteus/moteus_thread_manager.py)) to handle the async functions in parallel with the ROS thread. -### **Overview** -The core idea is that there are two distinct Python processes running that communicate with each other via several different multiprocess queues. The first process is the "main" process where ROS lives and does whatever it needs to do. The second process is started by us and is used to send and read data to the Moteus controllers. +The user adds new motors by calling the `addMotor()` method in the `MoteusThreadManager` class. `MoteusThreadManager` then creates a `MoteusMotor` object that is mapped to the name given to the motor by `addMotor()`. -### **Queue From Motors to Moteus Multiprocess** +When the user calls `self.threadManager.start()`, the `MoteusThreadManager` creates a new `Thread` object with the name `"moteus_thread"`. This thread points to the method `threadEntry` which creates and executes the asynchronous loop. -Each motor's callback function for their subscribers writes to the `_queueToMoteus` queue (created in `moteus_multiprocess.py`), where only one such queue exists. As such, all motors share this queue. The data that is enqueued is an array of length two in the following format: +The main async loop initially calls the method `connectToMoteusControllers()` in order +to connect to the Moteus controllers. Inside of this method we create a `moteus.Controller` object which comes from the Moteus library allowing us to interact with the motor controller. We call the controller's `query()` method with a timeout - if it takes longer for the method to return than the timeout, we assume that we do not have connection to the controller. If it does return, we map this `moteus.controller` object to the motor name given in `addMotor()`. -``` -[0] = CANID -[1] = data (position, velocity, etc) -``` +In the main async loop, we go through each key-value pair of the `_nameToMoteusController` dictionary. We try to `query()` the motor, and if a timeout occurs we remove this motor from the dictionary and notify the user in the cmd. If it passes this, we check for any faults from the result of this query. When a fault does exist, we print it out and try to `set_stop()` the motor. If stopping the motor fails, we remove the motor from the dictionary. After these checks pass, we send the data found in the `_nameToMoteusMotor` dictionary to the Moteus controller. The results returned are then published to the ROS network via the shared `MoteusMotor` object. -### **Queue From Multiprocess to Each Motor** -Each motor has its own multiprocess queue, `toPublisherQueue` that is created in `moteus_multiprocess.py`, which is then populated by the Moteus multiprocess for each corresponding motor. The type of data that is sent is dictated by the `moteusPubList` array as seen earlier in the example motor. The data that is enqueued is an array of length two in the following format: +The way we exit the async loop is having the ROS thread set the `_shouldMoteusThreadLoop` flag to false. We then go through the `_nameToMoteusController` one more time to call `set_stop()` on each of the motors. We can attempt to reconnect to the moteus motors by setting the `_shouldReconnect` flag to false as well. -``` -[0] = moteus.Register -[1] = data (position, velocity, voltage, current, etc) -``` +Here is a diagram showing off the structure of this package. + +Note 7/2/2024: The mutex is not implemented correctly - as in it protects nothing and essentially does nothing. -### **The Multiprocess Cycle** -Each cycle, 0.02 seconds, the Moteus multiprocess reads the head of the `_queueToMoteus` and updates the set value for the target motor. It then goes through each motor that was succesfully connected to the CAN/CANFD bus and sends their set data. At the same time, it recieves information about the Moteus controller and populates each motor's `toPublisherQueue`. -Here is a diagram of the process: +![Can Moteus Overview](can_moteus_overview.png) -![what](./resources/moteus_docs.png) \ No newline at end of file diff --git a/docs/can_moteus_overview.png b/docs/can_moteus_overview.png new file mode 100644 index 0000000000000000000000000000000000000000..e451053912d6a856830f2f3addce45d9570da0aa GIT binary patch literal 83907 zcmeFYcR1T$_&1)aQB`!(Qlpbr(bgU*s!HveMU4*BNbDdstqwI>)QnNYNUb7B%+@F> zMi3-HYm3;#3eP+Je4p!je%JN;>8XK0<*^+5&sc!(+1<4) zyg(qXpNxM;+T99Xf>#nXF*mB_syFGG4msRY(kQviU(xSISr|w6D(@1-iFMN-JdL6^Fqylv^& z^+hk*MXW@w0!Hc8p6B!uOnd#*-;3GTd;F=JQ?~Do>4}MDcJtosu=A$Oghc60$~u z_qqjhSHVA|M@enA+{Jv=_a>Ap*rLs2J+057i%033q10}LkD=>|cnX>P9B}Qdfm;Xd z-{QiWH(hv$wXeGSk}tg>SD*jii)AI}fwyDYd_J|Qocn7fdf0PxxYG((Mqp+pms;x&WS8l!S{i?@1J8rt$ z+=!Ug!`tz>*N$h+##>d3GQrRICgB@kMeFMC+UAA9e=_-gI1P`ueSTJyF< 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**`robot_interface`** -This is responsible for converting human units into Moteus units that the Moteus controllers can understand. This is **not** a ROS Node, and instead will be an object that **takes in** a ROS Node to subscribe to data published by `can_moteus`. There are a long list of methods that correspond to the functionality of the rover; i.e. `setBottomArmMotorAngle(123)` would set the angle of the bottom motor of the arm to 123 degrees. +2. **The interface** -> This deals making it easy to interact with the rover by exposing functions such as `runMotor()` or `getMotorState()` -### **Robot Functionality** +3. **High-level code** -> This implements the subsystems found on the rover. It directly talks to the interface in order to get the rover to physical do things. +Notice how the high-level code does not care about the hardware, thus making it easier to focus on the **algorithms** rather than fighting the hardware. -### **`antenna`** -This is responsible for always pointing the robot antenna towards the base station's antenna to secure the strongest WiFi signal. +![Code Funnel](./resources/code_funnel.png) -### **`drivebase`** -This is responsible for implementing *how* a drivebase should work depending on user input. +## `Mission Control` +The mission control is a piece of software that allows us to interact with the rover over a browser as it is written in Vue.js/Typescript. +Cameras, controller input, telemetry data, controlling motors, life-detection results, and so on are all shown here. -Through a subscriber, it will recieve signals to when execute a high level control scheme: "move left side", "move right side", "move forwards", etc. +A very important concept is that the mission control acts as a **CLIENT** when sending and getting data from the rover. This means that the mission control +should never represent the current state of the rover. The mission control reads from the rover, not the other way around. For example, you should not represent what mode the arm is in (individual motor control, disabled, inverse kinematics, etc) +in the mission control! -### **`arm`** -This is responsible for controlling the arm via high level control schemes using inverse-kinematics. - -### **`life_detection`** -This detects life somehow. The physical design is still in progress - -### **Base Station** -### **`mission_control`** -This will host a webpage through sockets utilizing rosbridge to expose ROS-like behavior. The webpage will display information about the rover in addition to video output. The webpage will also sent controller input to the ROS network. - -### **Miscellaneous** - -### **`viator_launch`** -This launches all of the ROS nodes in our code. If you want to add a node, make sure to update the [`robot.launch.py`](../src/viator_launch/launch/robot.launch.py) and the [`package.xml`](../src/viator_launch/setup.py) files. - -### **`can`** -This is responsible for using the CANOpen protocol using the [ros2_canopen](https://github.com/ros-industrial/ros2_canopen) library to communicate between a few parts of the rover which cannot use the moteus controllers. - - -### **`monitering`** -This is planned to be utilized as a logging system. This might or might not be removed +One very good thing about the mission control is that it has access to the ROS network, which allows us to use subscribers, publishers, and services. All data that +is sent between the rover and the mission control are ROS services. The mission control requests and the rover responds. Using services will also allow us to +determine if data was dropped while transmitting across the Utah desert. +## `Quick Description of the Packages` +### `arm ("high-level")` +Implements the arm in different control types such as individual motor control (via velocity or position), inverse kinematics, and so on. +### `can_moteus ("low-level")` +Interacts with the Moteus Field Oriented BLDC motor controllers. This code is able to update the motor controller configs, send data to the motor, read data from the motor, +and handle CAN-FD bus issues. +### `custom_interfaces (misc)` +This code is used to create custom publisher/subscriber and service payloads. +### `lib (misc and "the interface")` +Contains commonly used functionality throughout the codebase. This is the home to "the interface" code as well under the folder `\interface` +### `viator_launch (misc)` +This code launches all ROS nodes found in our codebase. It is analogous to the `main()` entry point functions in most programming languages. +## `Putting It All Together` +![Code Overview](./resources/code_overview.png) diff --git a/docs/formatting.md b/docs/formatting.md new file mode 100644 index 0000000..3ec0aca --- /dev/null +++ b/docs/formatting.md @@ -0,0 +1,173 @@ +# Formatting +To make the code in this repo more consistent, formatting guidelines have been established, and +VSCode will be *very* mad at you if you break the formatting guidelines. Nearly everything is +handled for you by the [black](https://black.readthedocs.io/en/stable/the_black_code_style/index.html) +code formatter. + +However there are some things you will still have to worry about: + +## Naming +Here are the naming formats and objects they should be used on +- snake_case + - parameters, variables, file names +- UPPER_CASE_SNAKE + - constants (variables whose values shouldn't change) +- camelCase + - methods +- PascalCase + - classes + +## Private Classes, Methods, and Attributes +Python doesn't have access modifiers, but you can indicate to other developers not to touch specific +objects by prefixing their name with an underscore: `_myPrivateMethod()`. This goes the other way: +if something is prefixed with an underscore, don't use it unless you're 100% sure what it does. + +## Type Hinting +Python isn't a strongly typed language, meaning anything can be any type. However, in this repo +some typing is enforced. This is just to make development easier, as typing let's VSCode generate +autofill, meaning less needs to be memorized and typed. This can also reduce the risk of thinking +something is one type, when it is another type. + +There are only a few spots where you will need to type hint: + +### Method Definitions +Methods will need their return type defined and the types of its parameters defined. + +`cls` and `self` will not need to be typed. `__init__()` should just return `None`. + +Here is an example of a typed method: +```py +def moveArm(arm_id: int, target_position: float) -> ArmState: + pass + +def moveArms(arm_ids: list[int], target_positions: list[float]) -> list[Armstate]: + pass +``` + +### Attributes +Most of the time VSCode can figure out the type of attributes, but sometimes it will need help. +Usually on optional/possibly `None` attributes and any collections like `list` or `dict`. + +Here is how to type attributes: +```py +def __init__(self, manager: Manager, arms: list[Arm]) -> None: + # VSCode can figure out the type itself + self.height = 0.0 + self.manager = manager + self.arms = arms + + # VSCode needs some help + self.state: State | None = None + self.arm_ids_to_arm: dict[int, Arm] = {} +``` + +## Comments +Please comment your code. We're begging you. Please. + +## Documentation +Documentation for all classes, modules, and public methods is required! There aren't super strict +guidelines for what to write, but the next section contains a general overview of what's +recommended. + +> Remember to limit the length of your lines to 100 columns! + +### Modules +Modules in Python are a complicated thing, but for the purposes of this document, just think of them +as the `.py` file you write your code in. + +In your documentation, include +- The general purpose of the module +- The class(es) within the modules + - A brief overview of those classes + +### Classes +In your documentation, include +- The purpose of the class +- Usage examples (if needed) +- What contexts the class should be used +- Anything your class assumes to be true + +### Methods +Methods prefixed with an underscore do not need documentation. + +In your documentation, include +- What your method does +- What each parameter is for +- What your method returns + +### Attributes +Documentation for attributes isn't required, but may be helpful in some cases. + +In your documentation, include +- What your attribute stores +- What the value of the attribute is used for +- What changing the value may do + +## Example +All in all, a fully documented, type hinted, and formatted file should look like this: +```py +""" +This module contains classes relating to the operation and use of Bananas. It includes +`Banana`, `BananaPortion`, and `BananaEating`. They represent a whole banana, a portion of a banana, +and the process of eating a banana respectively. +""" +class Banana: + """ + `Banana` represents a whole banana that can be eaten in portions by `BananaEating`. + """ + + def __init__(self, portions: list[Banana]) -> None: + """ + Initializes a Banana object. + + Parameters + ----- + portions: list[Banana] + The portions this banana represents. + """ + + # Don't use me! This is a private attribute + self._portions = portions + + def getPortions(self) -> list[BananaPortion]: + """ + Returns a list of `BananaPortion` containing the portions this banana represents. + + Returns + ------ + A list of `BananPortion` containing the portions this banana represents. + """ + return self._portions + + +class BananaPortion: + """ + `BananaPortion` represents a portion of a whole banana. It can be eaten by `BananaEating`. + """ + + def __init__(self, banana: Banana) -> None: + self.banana = banana + + +class BananaEating: + """ + `BananaEating` represents the action of eating a banana. It is meant to be used alongside + `BananaPortion`. This class is asynchronous, and thus should NOT be used in a `Node` thread. + """ + + def __init__(self, portion: BananaPortion) -> None: + self.portion = portion + """ + The portion portion of a banana this instance will eat. + """ + + # Doesn't need docs because it's marked as private! + def _eatInternal(self) -> None: + pass + + def eat(self) -> None: + """ + Eats the portion of banana in the `portion` attribute of this class. + """ + pass +``` \ No newline at end of file diff --git a/docs/getting_started.md b/docs/getting_started.md index 1f88ce8..bfa0baf 100644 --- a/docs/getting_started.md +++ b/docs/getting_started.md @@ -36,7 +36,10 @@ Github is a website that allows us to have a Git repository that lives on the cl If you have no clue what commands to use for Git, go [here](https://learngitbranching.js.org/?locale=en_US) to learn! Just a couple of lessons are enough to understand how it works. ## **Documentation** -All of the documentation for this codebase is stored inside this `docs` folder. Here, you will find a markdown file for each ROS Node (packge/folder) under the `src` folder that explains its workings in more detail. +All of the documentation for this codebase is stored inside this `docs` folder. Here, you will find a markdown file for each ROS Node (packge/folder) under the `src` folder that explains its workings in more detail. You will also find some other general documentation in there. ## **What Should I do Now?** -After reading this document, you should follow the instructions for [install_on_windows.md](./install_on_windows.md) if you will be developing code on a Windows machine or [install_on_linux.md](./install_on_linux.md) if you will be developing on Linux. +Checkout the [code_overview.md](./code_overview.md) to understand how the codebase is structured. Also take a look at the (formatting.md)[./formatting.md] document to make sure that your code is readable and well maintained. + +After reading this document, you should follow the instructions for installing on [Windows,](./install_on_windows.md), installing on [Mac](./installing_on_mac.md), or installing on [Linux](./install_on_linux.md) + diff --git a/docs/install_on_linux.md b/docs/install_on_linux.md index 3ded274..35e9a68 100644 --- a/docs/install_on_linux.md +++ b/docs/install_on_linux.md @@ -80,3 +80,6 @@ If you close VS Code and reopen it later, it will try to reopen `urc-2023` in a To leave the container (to work on other projects), run **Remote: Close Remote Connection** from the Command Palette or click the green Remote button in the bottom-left and select **Close Remote Connection**. You can always re-enter the container with that green button (**Open Folder in container** > `urc-2023`). + +### Building and Testing +To build you can simply run the `./build.sh` command in the Visual Studio Code console. Similarly to launch the code or run tests you can run the `./test.sh` and `./launch.sh`. \ No newline at end of file diff --git a/docs/install_on_windows.md b/docs/install_on_windows.md index e433d6a..ba571a3 100644 --- a/docs/install_on_windows.md +++ b/docs/install_on_windows.md @@ -71,25 +71,25 @@ The tilde `~` is shorthand for your `$HOME` directory (`/home/yourusername`) in ## Docker Desktop Install [Docker Desktop for Windows](https://www.docker.com/products/docker-desktop). If you already have it, update it, and make sure it uses the WSL2 backend (Docker Desktop > Settings > **Use the WSL 2 based engine**). If Docker Desktop fails to start, try deleting `%appdata%/Docker`. -Docker Desktop will offer you a tutorial - it's not necessary for setting up this repository. You can skip it if you want. +Docker Desktop will offer you a tutorial - it's not necessary for setting up this repository. You can skip it if you want. You also do not need a Docker account to use Docker, so skip that as well. In general, you can't work with containers if Docker isn't running on Windows. There will be a whale icon in the Windows system tray if Docker is running. You can enable/disable Docker auto-starting when you log in (Docker Desktop > Settings > General > **Start Docker Desktop when you log in**). ## Visual Studio Code Install [VS Code](https://code.visualstudio.com/). If you already have it, update it (Help > Check for Updates...). -We need a few VS Code extensions. Open the Extensions sidebar (`Ctrl+Shift+X`) and install **Remote - WSL** and **Remote - Containers** by Microsoft. VS Code may auto-detect software and offer to install extensions for you. +We need a few VS Code extensions. Open the Extensions sidebar (`Ctrl+Shift+X`) and install **WSL** and **Dev Containers** by Microsoft. VS Code may auto-detect software and offer to install extensions for you. ## Open `urc-2023` in VS Code You're almost there. -In VS Code, open the Command Palette (`Ctrl+Shift+P`), search for **Remote-WSL: Open Folder in WSL...** and run that command. A folder browser will pop up - find and select `urc-2023`. This folder browser is showing your WSL2 filesystem, not your Windows filesystem. +In VS Code, open the Command Palette (`F1`), search for **Open Folder in WSL...** and run that command. A folder browser will pop up - find and select `urc-2023`. This folder browser is showing your WSL2 filesystem, not your Windows filesystem. The folder browser might not put you into a familiar WSL2 directory. The correct absolute path should look like `Network > wsl$ > Ubuntu > home > your-linux-username > urc-2023`. If VS Code asks you if you trust the workspace authors, select **Yes, I trust the authors**. -After VS Code loads into WSL2, a notification will tell you that it noticed a Dev Container configuration file. Click the **Reopen in Container** option. If you miss the notification, you can search **Remote-Containers: Reopen in Container** in the Command Palette. +After VS Code loads into WSL2, a notification will tell you that it noticed a Dev Container configuration file. Click the **Reopen in Container** option. If you miss the notification, you can search **Reopen in Container** in the Command Palette. **You're ready to develop now!** 🥳 @@ -103,3 +103,6 @@ Make sure Docker is running (check for the whale icon 🐳 in the system tray) o To leave the container (to work on other projects), run **Remote: Close Remote Connection** from the Command Palette or click the green Remote button in the bottom-left and select **Close Remote Connection**. You can always re-enter WSL2 then reopen in a container with this green button (**Open Folder in WSL** > `urc-2023` > **Reopen in Container**). + +### Building and Testing +To build you can simply run the `./build.sh` command in the Visual Studio Code console. Similarly to launch the code or run tests you can run the `./test.sh` and `./launch.sh`. \ No newline at end of file diff --git a/docs/installing_on_mac.md b/docs/installing_on_mac.md index 85b2b59..fbaf718 100644 --- a/docs/installing_on_mac.md +++ b/docs/installing_on_mac.md @@ -144,3 +144,6 @@ If you close VS Code and reopen it later, it will try to reopen `urc-2023` in a To leave the container (to work on other projects), run **Remote: Close Remote Connection** from the Command Palette or click the green Remote button in the bottom-left and select **Close Remote Connection**. You can always re-enter the container with that green button (**Open Folder in container** > `urc-2023`). + +### Building and Testing +To build you can simply run the `./build.sh` command in the Visual Studio Code console. Similarly to launch the code or run tests you can run the `./test.sh` and `./launch.sh`. \ No newline at end of file diff --git a/docs/python_creating_a_new_node.md b/docs/python_creating_a_new_node.md new file mode 100644 index 0000000..f263f40 --- /dev/null +++ b/docs/python_creating_a_new_node.md @@ -0,0 +1,110 @@ +# Creating a New Node +This will help you create a new node package, set up any dependencies, and get your node to be launched with the rest of the codebase. + +## `Creating a Package` +1. Make sure you are inside your Docker container. See [getting_started.md](./getting_started.md) if you do not know how + +2. Change your directory to `/src` +First determine what directory you are currently in using `pwd` (print working directory). + + Type `ls` (list) to determine what files and directories are in your current working directory +Type `cd ` (change directory) in order to move into a directory, aka a folder + + Do this until you reach `/urc-2023/src` + +3. Create a new Python node package +Run the following command `ros2 pkg create --build-type ament_python ` + + I ran `ros2 pkg create --build-type ament_python example_node` + +## `Setting Up the Node` +4. Make a new Python file under your node's src location. Call it whatever you want, I called it `example.py` + + For me it is under `src/example_node/example_node`. Yes, it is a bit funky why + the two directories have the same name. ¯\\\_(ツ)\_/¯ + +5. Remove the `test_flake8.py` and `test_pep257.py` files under your node's `/test`. We have another linter, so these would interfere + + For me it was in `src/example_node/test` + +6. Open up the `setup.py` file. Leave it open for now, we will get to it later + +## `Writing a Basic Node to Say "Hello World"` +7. You will need to import the ROS Python library, create a class representing your node, create an entry point, and write code to "gracefully-ish" shutdown the node when we press `ctrl-c`. Make sure to read the [formatting.md](./formatting.md) document to make sure you are writing good readable code. + + An important detail to remember is the name of your node: + + `super().__init__("this_is_the_name_of_the_node")` + +``` +import sys + +import rclpy +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node + +from lib.color_codes import ColorCodes, colorStr + + +class ExampleNode(Node): + + def __init__(self) -> None: + super().__init__("my_example_node") + self.get_logger().info(colorStr("Launching example_node node", ColorCodes.BLUE_OK)) + + +def main(args: list[str] | None = None) -> None: + rclpy.init(args=args) + try: + example = ExampleNode() + rclpy.spin(example) + except KeyboardInterrupt: + pass + except ExternalShutdownException: + example.get_logger().info(colorStr("Shutting down example_node node", ColorCodes.BLUE_OK)) + example.destroy_node() + sys.exit(0) +``` + +## `Adding to the List of Launch-able Nodes` +8. Go back to your `setup.py` file. Look at the `console_scripts`, it should look this right now + + ` 'console_scripts': [],` + + Add an entry that points towards your `main()` function found in your Python file that you added. The syntax is the following + + `'console_scripts': [" = .:main"],` + + For me it would be this: + + `'console_scripts': ["myExampleNode = example_node.example:main"],` + +9. Open the file `robot.launch.py` under the folder `/src/viator_launch`. Create a new variable to store your node. The `package` parameter should be the same name as your node package name. The `executable` parameter should be the variable name you chose in the `setup.py` file. The `name` is the name of your node you wrote in the code in the `super().__init__()` method step 7. + + For me, I wrote the following. + + `example_node = Node(package="example_node", executable="myExampleNode", name="my_example_node")` + +11. In the same `robot.launch.py` file, add it to the array in the `generate_launch_description()` function. + + ``` + def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name + return launch.LaunchDescription( + [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node, example_node] # <- I added it to the end of the array + ) + ``` + +12. In the `/src/viator_launch` folder, open up the `package.xml` file. Add a new `` entry to tell that your package should be included during build. The content is the name of your node package. + + For me it is this. + + `example_node` + +## `Build and Execute Code` +12. All while in the Docker container, execute the shell scripts `./build.sh` and `./launch.sh` in the command line. You might have to delete the `/build` and `/install` folders. + +13. Congrats, you have made a new node ! Yippie! 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z8G76eYW>j%K|kjnVdxur9{ytLsE*`50Qy;1FVruI(-T}+*JdXgval5?zP^*`rRH5E z=p}PW?|rTNc2lX0m%u9?vkYo4J8Xl{y3- zuJZW}F~)I*G4}{y5a=LJ?qX6d0fS(OF$i!LgO5M5(+}KWRD1MU8D&4Bw*1>?N>6q$ znNtkrOUst%HYe^KIIyAQ!sDq=%#vUlP#7Kt4^W?lsQ59qV^N?PG=_X)228f*C$jpb z%N}jFXi8oId{s0>O0aB-dlrm>$zzOTz!uFPV+FyW3Lxo#4O*Eh?N2(6+|*eIKN24V zfJYvH&Hdx+94&(uu%{{eDAs(Ana diff --git a/launch.sh b/launch.sh index 7459dec..aa11a7a 100755 --- a/launch.sh +++ b/launch.sh @@ -3,4 +3,13 @@ source /opt/ros/$ROS_DISTRO/setup.bash source /home/trickfire/urc-2023/install/setup.bash -ros2 launch viator_launch robot.launch.py & ros2 launch rosbridge_server rosbridge_websocket_launch.xml +#modprobe can +#modprobe can_raw +#modprobe mttcan +#ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on +#ip link set can0 up + +# Add to the python import pathes. Not the best, but will work for now +export PYTHONPATH="/home/trickfire/urc-2023/src/:$PYTHONPATH" + +ros2 launch viator_launch robot.launch.py & ros2 launch rosbridge_server rosbridge_websocket_launch.xml \ No newline at end of file diff --git a/launch_only_docker.sh b/launch_only_docker.sh deleted file mode 100755 index 3d8257a..0000000 --- a/launch_only_docker.sh +++ /dev/null @@ -1,3 +0,0 @@ -#Bind the host machine's urc-2023 root folder to the container's target path. -#Launch the "trickfireimage" image by giving shell control over to the container -docker run --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" -it --privileged -e "DISPLAY=$DISPLAY" -v "$HOME/.Xauthority:/root/.Xauthority:ro" --network host trickfireimage diff --git a/mypy.ini b/mypy.ini new file mode 100644 index 0000000..1b6f265 --- /dev/null +++ b/mypy.ini @@ -0,0 +1,10 @@ +# Myyy is onloy being used to do type checking + +[mypy] +ignore_missing_imports = True +disable_error_code = attr-defined + +disallow_untyped_defs = True +disallow_incomplete_defs = True +check_untyped_defs = True +disallow_untyped_decorators = True diff --git a/src/arm/arm/ResponseStructure.srv b/src/arm/arm/ResponseStructure.srv new file mode 100644 index 0000000..688524b --- /dev/null +++ b/src/arm/arm/ResponseStructure.srv @@ -0,0 +1,3 @@ +int64 input +--- +int64 current_mode \ No newline at end of file diff --git a/src/executor_test/executor_test/__init__.py b/src/arm/arm/__init__.py similarity index 100% rename from src/executor_test/executor_test/__init__.py rename to src/arm/arm/__init__.py diff --git a/src/arm/arm/arm.py b/src/arm/arm/arm.py new file mode 100644 index 0000000..f99ab40 --- /dev/null +++ b/src/arm/arm/arm.py @@ -0,0 +1,85 @@ +import sys +from enum import IntEnum +from typing import Any + +import rclpy +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node +from std_msgs.msg import Int32 + +from custom_interfaces.srv import ArmMode +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs +from lib.interface.robot_interface import RobotInterface + +from .individual_control_vel import IndividualControlVel + + +class ArmModeEnum(IntEnum): + DISABLED = 0 + INDIVIDUAL_MOTOR_CONTROL_VEL = 1 + INDIVIDUAL_MOTOR_CONTROL_POS = 2 + INVERSE_KINEMATICS = 3 + + +class Arm(Node): + def __init__(self) -> None: + super().__init__("arm_node") + self.get_logger().info(colorStr("Launching arm_node", ColorCodes.BLUE_OK)) + + self.change_arm_mode_sub = self.create_subscription( + Int32, "update_arm_mode", self.updateArmMode, 10 + ) + + self.current_mode = ArmModeEnum.DISABLED + + self.mode_service = self.create_service(ArmMode, "get_arm_mode", self.modeServiceHandler) + + self.bot_interface = RobotInterface(self) + + self.individual_control_vel = IndividualControlVel(self, self.bot_interface) + + def modeServiceHandler(self, _: Any, response: ArmMode.Response) -> ArmMode.Response: + response.current_mode = int(self.current_mode) + return response + + def updateArmMode(self, msg: Int32) -> None: + self.current_mode = msg.data + + if self.current_mode == 0: + self.bot_interface.disableMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_ELBOW_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + + self.individual_control_vel.can_send = False + elif self.current_mode == 1: + self.individual_control_vel.can_send = True + elif self.current_mode == 2: + self.individual_control_vel.can_send = False + elif self.current_mode == 3: + self.individual_control_vel.can_send = False + + +def main(args: list[str] | None = None) -> None: + """ + The entry point of the node. + """ + + rclpy.init(args=args) + try: + node = Arm() + rclpy.spin(node) + + except KeyboardInterrupt: + pass + except ExternalShutdownException: + # This is done when we ctrl-c the progam to shut it down + node.get_logger().info(colorStr("Shutting down arm_node node", ColorCodes.BLUE_OK)) + node.destroy_node() + sys.exit(0) + + +if __name__ == "__main__": + main() diff --git a/src/arm/arm/individual_control_vel.py b/src/arm/arm/individual_control_vel.py new file mode 100644 index 0000000..dfefb52 --- /dev/null +++ b/src/arm/arm/individual_control_vel.py @@ -0,0 +1,197 @@ +from rclpy.node import Node +from std_msgs.msg import Float32 + +from lib.configs import MotorConfigs +from lib.interface.robot_interface import RobotInterface + + +class IndividualControlVel: + WRIST_VEL = 0.3 + VEL = 1.0 + + def __init__(self, ros_node: Node, interface: RobotInterface): + self._ros_node = ros_node + self.bot_interface = interface + + self.can_send = False + + # Left wrist motor + self.left_wrist_motor_sub = ros_node.create_subscription( + Float32, "left_wrist_cw", self.leftWristCW, 10 + ) + self.left_wrist_motor_sub = ros_node.create_subscription( + Float32, "left_wrist_ccw", self.leftWristCCW, 10 + ) + + # Right wrist motor + self.left_wrist_motor_sub = ros_node.create_subscription( + Float32, "right_wrist_cw", self.rightWristCW, 10 + ) + self.left_wrist_motor_sub = ros_node.create_subscription( + Float32, "right_wrist_ccw", self.rightWristCCW, 10 + ) + + # Elbow motor + self.elbow_up_sub = ros_node.create_subscription(Float32, "elbow_up", self.elbowUp, 10) + + self.elbow_down_sub = ros_node.create_subscription( + Float32, "elbow_down", self.elbowDown, 10 + ) + + # Shoulder motor + self.shoulder_up_sub = ros_node.create_subscription( + Float32, "shoulder_up", self.shoulderUp, 10 + ) + + self.elboshoulder_down_sub = ros_node.create_subscription( + Float32, "shoulder_down", self.shoulderDown, 10 + ) + + # Turn table + self.turntable_clockwise_sub = ros_node.create_subscription( + Float32, "turntable_cw", self.turntableCW, 10 + ) + + self.turntable_counter_clockwise_sub = ros_node.create_subscription( + Float32, "turntable_ccw", self.turntableCCW, 10 + ) + + def leftWristCW(self, msg: Float32) -> None: + if not self.can_send: + return + + joystick = msg.data + + if joystick > 0: + self._ros_node.get_logger().info("Left Wrist CW" + str(joystick)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_LEFT_WRIST_MOTOR, self.WRIST_VEL) + + else: + self._ros_node.get_logger().info("Left Wrist STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + + def leftWristCCW(self, msg: Float32) -> None: + if not self.can_send: + return + + joystick = msg.data + + if joystick > 0: + self._ros_node.get_logger().info("Left Wrist CCW" + str(joystick)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_LEFT_WRIST_MOTOR, -self.WRIST_VEL) + + else: + self._ros_node.get_logger().info("Left Wrist STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + + def rightWristCW(self, msg: Float32) -> None: + if not self.can_send: + return + + joystick = msg.data + + if joystick > 0: + self._ros_node.get_logger().info("Right Wrist CW" + str(joystick)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_RIGHT_WRIST_MOTOR, -self.WRIST_VEL) + + else: + self._ros_node.get_logger().info("Right Wrist STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + + def rightWristCCW(self, msg: Float32) -> None: + if not self.can_send: + return + + joystick = msg.data + + if joystick > 0: + self._ros_node.get_logger().info("Right Wrist CCW" + str(joystick)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_RIGHT_WRIST_MOTOR, -self.WRIST_VEL) + + else: + self._ros_node.get_logger().info("Right Wrist STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + + def elbowUp(self, msg: Float32) -> None: + if not self.can_send: + return + + data = msg.data + + if data > 0: + self._ros_node.get_logger().info("Elbow up" + str(data)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_ELBOW_MOTOR, -self.VEL) + + else: + self._ros_node.get_logger().info("Elbow down STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_ELBOW_MOTOR) + + def elbowDown(self, msg: Float32) -> None: + if not self.can_send: + return + + data = msg.data + + if data > 0: + self._ros_node.get_logger().info("Elbow down" + str(data)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_ELBOW_MOTOR, self.VEL) + + else: + self._ros_node.get_logger().info("Elbow down STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_ELBOW_MOTOR) + + def shoulderUp(self, msg: Float32) -> None: + if not self.can_send: + return + + data = msg.data + + if data > 0: + self._ros_node.get_logger().info("Shoulder up" + str(data)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_SHOULDER_MOTOR, -self.VEL) + + else: + self._ros_node.get_logger().info("Shoulder STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + + def shoulderDown(self, msg: Float32) -> None: + if not self.can_send: + return + + data = msg.data + + if data > 0: + self._ros_node.get_logger().info("Shoulder down" + str(data)) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_SHOULDER_MOTOR, self.VEL) + + else: + self._ros_node.get_logger().info("Shoulder STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + + def turntableCW(self, msg: Float32) -> None: + if not self.can_send: + return + + data = msg.data + + if data > 0: + self._ros_node.get_logger().info("Turntable clock wise") + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, self.VEL) + + else: + self._ros_node.get_logger().info("Turntable STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) + + def turntableCCW(self, msg: Float32) -> None: + if not self.can_send: + return + + data = msg.data + + if data > 0: + self._ros_node.get_logger().info("Turntable counter clock wise") + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, -self.VEL) + + else: + self._ros_node.get_logger().info("Turntable STOP") + self.bot_interface.stopMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) diff --git a/src/arm/package.xml b/src/arm/package.xml index d56ee9d..97ba82a 100644 --- a/src/arm/package.xml +++ b/src/arm/package.xml @@ -4,15 +4,17 @@ arm 0.0.0 TODO: Package description - trickfire + trickfire TODO: License declaration - ament_cmake + custom_interfaces - ament_lint_auto - ament_lint_common + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest - ament_cmake + ament_python diff --git a/src/executor_test/resource/executor_test b/src/arm/resource/arm similarity index 100% rename from src/executor_test/resource/executor_test rename to src/arm/resource/arm diff --git a/src/arm/setup.cfg b/src/arm/setup.cfg new file mode 100644 index 0000000..fd4e52c --- /dev/null +++ b/src/arm/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/arm +[install] +install_scripts=$base/lib/arm diff --git a/src/arm/setup.py b/src/arm/setup.py new file mode 100644 index 0000000..e475a24 --- /dev/null +++ b/src/arm/setup.py @@ -0,0 +1,23 @@ +from setuptools import find_packages, setup + +package_name = "arm" + +setup( + name=package_name, + version="0.0.0", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="trickfire", + maintainer_email="vladimirkupryukhin@gmail.com", + description="TODO: Package description", + license="TODO: License declaration", + tests_require=["pytest"], + entry_points={ + "console_scripts": ["arm = arm.arm:main"], + }, +) diff --git a/src/arm/src/my_node.cpp b/src/arm/src/my_node.cpp deleted file mode 100644 index bc707ca..0000000 --- a/src/arm/src/my_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -int main(int argc, char ** argv) -{ - (void) argc; - (void) argv; - - printf("hello world arm package\n"); - return 0; -} diff --git a/src/life_detection/test/test_copyright.py b/src/arm/test/test_copyright.py similarity index 74% rename from src/life_detection/test/test_copyright.py rename to src/arm/test/test_copyright.py index cc8ff03..95f0381 100644 --- a/src/life_detection/test/test_copyright.py +++ b/src/arm/test/test_copyright.py @@ -16,8 +16,10 @@ import pytest +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") @pytest.mark.copyright @pytest.mark.linter def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 791f55c..f92c21f 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -7,8 +7,10 @@ from pathlib import Path from std_msgs.msg import String -# returns a list of working camera ids to capture every camera connected to the robot -def get_cameras() -> list[int]: +""" +Function returns a list of working camera IDs to capture every camera connected to the robot +""" +def getCameras() -> list[int]: nonWorkingPorts = 0 devPort = 0 workingPorts = [] @@ -28,6 +30,7 @@ def get_cameras() -> list[int]: return workingPorts + class RosCamera(Node): def __init__(self, topicName: str, camera: int): @@ -41,14 +44,14 @@ def __init__(self, topicName: str, camera: int): # Create a subscription to read 'camera_control' topic from # mission control. Topic messages are Strings. - # ex. topic message: "toggle arm_camera, ID: 0" + # ex. topic message: "0 off", "0 on" # The topic message should always have the corresponding camera number - # at the last index of each message. + # at the first index of each message. subTopicName = "camera_control" self.subscription = self.create_subscription( String, subTopicName, - self.toggle_camera, + self.setCameraState, 10) self.subscription self.get_logger().info("Created Subscription to" + subTopicName) @@ -58,7 +61,7 @@ def __init__(self, topicName: str, camera: int): timer_period = 2 # seconds # Create the timer - self.timer = self.create_timer(timer_period, self.timer_callback) + self.timer = self.create_timer(timer_period, self.publishCameraFrame) # Create a VideoCapture object # The argument '0' gets the default webcam. @@ -71,50 +74,72 @@ def __init__(self, topicName: str, camera: int): # Declare parameters for each 'ros_camera' node thread self.declare_parameter("cameraNumber", camera) self.declare_parameter("isOn", True) + - def timer_callback(self): - """ - Callback function. - This function gets called every 0.1 seconds. - """ + """ + Callback function publishes a frame captured from a camera to /video_framesX (X is specific + camera ID) every 0.1 seconds + """ + def publishCameraFrame(self): # Capture frame-by-frame - # This method returns True/False as well - # as the video frame. + # This method returns True/False as well as the video frame. ret, frame = self.cap.read() - # Get 'ros_camera' parameter, isOn, then check the state of the camera to publish frame or not + # Get bool parameter, isOn, and check the state of the camera to publish frame or not + # Value of isOn is controlled by setCameraState() isOn = bool(self.get_parameter("isOn")._value) if ret and isOn: # Publish the image. self._publisher.publish(self.br.cv2_to_compressed_imgmsg(frame)) + + + """ + Function reads str msgs from topic, 'camera_control' (published by mission control), and + turns on/off the periodic publishing of frames by a certain camera - # Display the message on the console - # self.get_logger().info('Publishing compressed video frame') - - def toggle_camera(self, msg) -> None: - # Read the last index of the message and check whether mission control is targeting this - # instance of 'ros_camera' + Function is called whenever a msg is published to 'camera_control' + + Function assumes str msgs sent to 'camera_control' begin with a number and ends with an 'f' + (meaning off) or 'n' (meaning on) + ex. + "0 off" -> to turn off camera with id=0 + "2 on" -> to turn on camera with id=2 + """ + def setCameraState(self, msg) -> None: + # Check if this specific camera is targeted by mission control, stop the function otherwise cameraNumber = int(self.get_parameter("cameraNumber")._value) - if (int(msg.data[-1]) != cameraNumber): + if (int(msg.data[0]) != cameraNumber): + return + + # Check if the desired camera state is already fulfilled, print and stop the function if so + cameraOn = bool(self.get_parameter("isOn")._value) + if (str(msg.data[-1]) == 'f' and not cameraOn): + self.get_logger().info("camera" + str(cameraNumber) + " is already off!") + return + elif (str(msg.data[-1]) == 'n' and cameraOn): + self.get_logger().info("camera" + str(cameraNumber) + " is already on!") return - # Toggle by not'ing the bool value - isOn = bool(self.get_parameter("isOn")._value) + # Set isOn bool parameter to either stop or restart the publishing of frames self.undeclare_parameter("isOn") - self.declare_parameter("isOn", not isOn) + if (str(msg.data[-1]) == 'f'): + # self.get_logger().info("turning camera" + str(cameraNumber) + " off!") + self.declare_parameter("isOn", False) + else: + # self.get_logger().info("turning camera" + str(cameraNumber) + " on!") + self.declare_parameter("isOn", True) + def main(args=None): rclpy.init(args=args) try: - """ - we need an executor because running .spin() is a blocking function. - using the MultiThreadedExecutor, we can control multiple nodes - """ + # We need an executor because running .spin() is a blocking function. + # using the MultiThreadedExecutor, we can control multiple nodes executor = MultiThreadedExecutor() nodes = [] cameraNum = 0 - for cameraID in get_cameras(): + for cameraID in getCameras(): node = RosCamera("video_frames" + str(cameraNum), cameraID) nodes.append(node) executor.add_node(node) diff --git a/src/camera/package.xml b/src/camera/package.xml index cabb39a..771a9c8 100644 --- a/src/camera/package.xml +++ b/src/camera/package.xml @@ -4,14 +4,9 @@ camera 0.0.0 TODO: Package description - trickfire + trickfire TODO: License declaration - rclpy - std_msgs - cv2 - cv_bridge - ament_copyright ament_flake8 ament_pep257 diff --git a/src/camera/setup.py b/src/camera/setup.py index 7e977a1..318a38e 100644 --- a/src/camera/setup.py +++ b/src/camera/setup.py @@ -14,13 +14,11 @@ install_requires=['setuptools'], zip_safe=True, maintainer='trickfire', - maintainer_email='vladimirkupryukhin@gmail.com', + maintainer_email='kimdavid2222@gmail.com', description='TODO: Package description', license='TODO: License declaration', tests_require=['pytest'], entry_points={ - 'console_scripts': [ - 'roscamera = camera.roscamera:main' - ], + 'console_scripts': ['roscamera = camera.roscamera:main'], }, ) diff --git a/src/camera/test/test_flake8.py b/src/camera/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/camera/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/camera/test/test_pep257.py b/src/camera/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/camera/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/can/CMakeLists.txt b/src/can/CMakeLists.txt deleted file mode 100644 index e5a0925..0000000 --- a/src/can/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(can) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -add_executable(my_node src/my_node.cpp) -target_include_directories(my_node PUBLIC - $ - $) -target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -install(TARGETS my_node - DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/can/package.xml b/src/can/package.xml deleted file mode 100644 index 346c308..0000000 --- a/src/can/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - can - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/can/src/my_node.cpp b/src/can/src/my_node.cpp deleted file mode 100644 index 59a3239..0000000 --- a/src/can/src/my_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -int main(int argc, char ** argv) -{ - (void) argc; - (void) argv; - - printf("hello world can package\n"); - return 0; -} diff --git a/src/can_moteus/can_moteus/moteus_motor.py b/src/can_moteus/can_moteus/moteus_motor.py old mode 100755 new mode 100644 index db8b38b..b2b5c67 --- a/src/can_moteus/can_moteus/moteus_motor.py +++ b/src/can_moteus/can_moteus/moteus_motor.py @@ -1,149 +1,104 @@ -import moteus -import std_msgs.msg -import asyncio -from multiprocessing import Queue, Process, Pipe -from std_msgs.msg import Float32 -import math +from threading import Lock +import std_msgs.msg +from moteus.moteus import Result +from rclpy.node import Node +from rclpy.publisher import Publisher +from rclpy.subscription import Subscription +from std_msgs.msg import String -class Mode: - POSITION = 0 # Asks for float. Measured in revolutions - VELOCITY = 1 # Asks float. Measured in revolutions per second +from lib.configs import MoteusMotorConfig +from lib.moteus_motor_state import MoteusMotorState, MoteusRunSettings class MoteusMotor: - """Connects to a moteus controller. Publishes desired register's values from controller""" - - def __init__(self, canID, name, motorMode, moteusPubList, queueToMoteus, toPublisherQueue, rosNode): - """ - Parameters - ---------- - canID : int - Can ID of the moteus controller you are trying to connect to - name : str - The name of the controller. This string is used in the topic - names of both subscribers and publishers - motorMode : Mode - The mode of this controller. This effects what kind of data - the object expects and what data the object will send to the - moteus controller - moteusPubList : moteus.Register[] - Determines what data from the motor will be published to ROS - """ - - rosNode.get_logger().info("Creating motor with name: " + name) - self._canID = canID - self._name = name - self._moteusRegToPubObjHashmap = {} - self._rosNode = rosNode - self._motorMode = motorMode - self._queueToMoteus = queueToMoteus - self._toPublisherQueue = toPublisherQueue - self._moteusPubList = moteusPubList - - # Create subscribers and publishers - self._createPublishers(moteusPubList) - self._createSubscribers() - - rosNode.create_timer(0.02, self._readFromMoteusQueue) - - - def _readFromMoteusQueue(self): - """Recieve data from multiprocess and publish it to the corresponding register topic""" - - if (self._toPublisherQueue != None) and (not self._toPublisherQueue.empty()): - dataRecieved = self._toPublisherQueue.get() - register = dataRecieved[0] # is a moteus.Register enum - data = dataRecieved[1] # is a floating point number - - publisher = self._moteusRegToPubObjHashmap[register] - msg = Float32() - msg.data = data - - publisher.publish(msg) + def __init__(self, config: MoteusMotorConfig, ros_node: Node) -> None: + """ + Create a logical representation of a motor that is using + a Moteus controller. Contains a list of variables that should be + sent to the Moteus controller. Subscribes to input and publishes output + + Paramaters + ------- + config : MoteusMotorConfig + The config of the motor. + rosNode : Node + The ROS node used to create the ros_moteus_bridge.py + """ - def _createPublishers(self, moteusPubList): - """Create a publisher for data for each moteus register + self.config = config + self._ros_node = ros_node + self._subscriber = self._createSubscriber() + self._publisher = self._createPublisher() - For each register that we want to publish to ROS, create - a specific publisher topic for it. + # Mutex - used to protect writing/reading the state of the motor + self.mutex_lock = Lock() - The format of the publisher is: - __from_can - Example: - /frontleftdrivemotor_velocity_from_can - or - /turntable_position_from_can + # The settings we can send to the moteus controller + # using the make_position() method + self.run_settings: MoteusRunSettings = MoteusRunSettings() + # By default, the motor is shutoff + self.set_stop = True - Parameters - ---------- - moteusPubList : array of moteus.Register - Determines what data from the motor will be published to ROS + def _createSubscriber(self) -> Subscription: """ - - for register in moteusPubList: - topicName = self._name + "_" + \ - str(register).replace("Register.", "").lower() + "_from_can" - publisher = self._rosNode.create_publisher( - std_msgs.msg.Float32, topicName, 10) - - self._moteusRegToPubObjHashmap[register] = publisher - - def _createSubscribers(self): - """Create subscriber for the corresponding mode - - The format of the subscriber is: - __from_robot_interface - Example: - /frontleftdrivemotor_velocity_from_robot_interface - or - /turntable_position_from_robot_interface + The subscriber to get data from. + The format of the topic is the following: moteusmotor__from_interface """ - - dataName = "" - callbackFunction = None - - if (self._motorMode == Mode.POSITION): - dataName = "position" - callbackFunction = self._positionCallback - elif (self._motorMode == Mode.VELOCITY): - dataName = "velocity" - callbackFunction = self._velocityCallback - - topicName = self._name + "_" + dataName + "_from_robot_interface" - - self._rosNode.subscription = self._rosNode.create_subscription( - std_msgs.msg.Float32, - topicName, - callbackFunction, - 10 + topic_name = self.config.getInterfaceTopicName() + subscriber = self._ros_node.create_subscription( + std_msgs.msg.String, + topic_name, + self.dataInCallback, + 1, # Size of queue is 1. All additional ones are dropped ) - def _positionCallback(self, msg): - """Send the data to the multiprocess for position - msg : Float32 - This is sent from from the subscriber. - """ + return subscriber - if self._queueToMoteus != None: - # [0] can ID - # [1] data value - toMultiprocess = [self._canID,msg.data] - self._queueToMoteus.put(toMultiprocess) + def _createPublisher(self) -> Publisher: + """ + The publisher to send data to. + The format of the topic is the following: moteusmotor__from_can + """ + topic_name = self.config.getCanTopicName() + # Size of queue is 1. All additional ones are dropped + publisher = self._ros_node.create_publisher(std_msgs.msg.String, topic_name, 1) - # self._ros_pipe_conn.send(self._modeData) + return publisher - def _velocityCallback(self, msg): - """Send the data to the multiprocess for velocity - msg : Float32 - This is sent from from the subscriber. + def dataInCallback(self, msg: String) -> None: """ + Update the motor state. Mutex protected, + meaning that no one can go into any other "critical section" + of code that also has a mutex protecting it. + """ + with self.mutex_lock: + self.run_settings = MoteusRunSettings.fromJsonMsg(msg) - if self._queueToMoteus != None: - # [0] can ID - # [1] data value - toMultiprocess = [self._canID,msg.data] - self._queueToMoteus.put(toMultiprocess) + def publishData(self, moteus_data: Result) -> None: + """ + Publishes the data from the moteus controller + """ + with self.mutex_lock: + try: + if not self._ros_node.context.ok(): + return + + # self._rosNode.get_logger().info(str(moteusData.values)) + + # TODO: We need to update firmware to get POWER information (7/1/2024) + # https://github.com/mjbots/moteus/releases + # https://discord.com/channels/633996205759791104/722434939676786688/1252380387783610428 + # self._rosNode.get_logger().info(str(moteusData.values.keys())) + + state = MoteusMotorState.fromMoteusData(self.config.can_id, moteus_data) + self._publisher.publish(state.toMsg()) + except Exception as error: # pylint: disable=broad-exception-caught + # This is used to handle any errors in order to prevent the thread from dying + # Specifically, when we crtl-c we want the motors to be set_stop(), but if this + # thread crashes we cannot do that. So we catch any errors + self._ros_node.get_logger().info("Failed to publish motor data") + self._ros_node.get_logger().info(str(error)) diff --git a/src/can_moteus/can_moteus/moteus_multiprocess.py b/src/can_moteus/can_moteus/moteus_multiprocess.py deleted file mode 100644 index 7f3b129..0000000 --- a/src/can_moteus/can_moteus/moteus_multiprocess.py +++ /dev/null @@ -1,208 +0,0 @@ -import moteus -import asyncio -from multiprocessing import Queue, Process -import math -from . import moteus_motor - - -class _MotorData: - canID = -1 - mode = None - toPublisherQueue = None # [0] Register [1] data - moteusPubList = None - data = 0 - moteusController = None - -class MoteusMultiprocess: - """Connects to moteus controllers and sends data to each controller in order - - ------ - This will create a multiprocess queue for each moteus motor to send - data that it should publish. There will be one queue that all the motors - will push to. - """ - - def __init__(self, rosNode): - """ - Parameters - ---------- - rosNode : Node - This is used, and should only be used, as a way to print logging - information to the console. - """ - - self._queueToMoteus = Queue() - self._canIDToMotorData = {} - self._rosNode = rosNode - - - - def addMotor(self, canID, name, motorMode, moteusPubList): - """ - Parameters - ---------- - canID : int - Can ID of the moteus controller you are trying to connect to - name : str - The name of the controller. This string is used in the topic - names of both subscribers and publishers - motorMode : moteus_controller.Mode - The mode of this controller. This effects what kind of data - the object expects and what data the object will send to the - moteus controller - moteusPubList : moteus.Register[] - Determines what data from the motor will be published to ROS - - """ - toPublisherQueue = Queue() - - # Create motor - motor = moteus_motor.MoteusMotor( - canID, - name, - motorMode, - moteusPubList, - self._queueToMoteus, - toPublisherQueue, - self._rosNode - ) - - # Create motor data - motorData = _MotorData() - motorData.canID = canID - motorData.mode = motorMode - motorData.toPublisherQueue = toPublisherQueue - motorData.moteusPubList = moteusPubList - - # Add this to the map - self._canIDToMotorData[canID] = motorData - - - # Multiprocess realm - - def start(self): - """ - Starts the multiprocess. Call this after you added all the motors - """ - moteusAsyncProcess = Process(target=self._startLoop, args=(self._queueToMoteus,)) - moteusAsyncProcess.start() - - - def _startLoop(self,queueToMoteus): - """ - This is now inside the multiprocess. Do any setup here - that does not depend on asyncio - - Parameters - ---------- - queueToMoteus : Queue - This queue is what the multiprocess will read from to update - its internal data for each motor - """ - asyncio.run(self._loop(queueToMoteus)) - - - async def _loop(self,queueToMoteus): - """ - Connect to the motors and start the loop. For each - motor, call the correct moteus method and send - the correct data - - Parameters - ---------- - queueToMoteus : Queue - This queue is what the multiprocess will read from to update - its internal data for each motor - """ - - - await self._connectToMoteusControllers() - - while True: - self._readqueueToMoteus(queueToMoteus) - - for canID in self._canIDToMotorData: - motorData = self._canIDToMotorData[canID] - - if (motorData.mode == moteus_motor.Mode.POSITION): - resultFromMoteus = await motorData.moteusController.set_position(position=motorData.data, query=True) - elif (motorData.mode == moteus_motor.Mode.VELOCITY): - # moteus controllers will only go a velocity only if it - # has reached its given position OR we give it math.nan - resultFromMoteus = await motorData.moteusController.set_position(position=math.nan, velocity=motorData.data, query=True) - - self._sendDataToMotor(canID, resultFromMoteus) - - - - await asyncio.sleep(0.02) - - - - def _sendDataToMotor(self, canID, moteusResult): - """ - Send the requested data for the specified motor via its canID - - Parameters - ---------- - canID : int - The canID for the motor - moteusResult : moteus.Result - The data returned from the moteus motor - """ - - # Get the motor from the can ID - motorData = self._canIDToMotorData[canID] - - # Goe through all the registers we want to publish - for register in motorData.moteusPubList: - dataToMotor = [register, moteusResult.values[register]] - - motorData.toPublisherQueue.put(dataToMotor) - - - def _readqueueToMoteus(self,queueToMoteus): - """ - Reads one value from the queue to the moteus multiprocess - - Process - ------- - queueToMoteus : Queue - The queue that every motor will send their data to - - """ - - - if not queueToMoteus.empty(): - dataRecieved = queueToMoteus.get() - canID = dataRecieved[0] # is the canID of the motor - data = dataRecieved[1] # is a floating point data - - motorData = self._canIDToMotorData[canID] - motorData.data = data - - - async def _connectToMoteusControllers(self): - """ - Attempts to connect to every moteus controller. - If an attempt fails, it is removed from the dictionary - - - """ - - for canID in list(self._canIDToMotorData): - motorData = self._canIDToMotorData[canID] - - moteusMotorController = moteus.Controller(motorData.canID) - - try: - # Reset the controller - await moteusMotorController.set_stop() - motorData.moteusController = moteusMotorController - - except RuntimeError as error: - self._rosNode.get_logger().error( - "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CAN ID " + str(motorData.canID)) - self._rosNode.get_logger().error(error.__str__()) - - del self._canIDToMotorData[canID] diff --git a/src/can_moteus/can_moteus/moteus_thread_manager.py b/src/can_moteus/can_moteus/moteus_thread_manager.py new file mode 100644 index 0000000..96ac3a8 --- /dev/null +++ b/src/can_moteus/can_moteus/moteus_thread_manager.py @@ -0,0 +1,260 @@ +import asyncio +import threading + +import moteus +from moteus.moteus import Result +from rclpy.node import Node + +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MoteusMotorConfig + +from .moteus_motor import MoteusMotor + + +class MoteusThreadManager: + CONNECTION_TIMEOUT_IN_SECONDS = 0.1 + GENERAL_TIMEOUT = 0.05 + + """ + This creates a new thread called "moteus_thread" to run all + of the asyncio methods required by the Moteus library + """ + + def __init__(self, ros_node: Node): + self._id_to_moteus_motor: dict[int, MoteusMotor] = {} + self._id_to_moteus_controller: dict[int, moteus.Controller] = {} # Used by the thread + self._ros_node = ros_node + self._moteus_thread: threading.Thread | None = None + self._should_moteus_thread_loop = True # No thread safety, but it works lololol + self._should_reconnect = True # No thread safety, but it works lololol + + def addMotor(self, config: MoteusMotorConfig) -> None: + """ + Adds a motor to the list to attempt to connect to it. + """ + if self._moteus_thread is not None: + self._ros_node.get_logger().error("Attempted to add motor after thread was started!") + return + + # Create motor + motor = MoteusMotor(config, self._ros_node) + self._id_to_moteus_motor[config.can_id] = motor + + def start(self) -> None: + """ + Starts a new thread. New motors cannot be added after this is called + """ + + self._moteus_thread = threading.Thread( + target=self.threadEntry, name="moteus_thread", daemon=True + ) + self._moteus_thread.start() + + def reconnectMotors(self) -> None: + self._should_reconnect = True + + def terminateAllThreads(self) -> None: + """ + Gracefully shuts down the motors by calling set_stop(). + Terminates the thread. + Does not clean up this class + """ + self._should_moteus_thread_loop = False + if self._moteus_thread is not None: + self._moteus_thread.join() + + def threadEntry(self) -> None: + """ + The entry of the thread that launches the asyncio loop + """ + self._ros_node.get_logger().info(colorStr("Moteus Thread Launched", ColorCodes.BLUE_OK)) + asyncio.run(self.startLoop()) + + async def tryToShutdownMotor(self, can_id: int) -> None: + self._ros_node.get_logger().info( + colorStr(f"Unexpectedly trying to turn off motor: {can_id}", ColorCodes.WARNING_YELLOW) + ) + + try: + await asyncio.wait_for( + self._id_to_moteus_controller[can_id].set_stop(), + timeout=self.GENERAL_TIMEOUT, + ) + self._ros_node.get_logger().info( + colorStr(f"Stopped motor: {can_id}", ColorCodes.GREEN_OK) + ) + except asyncio.TimeoutError: + self._ros_node.get_logger().info( + colorStr(f'FAILED TO "set_stop" MOTOR. TIMED OUT {can_id}', ColorCodes.FAIL_RED) + ) + del self._id_to_moteus_controller[can_id] + del self._id_to_moteus_motor[can_id] + except RuntimeError as error: + self._ros_node.get_logger().info(colorStr(str(error), ColorCodes.FAIL_RED)) + del self._id_to_moteus_controller[can_id] + del self._id_to_moteus_motor[can_id] + + async def startLoop(self) -> None: + """ + The main loop of the whole system. + Reads/sends data to/from the Moteus controllers. + + This can handle the following edge cases + ---------- + 1) Motor faults + A) set_stop() the motor or + B) Remove the motor from the list of motors + 2) CAN Bus disconnection + A) Remove the motor from the list of motors + 3) Reconnect to Moteus Controllers + + + """ + # Connect the motor for the first time + await self.connectToMoteusControllers() + + while self._should_moteus_thread_loop: + if self._should_reconnect: + await self.connectToMoteusControllers() + + # Go through each Moteus Controller to send data + for can_id, controller in self._id_to_moteus_controller.copy().items(): + motor = self._id_to_moteus_motor[can_id] + + try: + # Check for faults + result_from_moteus: Result = await asyncio.wait_for( + controller.query(), self.GENERAL_TIMEOUT + ) + + if result_from_moteus.values[moteus.Register.FAULT] != 0: + self._ros_node.get_logger().info( + colorStr( + f"FAULT CODE: {result_from_moteus.values[moteus.Register.FAULT]} " + f"FOR {motor.config.can_id}", + ColorCodes.FAIL_RED, + ) + ) + await self.tryToShutdownMotor(can_id) + continue + + if motor.run_settings.set_stop is True: + await asyncio.wait_for(controller.set_stop(), self.GENERAL_TIMEOUT) + + else: + result_from_moteus = await asyncio.wait_for( + controller.set_position( + position=motor.run_settings.position, + velocity=motor.run_settings.velocity, + feedforward_torque=motor.run_settings.feedforward_torque, + kp_scale=motor.run_settings.kp_scale, + kd_scale=motor.run_settings.kd_scale, + maximum_torque=motor.run_settings.max_torque, + watchdog_timeout=motor.run_settings.watchdog_timeout, + velocity_limit=motor.run_settings.velocity_limit, + accel_limit=motor.run_settings.accel_limit, + fixed_voltage_override=motor.run_settings.fixed_voltage_override, + query=True, + ), + self.GENERAL_TIMEOUT, + ) + + motor.publishData(result_from_moteus) + + except asyncio.TimeoutError: + self._ros_node.get_logger().info( + colorStr( + f"FAILED TO SEND/READ DATA TO MOTEUS MOTOR: {can_id} " + + "CAN-FD bus disconnected?", + ColorCodes.FAIL_RED, + ), + ) + del self._id_to_moteus_controller[can_id] + del self._id_to_moteus_motor[can_id] + + await asyncio.sleep(0.02) + + # When we exit the while loop, via ctrl-c, we set_stop() all the motors + # Watch out for the arm + for can_id, controller in self._id_to_moteus_controller.items(): + await controller.set_stop() + + async def connectToMoteusControllers(self) -> None: + """ + Connect to the Moteus motors. + There is a timeout until we give up trying to connect + """ + self._id_to_moteus_controller = {} + self._should_reconnect = False + + for can_id, motor in self._id_to_moteus_motor.items(): + qr = moteus.QueryResolution() + qr.power = moteus.F32 + qr.q_current = moteus.F32 + qr.d_current = moteus.F32 + controller = moteus.Controller(motor.config.can_id, query_resolution=qr) + + try: + # Reset the controller + self._ros_node.get_logger().info("Connecting to motor with id: " + str(can_id)) + await asyncio.wait_for( + controller.query(), timeout=self.CONNECTION_TIMEOUT_IN_SECONDS + ) # Try to get data, if timeout then cannot connect + self._id_to_moteus_controller[can_id] = controller + await controller.set_stop() + self._ros_node.get_logger().info( + colorStr( + f"Moteus motor controller connected: {motor.config.can_id}", + ColorCodes.GREEN_OK, + ) + ) + + except asyncio.TimeoutError: + self._ros_node.get_logger().info( + colorStr( + "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CANID " + + str(motor.config.can_id), + ColorCodes.FAIL_RED, + ) + ) + continue + except RuntimeError as error: + self._ros_node.get_logger().info( + colorStr( + "ERROR WHEN set_stop() IS CALLED. MOST LIKELY CANNOT FIND CANBUS", + ColorCodes.FAIL_RED, + ) + ) + self._ros_node.get_logger().info( + colorStr(str(error.with_traceback(None)), ColorCodes.FAIL_RED) + ) + continue + + stream = moteus.Stream(controller, verbose=True) + try: + await asyncio.wait_for( + stream.command("conf load".encode(encoding="utf-8")), + timeout=self.CONNECTION_TIMEOUT_IN_SECONDS + ) + for key, value in motor.config.config.items(): + if key == "id.id": + continue + await asyncio.wait_for( + stream.command(f"conf set {key} {value}".encode(encoding="utf-8")), + timeout=self.CONNECTION_TIMEOUT_IN_SECONDS + ) + except asyncio.TimeoutError: + self._ros_node.get_logger().info( + colorStr( + "FAILED TO SET CONFIG ON MOTOR: " + + str(motor.config.can_id), + ColorCodes.FAIL_RED, + ) + ) + except RuntimeError as error: + self._ros_node.get_logger().info( + colorStr("ERROR WHEN SETTING CONFIG.", ColorCodes.FAIL_RED) + ) + self._ros_node.get_logger().info( + colorStr(str(error.with_traceback(None)), ColorCodes.FAIL_RED) + ) diff --git a/src/can_moteus/can_moteus/ros_moteus_bridge.py b/src/can_moteus/can_moteus/ros_moteus_bridge.py old mode 100755 new mode 100644 index 18457e1..595a279 --- a/src/can_moteus/can_moteus/ros_moteus_bridge.py +++ b/src/can_moteus/can_moteus/ros_moteus_bridge.py @@ -1,64 +1,106 @@ +import sys + import rclpy -from . import moteus_motor -from . import moteus_multiprocess +from rclpy.executors import ExternalShutdownException from rclpy.node import Node -import moteus -from multiprocessing import Queue - - -class RosMotuesBridge(Node): - - def __init__(self): - super().__init__("can_motues_node") - self.get_logger().info("Launching can_motues node") - self.createMoteusMotors() - - def createMoteusMotors(self): - self.get_logger().info("Creating motors") - - - moteusMultiprocess = moteus_multiprocess.MoteusMultiprocess(self) - +from std_msgs.msg import Float32 +from usb.core import find as finddev - #EXAMPLES - # moteusPubList = [moteus.Register.VELOCITY] - # moteusMultiprocess.addMotor( - # 3, - # "topmotor", - # moteus_motor.Mode.VELOCITY, - # moteusPubList, - # ) +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs - # moteusPubList2 = [moteus.Register.POSITION] - # moteusMultiprocess.addMotor( - # 2, - # "middlemotor", - # moteus_motor.Mode.POSITION, - # moteusPubList2, - # ) +from . import moteus_thread_manager - # moteusPubList3 = [moteus.Register.POSITION] - # moteusMultiprocess.addMotor( - # 1, - # "bottommotor", - # moteus_motor.Mode.POSITION, - # moteusPubList3, - # ) - - - - - - - moteusMultiprocess.start() +class RosMotuesBridge(Node): + """ + This is the node that connects the Moteus Motor Controllers + with the rest of the ROS codebase. You can easily add new + motors using the addMotor() function from the self.threadManager. + + You can attempt to reconnect to the Moteus Controllers during runtime. + The CANFD-USB is reset every time the code is execute from the ./launch.sh + """ + + def __init__(self) -> None: + super().__init__("can_moteus_node") + self.get_logger().info(colorStr("Launching can_moteus node", ColorCodes.BLUE_OK)) + + # Reset the CANFD-USB + # run "lsusb" in cmd with the CANFD-USB connected + # to find the idVendor and the idProduct + dev = finddev(idVendor=0x0483, idProduct=0x5740) + + if dev is not None: + dev.reset() + self.thread_manager: moteus_thread_manager.MoteusThreadManager | None = None + + self.reconnect_to_moteus_sub = self.create_subscription( + Float32, "reconnectMoteusControllers", self.reconnect, 1 + ) + + self.createMoteusMotors() + else: + self.get_logger().info( + colorStr( + "Failed to find CANFD-USB usb device. Is it plugged in?", ColorCodes.FAIL_RED + ) + ) + + def reconnect(self, _: Float32) -> None: + """ + Gracefully shuts down the threadManager and creates a new instance of + the threadManager object. + + """ + self.get_logger().info("Reconnecting") + if self.thread_manager is not None: + self.thread_manager.reconnectMotors() + + def createMoteusMotors(self) -> None: + """ + Creates the threadManager and adds all the moteus motors + """ + + self.thread_manager = moteus_thread_manager.MoteusThreadManager(self) + + # Drivebase + self.thread_manager.addMotor(MotorConfigs.REAR_RIGHT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.MID_RIGHT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.FRONT_RIGHT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.REAR_LEFT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.MID_LEFT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.FRONT_LEFT_DRIVE_MOTOR) + + # Arm + self.thread_manager.addMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_ELBOW_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + + self.thread_manager.start() + + +def main(args: list[str] | None = None) -> None: + """ + The entry point of the node. + """ -def main(args=None): rclpy.init(args=args) - node = RosMotuesBridge() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() + try: + node = RosMotuesBridge() + rclpy.spin(node) + + except KeyboardInterrupt: + pass + except ExternalShutdownException: + # This is done when we ctrl-c the progam to shut it down + node.get_logger().info(colorStr("Shutting down can_moteus", ColorCodes.BLUE_OK)) + if node.thread_manager is not None: + node.thread_manager.terminateAllThreads() + node.destroy_node() + sys.exit(0) if __name__ == "__main__": diff --git a/src/can_moteus/setup.py b/src/can_moteus/setup.py index 05a9844..38aceb4 100644 --- a/src/can_moteus/setup.py +++ b/src/can_moteus/setup.py @@ -1,31 +1,27 @@ import os from glob import glob + from setuptools import setup -package_name = 'can_moteus' +package_name = "can_moteus" setup( name=package_name, - version='0.0.0', + version="0.0.0", packages=[package_name], data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - (os.path.join('share', package_name), glob('launch/*launch.[pxy][yma]*')) + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/*launch.[pxy][yma]*")), ], - install_requires=['setuptools'], + install_requires=["setuptools"], zip_safe=True, - maintainer='trickfire', - maintainer_email='trickfire@todo.todo', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], + maintainer="trickfire", + maintainer_email="trickfire@todo.todo", + description="TODO: Package description", + license="TODO: License declaration", + tests_require=["pytest"], entry_points={ - 'console_scripts': [ - 'can_moteus = can_moteus.ros_moteus_bridge:main' - ], - + "console_scripts": ["can_moteus = can_moteus.ros_moteus_bridge:main"], }, - ) diff --git a/src/can_moteus/test/test_copyright.py b/src/can_moteus/test/test_copyright.py index 97a3919..60c2d1e 100644 --- a/src/can_moteus/test/test_copyright.py +++ b/src/can_moteus/test/test_copyright.py @@ -12,14 +12,14 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ament_copyright.main import main import pytest +from ament_copyright.main import main # Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") @pytest.mark.copyright @pytest.mark.linter def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/can_moteus/test/test_flake8.py b/src/can_moteus/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/can_moteus/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/can_moteus/test/test_pep257.py b/src/can_moteus/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/can_moteus/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/communication/CMakeLists.txt b/src/communication/CMakeLists.txt deleted file mode 100644 index f235dca..0000000 --- a/src/communication/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(communication) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -add_executable(my_node src/my_node.cpp) -target_include_directories(my_node PUBLIC - $ - $) -target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -install(TARGETS my_node - DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/communication/package.xml b/src/communication/package.xml deleted file mode 100644 index a042f1a..0000000 --- a/src/communication/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - communication - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/communication/src/my_node.cpp b/src/communication/src/my_node.cpp deleted file mode 100644 index 158606b..0000000 --- a/src/communication/src/my_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -int main(int argc, char ** argv) -{ - (void) argc; - (void) argv; - - printf("hello world communication package\n"); - return 0; -} diff --git a/src/arm/CMakeLists.txt b/src/custom_interfaces/CMakeLists.txt similarity index 52% rename from src/arm/CMakeLists.txt rename to src/custom_interfaces/CMakeLists.txt index 05489da..9d3734e 100644 --- a/src/arm/CMakeLists.txt +++ b/src/custom_interfaces/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(arm) +project(custom_interfaces) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) @@ -11,23 +11,21 @@ find_package(ament_cmake REQUIRED) # further dependencies manually. # find_package( REQUIRED) -add_executable(my_node src/my_node.cpp) -target_include_directories(my_node PUBLIC - $ - $) -target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 +find_package(rosidl_default_generators REQUIRED) -install(TARGETS my_node - DESTINATION lib/${PROJECT_NAME}) +rosidl_generate_interfaces(${PROJECT_NAME} + "srv/ArmMode.srv" + ) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() diff --git a/src/hello_world/package.xml b/src/custom_interfaces/package.xml similarity index 64% rename from src/hello_world/package.xml rename to src/custom_interfaces/package.xml index 907826d..53deff3 100644 --- a/src/hello_world/package.xml +++ b/src/custom_interfaces/package.xml @@ -1,16 +1,19 @@ - hello_world + custom_interfaces 0.0.0 TODO: Package description - trickfire + trickfire TODO: License declaration ament_cmake - rclcpp - rclcpp_components + rosidl_default_generators + + rosidl_default_runtime + + rosidl_interface_packages ament_lint_auto ament_lint_common diff --git a/src/custom_interfaces/srv/ArmMode.srv b/src/custom_interfaces/srv/ArmMode.srv new file mode 100644 index 0000000..688524b --- /dev/null +++ b/src/custom_interfaces/srv/ArmMode.srv @@ -0,0 +1,3 @@ +int64 input +--- +int64 current_mode \ No newline at end of file diff --git a/src/drivebase/drivebase/drivebase.py b/src/drivebase/drivebase/drivebase.py index c4c7df7..a9a2321 100644 --- a/src/drivebase/drivebase/drivebase.py +++ b/src/drivebase/drivebase/drivebase.py @@ -1,6 +1,66 @@ -def main(): - print('Hi from drivebase.') +import sys +import rclpy +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node +from std_msgs.msg import Float32 -if __name__ == '__main__': +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs +from lib.interface.robot_interface import RobotInterface + + +class Drivebase(Node): + SPEED = 6.28 * 1.5 + + def __init__(self) -> None: + super().__init__("drivebase") + self.get_logger().info(colorStr("Launching drivebase node", ColorCodes.BLUE_OK)) + self.bot_interface = RobotInterface(self) + + self.left_subscription = self.create_subscription( + Float32, "move_left_drivebase_side_message", self.moveLeftSide, 10 + ) + self.right_subscription = self.create_subscription( + Float32, "move_right_drivebase_side_message", self.moveRightSide, 10 + ) + + def moveLeftSide(self, msg: Float32) -> None: + vel = msg.data * self.SPEED + self.bot_interface.runMotorSpeed(MotorConfigs.FRONT_LEFT_DRIVE_MOTOR, -vel) + self.bot_interface.runMotorSpeed(MotorConfigs.MID_LEFT_DRIVE_MOTOR, -vel) + self.bot_interface.runMotorSpeed(MotorConfigs.REAR_LEFT_DRIVE_MOTOR, -vel) + + def moveRightSide(self, msg: Float32) -> None: + vel = msg.data * self.SPEED + self.bot_interface.runMotorSpeed(MotorConfigs.FRONT_RIGHT_DRIVE_MOTOR, vel) + self.bot_interface.runMotorSpeed(MotorConfigs.MID_RIGHT_DRIVE_MOTOR, vel) + self.bot_interface.runMotorSpeed(MotorConfigs.REAR_RIGHT_DRIVE_MOTOR, vel) + + def turnLeft(self, msg: Float32) -> None: + self.moveLeftSide(msg) + self.moveRightSide(-msg) + + def turnRight(self, msg: Float32) -> None: + self.moveLeftSide(-msg) + self.moveRightSide(msg) + + +def main(args: list[str] | None = None) -> None: + rclpy.init(args=args) + try: + drivebase = Drivebase() + rclpy.spin(drivebase) # prints callbacks + except KeyboardInterrupt: + pass + except ExternalShutdownException: + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + drivebase.get_logger().info(colorStr("Shutting down drivebase", ColorCodes.BLUE_OK)) + drivebase.destroy_node() + sys.exit(0) + + +if __name__ == "__main__": main() diff --git a/src/drivebase/package.xml b/src/drivebase/package.xml index fde8555..474fac5 100644 --- a/src/drivebase/package.xml +++ b/src/drivebase/package.xml @@ -3,8 +3,8 @@ drivebase 0.0.0 - TODO: Package description - trickfire + Connects the controller to the wheel motors + trickfire TODO: License declaration ament_copyright diff --git a/src/drivebase/setup.py b/src/drivebase/setup.py index 39fe297..36d76aa 100644 --- a/src/drivebase/setup.py +++ b/src/drivebase/setup.py @@ -1,26 +1,23 @@ from setuptools import setup -package_name = 'drivebase' +package_name = "drivebase" setup( name=package_name, - version='0.0.0', + version="0.0.0", packages=[package_name], data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), ], - install_requires=['setuptools'], + install_requires=["setuptools"], zip_safe=True, - maintainer='trickfire', - maintainer_email='aimeilicke@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], + maintainer="trickfire", + maintainer_email="cklay@uw.edu", + description="Connects the controller to the wheel motors", + license="TODO: License declaration", + tests_require=["pytest"], entry_points={ - 'console_scripts': [ - 'drivebase = drivebase.drivebase:main' - ], + "console_scripts": ["drivebase = drivebase.drivebase:main"], }, ) diff --git a/src/drivebase/test/test_copyright.py b/src/drivebase/test/test_copyright.py index cc8ff03..f46f861 100644 --- a/src/drivebase/test/test_copyright.py +++ b/src/drivebase/test/test_copyright.py @@ -19,5 +19,5 @@ @pytest.mark.copyright @pytest.mark.linter def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/drivebase/test/test_flake8.py b/src/drivebase/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/drivebase/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/drivebase/test/test_pep257.py b/src/drivebase/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/drivebase/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/life_detection/life_detection/__init__.py b/src/example_node/example_node/__init__.py similarity index 100% rename from src/life_detection/life_detection/__init__.py rename to src/example_node/example_node/__init__.py diff --git a/src/example_node/example_node/example.py b/src/example_node/example_node/example.py new file mode 100644 index 0000000..00f4970 --- /dev/null +++ b/src/example_node/example_node/example.py @@ -0,0 +1,89 @@ +import sys + + +import rclpy # Import the package +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node + +from std_msgs.msg import String + +from lib.color_codes import ColorCodes, colorStr # Import yummy colors +from lib.interface.robot_info import RobotInfo # Read data +from lib.configs import MotorConfigs +from lib.interface.robot_interface import RobotInterface # Send data + + +class ExampleNode(Node): + + def __init__(self) -> None: + # Call the parent's constructor and pass in the node's name + super().__init__("my_example_node") + + # Print to the console with the color blue. Regular print() does not work + self.get_logger().info(colorStr("Launching example_node node", ColorCodes.BLUE_OK)) + + self.robotInfo = RobotInfo(self) + self.robotInterface = RobotInterface(self) + + self.drivebaseSpeedInRadians = 6.28 # 6.28 rad/sec = 1.0 rev/sec + + # --- ROS TIMER EXAMPLE --- + # Half a second delay between the calls to the method timer_callback() + self.create_timer(0.5, self.timer_callback) + + # --- SUBSCRIBER EXAMPLE --- + self.example_sub = self.create_subscription( + String, "example_topic", self.example_sub_callback, 10 + ) + + # --- PUBLISHER EXAMPLE --- + self.example_pub = self.create_publisher(String, "example_topic", 10) + self.example_pub_timer = self.create_timer(1.0, self.publishData) + + def timer_callback(self) -> None: + # Tell the motor to move at a speed. We skip having to create a run config + # Take a look at the runMotor() to see the config + # In this case, runMotorSpeed() takes speed as in input in radians per second + self.robotInterface.runMotorSpeed( + MotorConfigs.FRONT_LEFT_DRIVE_MOTOR, self.drivebaseSpeedInRadians + ) + + # Get the motor's position + motorPosition = self.robotInfo.getMotorState(MotorConfigs.FRONT_LEFT_DRIVE_MOTOR).position + + self.get_logger().info( + "Example timer callback called with motor position " + str(motorPosition) + ) + + def example_sub_callback(self, msg: String) -> None: + contents = msg.data + self.get_logger().info("Example Subscriber Callback got the data: " + str(contents)) + + def publishData(self) -> None: + contents = "Hello this is data from example_topic" + msg = String() # Create the message + msg.data = contents # Fill in the payload + self.example_pub.publish(msg) + + +def main(args: list[str] | None = None) -> None: + rclpy.init(args=args) + try: + # Create a new instance of our class + example = ExampleNode() + + # Have ROS spin this node, meaning that this object will continuously + # be part of the ROS event loop and such. + rclpy.spin(example) + except KeyboardInterrupt: # Detects ctrl-c + pass + except ExternalShutdownException: + # If needed, we could call methods from the instance we made + # in order to shut somethings down before destroying the node + example.get_logger().info(colorStr("Shutting down example_node node", ColorCodes.BLUE_OK)) + example.destroy_node() + sys.exit(0) + + +if __name__ == "__main__": + main() diff --git a/src/life_detection/package.xml b/src/example_node/package.xml similarity index 84% rename from src/life_detection/package.xml rename to src/example_node/package.xml index 8408c6f..ff37b33 100644 --- a/src/life_detection/package.xml +++ b/src/example_node/package.xml @@ -1,10 +1,10 @@ - life_detection + example_node 0.0.0 TODO: Package description - trickfire + trickfire TODO: License declaration ament_copyright diff --git a/src/life_detection/resource/life_detection b/src/example_node/resource/example_node similarity index 100% rename from src/life_detection/resource/life_detection rename to src/example_node/resource/example_node diff --git a/src/example_node/setup.cfg b/src/example_node/setup.cfg new file mode 100644 index 0000000..59dbc8a --- /dev/null +++ b/src/example_node/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/example_node +[install] +install_scripts=$base/lib/example_node diff --git a/src/executor_test/setup.py b/src/example_node/setup.py similarity index 73% rename from src/executor_test/setup.py rename to src/example_node/setup.py index 81d6d04..571f53b 100644 --- a/src/executor_test/setup.py +++ b/src/example_node/setup.py @@ -1,6 +1,6 @@ from setuptools import find_packages, setup -package_name = 'executor_test' +package_name = 'example_node' setup( name=package_name, @@ -13,13 +13,12 @@ ], install_requires=['setuptools'], zip_safe=True, - maintainer='root', - maintainer_email='root@todo.todo', + maintainer='trickfire', + maintainer_email='vladimirkupryukhin@gmail.com', description='TODO: Package description', license='TODO: License declaration', tests_require=['pytest'], entry_points={ - 'console_scripts': [ - ], + 'console_scripts': ["myExampleNode = example_node.example:main"], }, ) diff --git a/src/executor_test/test/test_copyright.py b/src/example_node/test/test_copyright.py similarity index 100% rename from src/executor_test/test/test_copyright.py rename to src/example_node/test/test_copyright.py diff --git a/src/executor_test/executor_test/executor_test.py b/src/executor_test/executor_test/executor_test.py deleted file mode 100644 index 023355d..0000000 --- a/src/executor_test/executor_test/executor_test.py +++ /dev/null @@ -1,23 +0,0 @@ -from .utils import CameraExecutor, CameraNode -import rclpy - -def main(args=None): - rclpy.init(args=args) - try: - node1 = CameraNode(0) - node2 = CameraNode(1) - - executor = CameraExecutor() - executor.add_node(node1) - executor.add_node(node2) - try: - executor.spin() - finally: - executor.shutdown() - node1.destroy_node() - node2.destroy_node() - finally: - rclpy.shutdown() - -if __name__ == '__main__': - main() \ No newline at end of file diff --git a/src/executor_test/executor_test/utils.py b/src/executor_test/executor_test/utils.py deleted file mode 100644 index 801913d..0000000 --- a/src/executor_test/executor_test/utils.py +++ /dev/null @@ -1,51 +0,0 @@ -from rclpy.executors import Executor -from concurrent.futures import ThreadPoolExecutor -from rclpy.node import Node -from std_msgs.msg import String -import os - -""" -This class is useful for the camera service and topics. -Service to shut down topics should be put as the priority node -and all camera publishers should be low priority. -Service gets its own thread and publishers get more -""" -class CameraExecutor(Executor): - def __init__(self): - super().__init__() - self.high_priority_nodes = set() - self.hp_executor = ThreadPoolExecutor(max_workers = 1) - self.lp_executor = ThreadPoolExecutor(max_workers = os.cpu_count() or 4) - - def add_hp_node(self, node): - self.high_priority_nodes.add(node) - self.add_node(node) # inherited - - # Function override. - # Executes the callbacks - def spin_once(self, timeout_sec=None): - try: - handler, group, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) - except StopIteration: - pass - else: - if node in self.high_priority_nodes: - self.hp_executor.submit(handler) - else: - self.lp_executor.submit(handler) - - -class CameraNode(Node): - def __init__(self, topic_id: int): - super().__init_("executor_camera_test_node") - - self.i = 0 - self.pub = self.create_publisher(String, '/exec_frames' + str(topic_id) + 10) - - self.timer = self.create_timer(2, self.timer_callback) - - def timer_callback(self): - msg = String() - msg.data = "Hello World: {0}".format(self.i) - self.i += 1 - self.pub.publish(msg) \ No newline at end of file diff --git a/src/executor_test/package.xml b/src/executor_test/package.xml deleted file mode 100644 index 763128e..0000000 --- a/src/executor_test/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - executor_test - 0.0.0 - TODO: Package description - root - TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - - - ament_python - - diff --git a/src/executor_test/setup.cfg b/src/executor_test/setup.cfg deleted file mode 100644 index a6ba7b9..0000000 --- a/src/executor_test/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/executor_test -[install] -install_scripts=$base/lib/executor_test diff --git a/src/executor_test/test/test_flake8.py b/src/executor_test/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/executor_test/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/executor_test/test/test_pep257.py b/src/executor_test/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/executor_test/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/hello_world/CMakeLists.txt b/src/hello_world/CMakeLists.txt deleted file mode 100644 index 43e6fdd..0000000 --- a/src/hello_world/CMakeLists.txt +++ /dev/null @@ -1,48 +0,0 @@ -cmake_minimum_required(VERSION 3.16) -project(hello_world) - -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) - -add_library(hello_node_component SHARED - src/hello_node.cpp -) - -ament_target_dependencies(hello_node_component - rclcpp - rclcpp_components -) - -rclcpp_components_register_node(hello_node_component - PLUGIN "hello_world::hello_node" - EXECUTABLE hello_node -) - -target_include_directories(hello_node_component - PUBLIC - $ - $ -) - -install(TARGETS - hello_node_component - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/hello_world/include/hello_world/hello_node.hpp b/src/hello_world/include/hello_world/hello_node.hpp deleted file mode 100644 index 4f37a36..0000000 --- a/src/hello_world/include/hello_world/hello_node.hpp +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once - -#include "rclcpp/rclcpp.hpp" - -namespace hello_world -{ - -class hello_node : public rclcpp::Node -{ -public: - hello_node(const rclcpp::NodeOptions & options); -}; - -} // namespace hello_world diff --git a/src/hello_world/src/hello_node.cpp b/src/hello_world/src/hello_node.cpp deleted file mode 100644 index ebd2f58..0000000 --- a/src/hello_world/src/hello_node.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "hello_world/hello_node.hpp" - -namespace hello_world -{ - -hello_node::hello_node(const rclcpp::NodeOptions & options) -: Node("hello_node", options) -{ - RCLCPP_INFO(this->get_logger(), "Hello World!"); -} - -} // namespace hello_world - -#include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(hello_world::hello_node) diff --git a/src/interface/CMakeLists.txt b/src/interface/CMakeLists.txt deleted file mode 100644 index 5f0c51f..0000000 --- a/src/interface/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(interface) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -add_executable(my_node src/my_node.cpp) -target_include_directories(my_node PUBLIC - $ - $) -target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -install(TARGETS my_node - DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/interface/package.xml b/src/interface/package.xml deleted file mode 100644 index d05f957..0000000 --- a/src/interface/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - interface - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/interface/src/my_node.cpp b/src/interface/src/my_node.cpp deleted file mode 100644 index 8e434c1..0000000 --- a/src/interface/src/my_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -int main(int argc, char ** argv) -{ - (void) argc; - (void) argv; - - printf("hello world interface package\n"); - return 0; -} diff --git a/src/lib/color_codes.py b/src/lib/color_codes.py new file mode 100644 index 0000000..96e3bbd --- /dev/null +++ b/src/lib/color_codes.py @@ -0,0 +1,44 @@ +""" +This module contains classes and functions related to coloring text in consoles that support ANSI. +""" + +from enum import Enum + +# "Borrowed" from here: +# https://stackoverflow.com/questions/287871/how-do-i-print-colored-text-to-the-terminal + + +# The str mixin type on Enums is subpar as it has some serialization issues, but will work more than +# well enough for our purposes +class ColorCodes(str, Enum): + """ + An enum whose values represent color tags when printed to a console that supports ANSI + """ + + PINK = "\033[95m" + BLUE_OK = "\033[94m" + CYAN_OK = "\033[96m" + GREEN_OK = "\033[92m" + WARNING_YELLOW = "\033[93m" + FAIL_RED = "\033[91m" + ENDC = "\033[0m" + BOLD = "\033[1m" + UNDERLINE = "\033[4m" + + +def colorStr(text: str, color: ColorCodes) -> str: + """ + Colors the given string with the given color when printed to console + + Parameters + ------ + text: str + The string to color + color: Color + The color to color the string with + + Returns + ------ + A string that will be colored when printed + """ + return color + text + ColorCodes.ENDC diff --git a/src/lib/configs.py b/src/lib/configs.py new file mode 100644 index 0000000..77a6dce --- /dev/null +++ b/src/lib/configs.py @@ -0,0 +1,192 @@ +""" +This module contains all the relevant configs for the rover, and any classes needed to hold the +configs. +""" + +import math +from dataclasses import dataclass +from typing import Any + + +@dataclass(frozen=True) +class MoteusMotorConfig: + """ + A dataclass that contains config values relating to moteus motors connected via the can bus. + """ + + can_id: int + """ + The can id of the motor. + """ + + config: dict[str, float | int] + """ + The config of the motor. See: + https://github.com/mjbots/moteus/blob/main/docs/reference.md#c-configurable-values + + The `id.id` will be ignored. + """ + + def getCanTopicName(self) -> str: + """ + Gets the motor's topic name for data sourced from can. + + Returns the following format: `moteusmotor__from_can` + """ + return f"moteusmotor_{self.can_id}_from_can" + + def getInterfaceTopicName(self) -> str: + """ + Gets the motor's topic name for data sourced from robot interface. + + Returns the following format: `moteusmotor__from_interface` + """ + return f"moteusmotor_{self.can_id}_from_interface" + + +class MotorConfigs: + """ + A constants class that contains motor constants. + """ + + # Drivebase + REAR_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=20, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + MID_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=21, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + FRONT_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=22, + config={ + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + + REAR_LEFT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=23, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + MID_LEFT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=24, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + FRONT_LEFT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=25, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + + # Arm + ARM_SHOULDER_MOTOR = MoteusMotorConfig( + can_id=1, + config={ + "servo.max_voltage": 56.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + ARM_ELBOW_MOTOR = MoteusMotorConfig( + can_id=2, + config={ + "motor_position.rotor_to_output_ratio": 0.01666, + "servo.pwm_rate_hz": 60000, + "servo.pid_position.kp": 10000.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 1.0, + "servo.max_current_A": 6.0, + "servo.max_velocity": 0.1, + "servopos.position_min": -0.5, + "servopos.position_max": 0.0, + }, + ) + ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3, config={}) + ARM_RIGHT_WRIST_MOTOR = MoteusMotorConfig(can_id=4, config={}) + ARM_TURNTABLE_MOTOR = MoteusMotorConfig( + can_id=5, + config={ + "motor_position.rotor_to_output_ratio": 0.030581, + "servo.pid_position.kp": 16.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 1.0, + "servo.max_current_A": 10.0, + "servo.max_velocity": 1.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + + # Don't allow anyone to change this class's attributes + def __setattr__(self, _: str, __: Any) -> Any: + raise AttributeError("Trying to set attribute on a frozen instance") + + @classmethod + def getAllMotors(cls) -> list[MoteusMotorConfig]: + """ + Returns a list of every motor in this constants class. + """ + # Simply return every attribute that doesn't start with an underscore and isn't this method + return [ + value + for key, value in cls.__dict__.items() + if not key.startswith("_") and key != "getAllMotors" + ] diff --git a/src/lib/interface/robot_info.py b/src/lib/interface/robot_info.py new file mode 100644 index 0000000..ed8b10b --- /dev/null +++ b/src/lib/interface/robot_info.py @@ -0,0 +1,43 @@ +""" +This module just contains the RobotInfo class. It provides utility functions to access the state of +motor on the robot. +""" + +from rclpy.node import Node +from rclpy.subscription import Subscription +from std_msgs.msg import String + +from lib.configs import MoteusMotorConfig, MotorConfigs +from lib.moteus_motor_state import MoteusMotorState + + +class RobotInfo: # pylint: disable=too-few-public-methods + """ + A class that provides utility functions to access the state of motors within the robot. + """ + + def __init__(self, ros_node: Node): + self._ros_node = ros_node + self.sub_list: list[Subscription] = [] # empty array + self.can_id_to_json: dict[int, MoteusMotorState] = {} # Dict + + for motor_config in MotorConfigs.getAllMotors(): + self._ros_node.create_subscription( + String, motor_config.getCanTopicName(), self._subCallback, 10 + ) + self.can_id_to_json[motor_config.can_id] = MoteusMotorState() + + def _subCallback(self, msg: String) -> None: + state = MoteusMotorState.fromJsonMsg(msg) + self.can_id_to_json[state.can_id] = state + + def getMotorState(self, motor: MoteusMotorConfig) -> MoteusMotorState: + """ + Gets the state of the motor with the given can_id. + + Parameters + ------ + can_id: int + The can id of the motor to get the state of. + """ + return self.can_id_to_json[motor.can_id] diff --git a/src/lib/interface/robot_interface.py b/src/lib/interface/robot_interface.py new file mode 100644 index 0000000..ce6332d --- /dev/null +++ b/src/lib/interface/robot_interface.py @@ -0,0 +1,103 @@ +""" +This module just contains the RobotInterface class. It provides utility functions to interact with +motors on the robot. +""" + +import math + +from rclpy.node import Node +from rclpy.publisher import Publisher +from std_msgs.msg import String + +from lib.configs import MoteusMotorConfig, MotorConfigs +from lib.moteus_motor_state import MoteusRunSettings + +REVS_TO_RADIANS = math.pi * 2 +RADIANS_TO_REVS = 1 / REVS_TO_RADIANS + + +class RobotInterface: + """ + A class that provides utility functions to interact with motors on the robot + """ + + def __init__(self, ros_node: Node) -> None: + self._ros_node = ros_node + self._publishers: dict[int, Publisher] = {} + + for motor_config in MotorConfigs.getAllMotors(): + self._publishers[motor_config.can_id] = self._ros_node.create_publisher( + String, motor_config.getInterfaceTopicName(), 10 + ) + + def runMotor(self, motor: MoteusMotorConfig, run_settings: MoteusRunSettings) -> None: + """ + Runs the specified motor with the specified settings. + + Parameters + ------- + motor : MoteusMotorConfig + The config of the motor to run. + run_settings : MoteusRunSettings + The settings to run the motor with. + """ + self._publishers[motor.can_id].publish(run_settings.toMsg()) + + def runMotorSpeed(self, motor: MoteusMotorConfig, target_radians_per_second: float) -> None: + """ + Runs the specified motor with the specified target speed. + + Parameters + ------- + motor : MoteusMotorConfig + The config of the motor to run. + target_radians_per_second: float + The target speed in radians per second to run the motor. + """ + self.runMotor( + motor, + MoteusRunSettings( + position=math.nan, + velocity=target_radians_per_second * RADIANS_TO_REVS, + set_stop=False, + ), + ) + + def runMotorPosition(self, motor: MoteusMotorConfig, target_radians: float) -> None: + """ + Runs the specified motor to reach the specified position. + + Parameters + ------- + motor : MoteusMotorConfig + The config of the motor to run. + target_radians: float + The target position in revolutions. + """ + self.runMotor( + motor, MoteusRunSettings(position=target_radians * RADIANS_TO_REVS, set_stop=False) + ) + + def stopMotor(self, motor: MoteusMotorConfig) -> None: + """ + Stops the specified motor. This will stop the motor in place, not make it go limp unlike + `disableMotor()`. + + Parameters + ------ + motor: MoteusMotorConfig + The config of the motor to stop. + """ + self.runMotor(motor, MoteusRunSettings(position=math.nan, velocity=0, set_stop=False)) + + def disableMotor(self, motor: MoteusMotorConfig) -> None: + """ + Disables the specified motor. This essentially turns off the motor, stopping all output and + making it go limp. + + Parameters + ------- + motor : MoteusMotorConfig + The config of the motor to disable. + """ + self.runMotor(motor, MoteusRunSettings(velocity=0, set_stop=True)) diff --git a/src/lib/json_msg.py b/src/lib/json_msg.py new file mode 100644 index 0000000..678121f --- /dev/null +++ b/src/lib/json_msg.py @@ -0,0 +1,70 @@ +""" +This module contains a JsonMsg base class that should be inherited. This JsonMsg class allows for +easy conversion between String messages containing strings and python dictionaries. + +Inheriting this class should look like this: +``` +class FooMsg(JsonMsg["FooMsg"]): + # your code + pass +``` + +Optionally you can make the subclass a dataclass too: +``` +@dataclass +class FooMsg(JsonMsg["FooMsg"]): + foo: int + bar: int +``` +""" + +import json +from typing import Any, Generic, TypeVar, get_args + +from std_msgs.msg import String + +T = TypeVar("T") + + +# Yes I had to do some ungodly things to make type checking work. I dont think anyone on the team +# but me knows precisely what this code does... itll be find - kyler +class JsonMsg(Generic[T]): + """ + A base class that allows subclasses to easily be converted into String message objects + containing a Json string. + + The generic type `T` should be the inheriting class: + ``` + class FooMsg(JsonMsg["FooMsg"]): + # your code + pass + ``` + """ + + def toMsg(self) -> String: + """ + Convert the message object into a String message containing a Json string. + """ + str_msg = String() + str_msg.data = json.dumps(self.toDict()) + return str_msg + + def toDict(self) -> dict[str, Any]: + """ + Converts the message object into a dictionary. + """ + return { + key: value for key, value in self.__dict__.copy().items() if not key.startswith("_") + } + + @classmethod + def fromJsonMsg(cls, msg: String) -> T: + """ + Creates a JsonMsg object from a string message. + """ + json_obj = json.loads(msg.data) + + # This code just gets the child class and constructs a new one + # You can think of it like this: return T(**json_obj) + # It's just that the above code is not valid + return cls(**json_obj) diff --git a/src/lib/moteus_motor_state.py b/src/lib/moteus_motor_state.py new file mode 100644 index 0000000..681bd0d --- /dev/null +++ b/src/lib/moteus_motor_state.py @@ -0,0 +1,95 @@ +""" +This module contains objects representing the moteus motor state and settings for `set_position`. +""" + +from dataclasses import dataclass + +import moteus +from moteus.moteus import Result + +from lib.json_msg import JsonMsg + + +@dataclass(frozen=True) +class MoteusMotorState(JsonMsg["MoteusMotorState"]): + """ + A dataclass representing the state of the moteus motor. + """ + + can_id: int = -1 + position: float | None = None + """ + Current position of the motor in revolutions. + """ + velocity: float | None = None + """ + Current velocity of the motor in revolutions per second. + """ + torque: float | None = None + """ + Current torque of the motor in newton meters. + """ + temperature: float | None = None + """ + Current temperature of the controller in celcius. + """ + power: float | None = None + """ + Current power draw of the controller in watts. + """ + input_voltage: float | None = None + """ + Current voltage of the controller in volts. + """ + q_current: float | None = None + """ + Current q phase measured in amps. + """ + d_current: float | None = None + """ + Current d phase measured in amps. + """ + + @classmethod + def fromMoteusData(cls, can_id: int, moteus_result: Result) -> "MoteusMotorState": + """ + Creates a MoteusMotorState from a moteus result. + """ + dict_ = { + "can_id": can_id, + "position": moteus_result.values[moteus.Register.POSITION], + "velocity": moteus_result.values[moteus.Register.VELOCITY], + "torque": moteus_result.values[moteus.Register.TORQUE], + "temperature": moteus_result.values[moteus.Register.TEMPERATURE], + "power": moteus_result.values[moteus.Register.POWER], + "input_voltage": moteus_result.values[moteus.Register.VOLTAGE], + "q_current": moteus_result.values[moteus.Register.Q_CURRENT], + "d_current": moteus_result.values[moteus.Register.D_CURRENT], + } + + return cls(**dict_) + + +@dataclass(frozen=True) +class MoteusRunSettings(JsonMsg["MoteusRunSettings"]): + """ + A dataclass representing the different settings while running a moteus motor. + """ + + position: float | None = None + """ + Requested position of the motor in revolutions. + """ + velocity: float | None = None + """ + Requested velocity of the motor in revolutions per second. + """ + feedforward_torque: float | None = None + kp_scale: float | None = None + kd_scale: float | None = None + max_torque: float | None = None + watchdog_timeout: float | None = None + velocity_limit: float | None = None + accel_limit: float | None = None + fixed_voltage_override: float | None = None + set_stop: bool = True diff --git a/src/life_detection/life_detection/life_detection.py b/src/life_detection/life_detection/life_detection.py deleted file mode 100644 index 161c62c..0000000 --- a/src/life_detection/life_detection/life_detection.py +++ /dev/null @@ -1,6 +0,0 @@ -def main(): - print('Hi from life_detection.') - - -if __name__ == '__main__': - main() diff --git a/src/life_detection/setup.cfg b/src/life_detection/setup.cfg deleted file mode 100644 index a1546fe..0000000 --- a/src/life_detection/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/life_detection -[install] -install_scripts=$base/lib/life_detection diff --git a/src/life_detection/setup.py b/src/life_detection/setup.py deleted file mode 100644 index 73552ab..0000000 --- a/src/life_detection/setup.py +++ /dev/null @@ -1,26 +0,0 @@ -from setuptools import setup - -package_name = 'life_detection' - -setup( - name=package_name, - version='0.0.0', - packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='trickfire', - maintainer_email='aimeilicke@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - 'life_detection = life_detection.life_detection:main' - ], - }, -) diff --git a/src/life_detection/test/test_flake8.py b/src/life_detection/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/life_detection/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/life_detection/test/test_pep257.py b/src/life_detection/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/life_detection/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/localization/localization/localization.py b/src/localization/localization/localization.py deleted file mode 100644 index 89508ac..0000000 --- a/src/localization/localization/localization.py +++ /dev/null @@ -1,6 +0,0 @@ -def main(): - print('Hi from localization.') - - -if __name__ == '__main__': - main() diff --git a/src/localization/setup.cfg b/src/localization/setup.cfg deleted file mode 100644 index 6d5a5fb..0000000 --- a/src/localization/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/localization -[install] -install_scripts=$base/lib/localization diff --git a/src/localization/setup.py b/src/localization/setup.py deleted file mode 100644 index d3a4c4f..0000000 --- a/src/localization/setup.py +++ /dev/null @@ -1,26 +0,0 @@ -from setuptools import setup - -package_name = 'localization' - -setup( - name=package_name, - version='0.0.0', - packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='trickfire', - maintainer_email='aimeilicke@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - 'localization = localization.localization:main' - ], - }, -) diff --git a/src/localization/test/test_flake8.py b/src/localization/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/localization/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/localization/test/test_pep257.py b/src/localization/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/localization/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/mission_control/CMakeLists.txt b/src/mission_control/CMakeLists.txt deleted file mode 100644 index 652a72c..0000000 --- a/src/mission_control/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(mission_control) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -add_executable(my_node src/my_node.cpp) -target_include_directories(my_node PUBLIC - $ - $) -target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -install(TARGETS my_node - DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/mission_control/package.xml b/src/mission_control/package.xml deleted file mode 100644 index c05251e..0000000 --- a/src/mission_control/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - mission_control - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/mission_control/src/my_node.cpp b/src/mission_control/src/my_node.cpp deleted file mode 100644 index 64e7f06..0000000 --- a/src/mission_control/src/my_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -int main(int argc, char ** argv) -{ - (void) argc; - (void) argv; - - printf("hello world mission_control package\n"); - return 0; -} diff --git a/src/localization/localization/__init__.py b/src/mission_control_updater/mission_control_updater/__init__.py similarity index 100% rename from src/localization/localization/__init__.py rename to src/mission_control_updater/mission_control_updater/__init__.py diff --git a/src/mission_control_updater/mission_control_updater/info_to_json_helper.py b/src/mission_control_updater/mission_control_updater/info_to_json_helper.py new file mode 100644 index 0000000..b537ac9 --- /dev/null +++ b/src/mission_control_updater/mission_control_updater/info_to_json_helper.py @@ -0,0 +1,25 @@ +import json + +from lib.moteus_motor_state import MoteusMotorState + + +class InfoToJSONHelper: + + def __init__(self) -> None: + self.moteus_entries: list[MoteusMotorState] = [] + + def addMoteusEntry(self, entry: MoteusMotorState) -> None: + self.moteus_entries.append(entry) + + def buildJSONString(self) -> str: + moteus_dict_array = [] + + for moteus_entry in self.moteus_entries: + moteus_dict_array.append(moteus_entry.toDict()) + + python_dict = { + "moteusMotorLength": len(moteus_dict_array), + "moteusMotors": moteus_dict_array, + } + + return json.dumps(python_dict) diff --git a/src/mission_control_updater/mission_control_updater/updater.py b/src/mission_control_updater/mission_control_updater/updater.py new file mode 100644 index 0000000..dd8a25f --- /dev/null +++ b/src/mission_control_updater/mission_control_updater/updater.py @@ -0,0 +1,61 @@ +import sys + +import rclpy +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node +from std_msgs.msg import String + +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs +from lib.interface.robot_info import RobotInfo + +from . import info_to_json_helper + + +class MissionControlUpdater(Node): + + def __init__(self) -> None: + super().__init__("mission_control_updater_node") + self.get_logger().info( + colorStr("Launching mission_control_updater_node", ColorCodes.BLUE_OK) + ) + + self.publisher_to_mc = self.create_publisher(String, "mission_control_updater", 1) + + self.timer = self.create_timer(0.01, self.sendData) + self.robot_info = RobotInfo(self) + + def sendData(self) -> None: + json_builder = info_to_json_helper.InfoToJSONHelper() + + for motor in MotorConfigs.getAllMotors(): + json_builder.addMoteusEntry(self.robot_info.getMotorState(motor)) + + msg = String() + msg.data = json_builder.buildJSONString() + self.publisher_to_mc.publish(msg) + + +def main(args: list[str] | None = None) -> None: + """ + The entry point of the node. + """ + + rclpy.init(args=args) + try: + node = MissionControlUpdater() + rclpy.spin(node) + + except KeyboardInterrupt: + pass + except ExternalShutdownException: + # This is done when we ctrl-c the progam to shut it down + node.get_logger().info( + colorStr("Shutting down mission_control_updater_node", ColorCodes.BLUE_OK) + ) + node.destroy_node() + sys.exit(0) + + +if __name__ == "__main__": + main() diff --git a/src/localization/package.xml b/src/mission_control_updater/package.xml similarity index 82% rename from src/localization/package.xml rename to src/mission_control_updater/package.xml index fc476ce..fb8ad91 100644 --- a/src/localization/package.xml +++ b/src/mission_control_updater/package.xml @@ -1,10 +1,10 @@ - localization + mission_control_updater 0.0.0 TODO: Package description - trickfire + trickfire TODO: License declaration ament_copyright diff --git a/src/localization/resource/localization b/src/mission_control_updater/resource/mission_control_updater similarity index 100% rename from src/localization/resource/localization rename to src/mission_control_updater/resource/mission_control_updater diff --git a/src/mission_control_updater/setup.cfg b/src/mission_control_updater/setup.cfg new file mode 100644 index 0000000..d896b75 --- /dev/null +++ b/src/mission_control_updater/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/mission_control_updater +[install] +install_scripts=$base/lib/mission_control_updater diff --git a/src/mission_control_updater/setup.py b/src/mission_control_updater/setup.py new file mode 100644 index 0000000..f6469a6 --- /dev/null +++ b/src/mission_control_updater/setup.py @@ -0,0 +1,23 @@ +from setuptools import find_packages, setup + +package_name = "mission_control_updater" + +setup( + name=package_name, + version="0.0.0", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="trickfire", + maintainer_email="vladimirkupryukhin@gmail.com", + description="TODO: Package description", + license="TODO: License declaration", + tests_require=["pytest"], + entry_points={ + "console_scripts": ["mission_control_updater = mission_control_updater.updater:main"], + }, +) diff --git a/src/localization/test/test_copyright.py b/src/mission_control_updater/test/test_copyright.py similarity index 74% rename from src/localization/test/test_copyright.py rename to src/mission_control_updater/test/test_copyright.py index cc8ff03..95f0381 100644 --- a/src/localization/test/test_copyright.py +++ b/src/mission_control_updater/test/test_copyright.py @@ -16,8 +16,10 @@ import pytest +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") @pytest.mark.copyright @pytest.mark.linter def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/monitering/CMakeLists.txt b/src/monitering/CMakeLists.txt deleted file mode 100644 index a3b75cf..0000000 --- a/src/monitering/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(monitering) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -add_executable(my_node src/my_node.cpp) -target_include_directories(my_node PUBLIC - $ - $) -target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -install(TARGETS my_node - DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/monitering/package.xml b/src/monitering/package.xml deleted file mode 100644 index 6f44c79..0000000 --- a/src/monitering/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - monitering - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/monitering/src/my_node.cpp b/src/monitering/src/my_node.cpp deleted file mode 100644 index 4efe23d..0000000 --- a/src/monitering/src/my_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -int main(int argc, char ** argv) -{ - (void) argc; - (void) argv; - - printf("hello world monitering package\n"); - return 0; -} diff --git a/src/sensor/CMakeLists.txt b/src/sensor/CMakeLists.txt deleted file mode 100644 index 209a439..0000000 --- a/src/sensor/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(sensor) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -add_executable(my_node src/my_node.cpp) -target_include_directories(my_node PUBLIC - $ - $) -target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -install(TARGETS my_node - DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/sensor/package.xml b/src/sensor/package.xml deleted file mode 100644 index e468ea7..0000000 --- a/src/sensor/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - sensor - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/sensor/src/my_node.cpp b/src/sensor/src/my_node.cpp deleted file mode 100644 index 94bfd1d..0000000 --- a/src/sensor/src/my_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -int main(int argc, char ** argv) -{ - (void) argc; - (void) argv; - - printf("hello world sensor package\n"); - return 0; -} diff --git a/src/teleoperation/package.xml b/src/teleoperation/package.xml deleted file mode 100644 index 7889cab..0000000 --- a/src/teleoperation/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - teleoperation - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - - - ament_python - - diff --git a/src/teleoperation/resource/teleoperation b/src/teleoperation/resource/teleoperation deleted file mode 100644 index e69de29..0000000 diff --git a/src/teleoperation/setup.cfg b/src/teleoperation/setup.cfg deleted file mode 100644 index f8e45c1..0000000 --- a/src/teleoperation/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/teleoperation -[install] -install_scripts=$base/lib/teleoperation diff --git a/src/teleoperation/setup.py b/src/teleoperation/setup.py deleted file mode 100644 index c877fe1..0000000 --- a/src/teleoperation/setup.py +++ /dev/null @@ -1,26 +0,0 @@ -from setuptools import setup - -package_name = 'teleoperation' - -setup( - name=package_name, - version='0.0.0', - packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='trickfire', - maintainer_email='aimeilicke@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - 'teleoperation = teleoperation.teleoperation:main' - ], - }, -) diff --git a/src/teleoperation/teleoperation/__init__.py b/src/teleoperation/teleoperation/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/teleoperation/teleoperation/teleoperation.py b/src/teleoperation/teleoperation/teleoperation.py deleted file mode 100644 index 44fb6e6..0000000 --- a/src/teleoperation/teleoperation/teleoperation.py +++ /dev/null @@ -1,6 +0,0 @@ -def main(): - print('Hi from teleoperation.') - - -if __name__ == '__main__': - main() diff --git a/src/teleoperation/test/test_copyright.py b/src/teleoperation/test/test_copyright.py deleted file mode 100644 index cc8ff03..0000000 --- a/src/teleoperation/test/test_copyright.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/src/teleoperation/test/test_flake8.py b/src/teleoperation/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/teleoperation/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/teleoperation/test/test_pep257.py b/src/teleoperation/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/teleoperation/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 92d05f4..e35d172 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -1,60 +1,28 @@ import launch -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode from launch_ros.actions import Node -hello_node = ComposableNode( - package='hello_world', - plugin='hello_world::hello_node', - name='hello_node' -) +can_moteus_node = Node(package="can_moteus", executable="can_moteus", name="can_moteus_node") -can_moteus_node = Node( - package='can_moteus', - executable='can_moteus', - name='can_moteus_node' -) -ros_camera_node = Node( - package='camera', - executable='roscamera', - name='ros_camera' -) +drivebase_node = Node(package="drivebase", executable="drivebase", name="drivebase_node") -ros_camera_test_node = Node( - package='camera_subscriber_test', - executable='roscamerasub', - name='ros_camera_sub' -) -ros_executor_test_node = Node( - package='executor_test', - executable='executor_test', - name='executor_camera_test_node' +mission_control_updater_node = Node( + package="mission_control_updater", + executable="mission_control_updater", + name="mission_control_updater_node", ) -# Composable Nodes launched in a Composable Node container will share a process -# and can use very fast inter-process communication instead of publishing -# messages over a network socket. -# Note: "Composable Node container" does not mean "Docker-like container". -robot_container = ComposableNodeContainer( - name='robot', - package='rclcpp_components', - namespace='', - executable='component_container', - composable_node_descriptions=[ - hello_node - ], - output='screen', - emulate_tty=True -) +arm_node = Node(package="arm", executable="arm", name="arm_node") + +camera_node = Node(package="camera", executable="roscamera", name="camera_node") + +# This is the example node. It will show ROS timers, subscribers, and publishers +# To include it in the startup, add it to the array in the generate_launch_description() method +example_node = Node(package="example_node", executable="myExampleNode", name="my_example_node") -def generate_launch_description(): - return launch.LaunchDescription([ - robot_container, - can_moteus_node, - ros_camera_node, - #ros_executor_test_node, - #ros_camera_test_node - ]) +def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name + return launch.LaunchDescription( + [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node, camera_node] + ) diff --git a/src/viator_launch/package.xml b/src/viator_launch/package.xml index 853af22..7f08692 100644 --- a/src/viator_launch/package.xml +++ b/src/viator_launch/package.xml @@ -7,11 +7,13 @@ trickfire TODO: License declaration - hello_world can_moteus ros2launch + mission_control_updater + arm camera - camera_subscriber_test + example_node + ament_copyright ament_flake8 @@ -21,4 +23,4 @@ ament_python - + \ No newline at end of file diff --git a/src/viator_launch/setup.py b/src/viator_launch/setup.py index edf125d..947a4e8 100644 --- a/src/viator_launch/setup.py +++ b/src/viator_launch/setup.py @@ -1,24 +1,24 @@ from setuptools import setup from glob import glob -package_name = 'viator_launch' +package_name = "viator_launch" setup( name=package_name, - version='0.0.0', + version="0.0.0", packages=[], data_files=[ # Register this package in the ament resource index. - ('share/ament_index/resource_index/packages', ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ('share/' + package_name + '/launch', glob('launch/*.launch.py')), + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ("share/" + package_name + "/launch", glob("launch/*.launch.py")), ], - install_requires=['setuptools'], + install_requires=["setuptools"], # Zip-safety is not yet confirmed. zip_safe=True, - maintainer='trickfire', - maintainer_email='phillipov@outlook.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'] + maintainer="trickfire", + maintainer_email="phillipov@outlook.com", + description="TODO: Package description", + license="TODO: License declaration", + tests_require=["pytest"], ) diff --git a/src/viator_launch/test/test_copyright.py b/src/viator_launch/test/test_copyright.py index cc8ff03..f46f861 100644 --- a/src/viator_launch/test/test_copyright.py +++ b/src/viator_launch/test/test_copyright.py @@ -19,5 +19,5 @@ @pytest.mark.copyright @pytest.mark.linter def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/viator_launch/test/test_flake8.py b/src/viator_launch/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/viator_launch/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/viator_launch/test/test_pep257.py b/src/viator_launch/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/viator_launch/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/vision_opencv b/src/vision_opencv deleted file mode 160000 index 066793a..0000000 --- a/src/vision_opencv +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 066793a23e5d06d76c78ca3d69824a501c3554fd From d99ca85341dacc2aa9993ab88c5ddbb774ed0083 Mon Sep 17 00:00:00 2001 From: dkim03 Date: Tue, 22 Oct 2024 11:45:48 -0700 Subject: [PATCH 23/50] update settings.json --- .vscode/settings.json | 3 ++- src/.vscode/settings.json | 3 +++ 2 files changed, 5 insertions(+), 1 deletion(-) create mode 100644 src/.vscode/settings.json diff --git a/.vscode/settings.json b/.vscode/settings.json index 92828ed..b077611 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -29,5 +29,6 @@ }, "editor.rulers": [ 100 - ] + ], + "ros.distro": "humble" } \ No newline at end of file diff --git a/src/.vscode/settings.json b/src/.vscode/settings.json new file mode 100644 index 0000000..46d9a84 --- /dev/null +++ b/src/.vscode/settings.json @@ -0,0 +1,3 @@ +{ + "ros.distro": "humble" +} \ No newline at end of file From 7483ccf03f9c7ee7443dec8b7e65ab65d1996b2f Mon Sep 17 00:00:00 2001 From: Daniel Kantor Date: Fri, 1 Dec 2023 14:22:16 -0800 Subject: [PATCH 24/50] Robot Interface Merge (#24) * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * added all methods to robot interface * Added arm publishers and renamed other publishers * Followed publisher naming standard * update robot interface * Fix RobotInterface import in testing node * change message values to float 32 * Initial testing works. Tested three methods. Multiple motors move * Changed const variables, changed math and gear ratios * Can2.0 works * Added some comments * Added some comments * Added setupCAN.sh * Position code works with a single motor. Idk why the magic number is 33 for 2pi --------- Co-authored-by: matthewperrywa Co-authored-by: mendomic Co-authored-by: Vladimir Kupryukhin Co-authored-by: agrach Co-authored-by: VladimirKupryukhin --- launch.sh | 6 + setupCAN.sh | 4 + src/custom_interfaces/package.xml | 15 +- src/custom_interfaces/robot_interface.py | 261 ++++++++++++++++++ src/testingInterface/package.xml | 37 +++ .../resource/testingInterface | 0 src/testingInterface/setup.cfg | 4 + src/testingInterface/setup.py | 26 ++ src/testingInterface/test/test_copyright.py | 25 ++ src/testingInterface/test/test_flake8.py | 25 ++ src/testingInterface/test/test_pep257.py | 23 ++ .../testingInterface/__init__.py | 0 .../testingInterface/testingNode.py | 29 ++ 13 files changed, 454 insertions(+), 1 deletion(-) create mode 100644 setupCAN.sh create mode 100644 src/custom_interfaces/robot_interface.py create mode 100644 src/testingInterface/package.xml create mode 100644 src/testingInterface/resource/testingInterface create mode 100644 src/testingInterface/setup.cfg create mode 100644 src/testingInterface/setup.py create mode 100644 src/testingInterface/test/test_copyright.py create mode 100644 src/testingInterface/test/test_flake8.py create mode 100644 src/testingInterface/test/test_pep257.py create mode 100644 src/testingInterface/testingInterface/__init__.py create mode 100644 src/testingInterface/testingInterface/testingNode.py diff --git a/launch.sh b/launch.sh index aa11a7a..09ba431 100755 --- a/launch.sh +++ b/launch.sh @@ -9,6 +9,12 @@ source /home/trickfire/urc-2023/install/setup.bash #ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on #ip link set can0 up +#modprobe can +#modprobe can_raw +#modprobe mttcan +#ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on +#ip link set can0 up + # Add to the python import pathes. Not the best, but will work for now export PYTHONPATH="/home/trickfire/urc-2023/src/:$PYTHONPATH" diff --git a/setupCAN.sh b/setupCAN.sh new file mode 100644 index 0000000..1126bc0 --- /dev/null +++ b/setupCAN.sh @@ -0,0 +1,4 @@ +sudo modprobe can +sudo modprobe can_raw +sudo modprobe mttcan +sudo ip link set can0 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on \ No newline at end of file diff --git a/src/custom_interfaces/package.xml b/src/custom_interfaces/package.xml index 53deff3..3847a6e 100644 --- a/src/custom_interfaces/package.xml +++ b/src/custom_interfaces/package.xml @@ -1,6 +1,7 @@ +<<<<<<<< HEAD:src/custom_interfaces/package.xml custom_interfaces 0.0.0 TODO: Package description @@ -17,8 +18,20 @@ ament_lint_auto ament_lint_common +======== + testingInterface + 0.0.0 + TODO: Package description + trickfire + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest +>>>>>>>> e9f631c (Robot Interface Merge (#24)):src/testingInterface/package.xml - ament_cmake + ament_python diff --git a/src/custom_interfaces/robot_interface.py b/src/custom_interfaces/robot_interface.py new file mode 100644 index 0000000..88c5e57 --- /dev/null +++ b/src/custom_interfaces/robot_interface.py @@ -0,0 +1,261 @@ +#!/usr/bin/env python3 + +# General interface for robot funcitonality + +import rclpy +from rclpy.node import Node +import std_msgs.msg +from std_msgs.msg import String +from std_msgs.msg import Float32 + +VELOCITY_CONVERSION = 1.76838724851 +POSITION_CONVERSION = 33 / (6.28) #Radians to position ticks + +robotPublishers = dict() + +class RobotInterface(Node): + # + # Constructors/Destructors + # + + def __init__(self, rosNode): + self._rosNode = rosNode + print("GOT TO __init__") + + # Drive base + publisher = self._rosNode.create_publisher(Float32, 'front_left_drive_motor_velocity_from_interface', 10) + robotPublishers['front_left_drive_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'front_right_drive_motor_velocity_from_interface', 10) + robotPublishers['front_right_drive_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'mid_left_drive_motor_velocity_from_interface', 10) + robotPublishers['mid_left_drive_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'mid_right_drive_motor_velocity_from_interface', 10) + robotPublishers['mid_right_drive_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'rear_left_drive_motor_velocity_from_interface', 10) + robotPublishers['rear_left_drive_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'rear_right_drive_motor_velocity_from_interface', 10) + robotPublishers['rear_right_drive_motor'] = publisher + + # Arm + publisher = self._rosNode.create_publisher(Float32, 'arm_turntable_motor_position_from_interface', 10) + robotPublishers['arm_turntable_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'arm_shoulder_motor_position_from_interface', 10) + robotPublishers['arm_shoulder_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'arm_elbow_motor_position_from_interface', 10) + robotPublishers['arm_elbow_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'arm_forearm_motor_position_from_interface', 10) + robotPublishers['arm_forearm_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'arm_wrist_motor_position_from_interface', 10) + robotPublishers['arm_wrist_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'arm_hand_motor_position_from_interface', 10) + robotPublishers['arm_hand_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'arm_fingers_motor_position_from_interface', 10) + robotPublishers['arm_fingers_motor'] = publisher + + # Antenna + publisher = self._rosNode.create_publisher(Float32, 'antenna_motor_position_from_interface', 10) + robotPublishers['antenna_motor'] = publisher + publisher = self._rosNode.create_publisher(Float32, 'antenna_turntable_motor_position_from_interface', 10) + robotPublishers['antenna_turntable_motor'] = publisher + + def __del__(self): + print() + + def velocityConversion(self, amount): + return amount * VELOCITY_CONVERSION + + # Converting from input "radians" to output "revolutions" + def positionConversion(self, amount): + return amount * POSITION_CONVERSION + + # RobotInterface(const RobotInterface&) = delete; + # RobotInterface& operator=(const RobotInterface&) = delete; + # RobotInterface(RobotInterface&&) = delete; + # RobotInterface& operator=(RobotInterface&&) = delete; + + + # + # Movement + # + + # General movement including all wheels + def moveForward(): + print() + def moveBackward(self, amount): + print() + def turnLeft(self, amount): + print() + def turnRight(self, amount): + print() + + # Left front wheel + def front_left_drive_motor(self, amount): + revolutionsOutput = self.velocityConversion(amount) + publisher = robotPublishers['front_left_drive_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + #self._rosNode.get_logger().info(str(revolutionsOutput)) + publisher.publish(strMsg) + + # Right front wheel + def front_right_drive_motor(self, amount): + revolutionsOutput = self.velocityConversion(amount) + publisher = robotPublishers['front_right_drive_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Left middle wheel + def mid_left_drive_motor(self, amount): + revolutionsOutput = self.velocityConversion(amount) + publisher = robotPublishers['mid_left_drive_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Right middle wheel + def mid_right_drive_motor(self, amount): + revolutionsOutput = self.velocityConversion(amount) + publisher = robotPublishers['mid_right_drive_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Left back wheel + def rear_left_drive_motor(self, amount): + revolutionsOutput = self.velocityConversion(amount) + publisher = robotPublishers['rear_left_drive_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Right back wheel + def rear_right_drive_motor(self, amount): + revolutionsOutput = self.velocityConversion(amount) + publisher = robotPublishers['rear_right_drive_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm turntable + def arm_turntable_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) #* 5.204 # 5.204 is the gear ratio for turntable + publisher = robotPublishers['arm_turntable_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm Shoulder movement + def arm_shoulder_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) * 3.979 # 3.979 is gear ratio for shoulder + publisher = robotPublishers['arm_shoulder_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm Elbow movement + def arm_elbow_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) * 5.204 # 5.204 is gear ratio for elbow + publisher = robotPublishers['arm_elbow_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm Forearm movement + def arm_forearm_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) * 3.820 # 3.820 is gear ratio for forearm + publisher = robotPublishers['arm_forearm_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm Up Down Wrist movement + def arm_wrist_updown_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) * 3.820 # 3.820 is gear ratio for wrist up down + publisher = robotPublishers['arm_wrist_updown_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm Wrist rotation movement + def arm_wrist_rotation_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) / 6.283 # 6.283 is gear ratio for wrist rotation + publisher = robotPublishers['arm_wrist_rotation_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm Hand movement + def arm_hand_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) + publisher = robotPublishers['arm_hand_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Arm Finger movement + def arm_fingers_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) + publisher = robotPublishers['arm_fingers_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + # Antenna movement + def antenna_motor_extend(self): + # Output is in "revolutions" + revolutionsOutput = 1 # we don't know the actual position it should be. this is a placeholder + publisher = robotPublishers['antenna_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + def antenna_motor_retract(self): + # Output is in "revolutions" + revolutionsOutput = 0 # we don't know the actual position it should be. this is a placeholder + publisher = robotPublishers['antenna_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + def antenna_turntable_motor(self, amount): + revolutionsOutput = self.positionConversion(amount) + publisher = robotPublishers['antenna_turntable_motor'] + strMsg = Float32() + strMsg.data = revolutionsOutput + publisher.publish(strMsg) + + +class MyTestingNode(Node): + def __init__(self): + super().__init__('my_testing_node') + #self.create_timer(0.2, self.timer_callback) + self.get_logger().info("Hello ROS2") + #def timer_callback(self): + # self.get_logger().info("Hello ROS2") + +def main(args=None): + rclpy.init(args=args) + + testNode = MyTestingNode() + + object1 = RobotInterface(testNode) + + object1.front_left_drive_motor(10) + object1.front_right_drive_motor(15) + object1.mid_left_drive_motor(20) + object1.mid_right_drive_motor(25) + object1.rear_left_drive_motor(30) + object1.rear_right_drive_motor(9999) + + rclpy.spin(testNode) + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + testNode.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/src/testingInterface/package.xml b/src/testingInterface/package.xml new file mode 100644 index 0000000..3847a6e --- /dev/null +++ b/src/testingInterface/package.xml @@ -0,0 +1,37 @@ + + + +<<<<<<<< HEAD:src/custom_interfaces/package.xml + custom_interfaces + 0.0.0 + TODO: Package description + trickfire + TODO: License declaration + + ament_cmake + + rosidl_default_generators + + rosidl_default_runtime + + rosidl_interface_packages + + ament_lint_auto + ament_lint_common +======== + testingInterface + 0.0.0 + TODO: Package description + trickfire + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest +>>>>>>>> e9f631c (Robot Interface Merge (#24)):src/testingInterface/package.xml + + + ament_python + + diff --git a/src/testingInterface/resource/testingInterface b/src/testingInterface/resource/testingInterface new file mode 100644 index 0000000..e69de29 diff --git a/src/testingInterface/setup.cfg b/src/testingInterface/setup.cfg new file mode 100644 index 0000000..93c251d --- /dev/null +++ b/src/testingInterface/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/testingInterface +[install] +install_scripts=$base/lib/testingInterface diff --git a/src/testingInterface/setup.py b/src/testingInterface/setup.py new file mode 100644 index 0000000..985d64d --- /dev/null +++ b/src/testingInterface/setup.py @@ -0,0 +1,26 @@ +from setuptools import setup + +package_name = 'testingInterface' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='trickfire', + maintainer_email='matthew.c.perry@outlook.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'testingInterface = testingInterface.testingNode:main' + ], + }, +) diff --git a/src/testingInterface/test/test_copyright.py b/src/testingInterface/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/testingInterface/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/testingInterface/test/test_flake8.py b/src/testingInterface/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/testingInterface/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/testingInterface/test/test_pep257.py b/src/testingInterface/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/testingInterface/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/testingInterface/testingInterface/__init__.py b/src/testingInterface/testingInterface/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/testingInterface/testingInterface/testingNode.py b/src/testingInterface/testingInterface/testingNode.py new file mode 100644 index 0000000..c8f855e --- /dev/null +++ b/src/testingInterface/testingInterface/testingNode.py @@ -0,0 +1,29 @@ +import sys +import rclpy +from rclpy.node import Node +import time + +sys.path.append('/home/trickfire/urc-2023/src/interface') +from robot_interface import RobotInterface + + + +class testingNode(Node): + + def __init__(self): + super().__init__("testing_node") + self.get_logger().info("Launching testing_node node") + robotInterface = RobotInterface(self) + time.sleep(3) + + robotInterface.front_left_drive_motor(0.1) + robotInterface.front_right_drive_motor(0.1 * 12) + robotInterface.mid_left_drive_motor(0.1 * 12) + + +def main(args=None): + rclpy.init(args=args) + node = testingNode() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() From 352d4582afbbf885a6500e6116e66f8ead0835e3 Mon Sep 17 00:00:00 2001 From: Kyler Li <46853114+loukylor@users.noreply.github.com> Date: Fri, 5 Jan 2024 15:27:10 -0800 Subject: [PATCH 25/50] Merge RobotInfo (#29) * Add RobotInfo * Add ability to convert callback data * [robot_info] add dummy nodes for testing * [robot_info] fix topic name being grabbed incorrectly * Edits for robot info * Add RobotInfo * Add ability to convert callback data * [robot_info] add dummy nodes for testing * [robot_info] fix topic name being grabbed incorrectly * Edits for robot info --------- Co-authored-by: TrickFire Robotics --- src/robot_info/package.xml | 19 +++ src/robot_info/resource/robot_info | 0 src/robot_info/robot_info/__init__.py | 0 src/robot_info/robot_info/robot_info.py | 146 +++++++++++++++++++ src/robot_info/robot_info/test_publisher.py | 35 +++++ src/robot_info/robot_info/test_subscriber.py | 28 ++++ src/robot_info/setup.cfg | 4 + src/robot_info/setup.py | 27 ++++ src/robot_info/test/test_copyright.py | 25 ++++ src/robot_info/test/test_flake8.py | 25 ++++ src/robot_info/test/test_pep257.py | 23 +++ 11 files changed, 332 insertions(+) create mode 100644 src/robot_info/package.xml create mode 100644 src/robot_info/resource/robot_info create mode 100644 src/robot_info/robot_info/__init__.py create mode 100644 src/robot_info/robot_info/robot_info.py create mode 100644 src/robot_info/robot_info/test_publisher.py create mode 100644 src/robot_info/robot_info/test_subscriber.py create mode 100644 src/robot_info/setup.cfg create mode 100644 src/robot_info/setup.py create mode 100644 src/robot_info/test/test_copyright.py create mode 100644 src/robot_info/test/test_flake8.py create mode 100644 src/robot_info/test/test_pep257.py diff --git a/src/robot_info/package.xml b/src/robot_info/package.xml new file mode 100644 index 0000000..7dd6a2e --- /dev/null +++ b/src/robot_info/package.xml @@ -0,0 +1,19 @@ + + + + robot_info + 0.0.0 + TODO: Package description + trickfire + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + rclpy + + + ament_python + + diff --git a/src/robot_info/resource/robot_info b/src/robot_info/resource/robot_info new file mode 100644 index 0000000..e69de29 diff --git a/src/robot_info/robot_info/__init__.py b/src/robot_info/robot_info/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/robot_info/robot_info/robot_info.py b/src/robot_info/robot_info/robot_info.py new file mode 100644 index 0000000..394ca76 --- /dev/null +++ b/src/robot_info/robot_info/robot_info.py @@ -0,0 +1,146 @@ +import math +from typing import Any, Callable, get_args, Literal, TYPE_CHECKING + +from rclpy.node import Node +from std_msgs.msg import Float32 + + +# Because I don't want to write a thousand getters, the getters are made +# dynamically. But because of this, you really have to shoehorn things to make +# pylance (autofill) detect something as a valid attribute. Unfortunately, +# this workaround won't be able to add types to attributes. + +# Anything in this literal will be picked up as a valid attribute. +ATTRIBUTES = Literal[ + "front_left_drive_motor_velocity_from_can", + # "mid_left_drive_motor_velocity", + # "back_left_drive_motor_velocity", + # "front_right_drive_motor_velocity", + # "mid_right_drive_motor_velocity", + # "back_right_drive_motor_velocity", + # "front_left_drive_motor_torque", + # "mid_left_drive_motor_torque", + # "back_left_drive_motor_torque", + # "front_right_drive_motor_torque", + # "mid_right_drive_motor_torque", + # "back_right_drive_motor_torque", + # "front_left_drive_motor_temperature", + # "mid_left_drive_motor_temperature", + # "back_left_drive_motor_temperature", + # "front_right_drive_motor_temperature", + # "mid_right_drive_motor_temperature", + # "back_right_drive_motor_temperature" +] + +# Every type in this tuple is the type used for the topic at the same index in +# ATTRIBUTES +TYPES = ( + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32, + Float32 +) + + +def rotations_to_radians(rotations: float): + """Converts the given rotations to radians. + + Args: + rotations (float): The rotations to convert + + Returns: + float: The given rotations converted to radians. + """ + return rotations * 2 * math.pi + + +# Every method in this tuple is the method used to convert the data in the +# message used for the topic at the same index in ATTRIBUTES. None signifies no +# converter is needed. +CONVERTERS = ( + rotations_to_radians, + rotations_to_radians, + rotations_to_radians, + rotations_to_radians, + rotations_to_radians, + rotations_to_radians, + None, + None, + None, + None, + None, + None, + None, + None, + None, + None, + None, + None, + None +) + + +class RobotInfo: + """RobotInfo is a class that subscribes to relevant topics and provides an + attribute for each value. + + Any attribute that hasn't been assigned a value by an event yet will have a + value of `None`. + """ + def __init__(self, node: Node, callback: Callable[[str, Any], Any] = None): + """Creates a RobotInfo instance. + + Args: + node (Node): The node RobotInfo uses to subscribe. + callback (Callable[[str, Any], Any]): A callback invoked whenever a + subscription was received. + """ + self.callback = callback + + # Create subscriptions + zipped = zip(get_args(ATTRIBUTES), TYPES, CONVERTERS) + for topic, type, converter in zipped: + callback = self._create_callback(converter, topic) + node.create_subscription(type, topic, callback, 10) + + # Initialize attribute + setattr(self, topic, None) + + # TYPE_CHECKING is true while coding (aka while type checking) and false + # during runtime, this ensures things that don't need to be defined during + # runtime aren't defined. + if TYPE_CHECKING: + # This method's sole purpose is to tell autofill that a certain + # attribute exists. Anything in the literal on name will be picked up + # as an attribute. + def __getattr__(self, _: ATTRIBUTES): + pass + + def _create_callback(self, converter, topic): + def wrapper(msg): + # setattr(self, "name", "example value") is equivalent to + # self.name = "example value" + # so it actually sets the attribute on the RobotInfo object itself. + data = msg.data + if converter is not None: + data = converter(data) + setattr(self, topic, data) + + if self.callback is not None: + self.callback(topic, data) + + return wrapper diff --git a/src/robot_info/robot_info/test_publisher.py b/src/robot_info/robot_info/test_publisher.py new file mode 100644 index 0000000..0106429 --- /dev/null +++ b/src/robot_info/robot_info/test_publisher.py @@ -0,0 +1,35 @@ +import random + +import rclpy +from rclpy.node import Node + +from std_msgs.msg import Float32 + + +TOPIC1 = "front_left_drive_motor_velocity_from_robot_interface" + + +class TestPublisher(Node): + def __init__(self): + super().__init__("test_publisher") + self.get_logger().info("Hello World") + + self.create_timer(0.5, self.callback) + + self.publisher1 = self.create_publisher(Float32, TOPIC1, 10) + + def callback(self): + msg1 = Float32() + msg1.data = 0.5 + self.publisher1.publish(msg1) + + +def main(args=None): + rclpy.init(args=args) + publisher = TestPublisher() + rclpy.spin(publisher) + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/src/robot_info/robot_info/test_subscriber.py b/src/robot_info/robot_info/test_subscriber.py new file mode 100644 index 0000000..f2684a6 --- /dev/null +++ b/src/robot_info/robot_info/test_subscriber.py @@ -0,0 +1,28 @@ +import rclpy +from rclpy.node import Node + +from .robot_info import RobotInfo + + +class TestSubscriber(Node): + def __init__(self): + super().__init__("test_subscriber") + self.get_logger().info("Hello World!") + self.info = RobotInfo(self, self.callback) + + def callback(self, topic, data): + self.get_logger().info(f"received topic: {topic}; data: {data}") + self.get_logger().info("info.front_left_drive_motor_velocity_from_can: " + + str(self.info.front_left_drive_motor_velocity_from_can)) + + + +def main(args=None): + rclpy.init(args=args) + subscriber = TestSubscriber() + rclpy.spin(subscriber) + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/src/robot_info/setup.cfg b/src/robot_info/setup.cfg new file mode 100644 index 0000000..404d555 --- /dev/null +++ b/src/robot_info/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/robot_info +[install] +install_scripts=$base/lib/robot_info diff --git a/src/robot_info/setup.py b/src/robot_info/setup.py new file mode 100644 index 0000000..8141076 --- /dev/null +++ b/src/robot_info/setup.py @@ -0,0 +1,27 @@ +from setuptools import find_packages, setup + +package_name = 'robot_info' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='trickfire', + maintainer_email='loukylor@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + "talker = robot_info.test_publisher:main", + "listener = robot_info.test_subscriber:main" + ], + }, +) diff --git a/src/robot_info/test/test_copyright.py b/src/robot_info/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/robot_info/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/robot_info/test/test_flake8.py b/src/robot_info/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/robot_info/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/robot_info/test/test_pep257.py b/src/robot_info/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/robot_info/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From e4d1e526fdd2e196a809cf550461a091dcd3cc3c Mon Sep 17 00:00:00 2001 From: Carl Klay Date: Mon, 25 Mar 2024 20:45:29 -0700 Subject: [PATCH 26/50] Merge drivebase code (#30) * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Initial drivebase, update docker & settings * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * instances robot interface * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * importing interface works * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * update topic/method names * added all methods to robot interface * copy interface to drivebase * fix variable bug * Minor fixes * Add speed const & package description * Convert functions to camelCase * add drivebase to viator launch * basic turn left and right * Getting started * Code overview * Add image * Added simple moteus docs * First moteus docs draft * Clean up moteus docs * Rename moteus_can.md to can_moteus.md * Spelling * Edit getting started documents * Fix gettingstarted link * Added Git section to getting started * Added suggestions from #17 * Add doc for CAN ID values (#19) Added table of what CAN ID values we use for different subsystems. * Update getting_started.md "ROS2" * Create installing_on_mac.md * Update installing_on_mac.md * Update installing_on_mac.md fix numbering * Robot Interface Merge (#24) * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * added all methods to robot interface * Added arm publishers and renamed other publishers * Followed publisher naming standard * update robot interface * Fix RobotInterface import in testing node * change message values to float 32 * Initial testing works. Tested three methods. Multiple motors move * Changed const variables, changed math and gear ratios * Can2.0 works * Added some comments * Added some comments * Added setupCAN.sh * Position code works with a single motor. Idk why the magic number is 33 for 2pi --------- Co-authored-by: matthewperrywa Co-authored-by: mendomic Co-authored-by: Vladimir Kupryukhin Co-authored-by: agrach Co-authored-by: VladimirKupryukhin * First commit, testing * Created robot_interface.cpp file * change viator launch and cooresponding package xml * Remove stuff to match main * Properly import robot interface * Delete unneeded stuff * Revert "Delete unneeded stuff" This reverts commit c6ac07682d590b3cbda4022836f6630b4f9aeb2e. * Fix message type * Fix stuff * Fix func names and variables * Fix motor * Idk what 70-fdcanusb.rules is * Fix type errors from messages * Both sides of the drivebase spin * Initial drivebase, update docker & settings * instances robot interface * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * importing interface works * update topic/method names * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * change viator launch and cooresponding package xml * added all methods to robot interface * copy interface to drivebase * fix variable bug * Minor fixes * Add speed const & package description * Convert functions to camelCase * add drivebase to viator launch * basic turn left and right * Getting started * Code overview * Added simple moteus docs * First moteus docs draft * Clean up moteus docs * Rename moteus_can.md to can_moteus.md * Spelling * Edit getting started documents * Fix gettingstarted link * Added Git section to getting started * Added suggestions from #17 * Add doc for CAN ID values (#19) Added table of what CAN ID values we use for different subsystems. * Update getting_started.md "ROS2" * Create installing_on_mac.md * Update installing_on_mac.md * Update installing_on_mac.md fix numbering * Robot Interface Merge (#24) * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * added all methods to robot interface * Added arm publishers and renamed other publishers * Followed publisher naming standard * update robot interface * Fix RobotInterface import in testing node * change message values to float 32 * Initial testing works. Tested three methods. Multiple motors move * Changed const variables, changed math and gear ratios * Can2.0 works * Added some comments * Added some comments * Added setupCAN.sh * Position code works with a single motor. Idk why the magic number is 33 for 2pi --------- Co-authored-by: matthewperrywa Co-authored-by: mendomic Co-authored-by: Vladimir Kupryukhin Co-authored-by: agrach Co-authored-by: VladimirKupryukhin * First commit, testing * Created robot_interface.cpp file * Remove stuff to match main * Properly import robot interface * Delete unneeded stuff * Revert "Delete unneeded stuff" This reverts commit c6ac07682d590b3cbda4022836f6630b4f9aeb2e. * Fix message type * Fix type errors from messages * Both sides of the drivebase spin * made the drivebase work * Removed the print statements that flood the console * launch_only_docker.sh runs launch.sh automatically * launch_only_docker.sh opens in project folder, doesn't run launch.sh * Remove unneeded python linting setting * Change version to 0.0.0 * Update description --------- Co-authored-by: Daniel K Co-authored-by: matthewperrywa Co-authored-by: Vladimir Kupryukhin Co-authored-by: Ezekiel Mitchell <135088287+ezekielmitchell@users.noreply.github.com> Co-authored-by: mendomic Co-authored-by: agrach Co-authored-by: VladimirKupryukhin Co-authored-by: TrickFire Robotics --- 70-fdcanusb.rules | 10 ++++++++++ src/custom_interfaces/robot_interface.py | 4 ++-- 2 files changed, 12 insertions(+), 2 deletions(-) create mode 100644 70-fdcanusb.rules diff --git a/70-fdcanusb.rules b/70-fdcanusb.rules new file mode 100644 index 0000000..9d5b535 --- /dev/null +++ b/70-fdcanusb.rules @@ -0,0 +1,10 @@ +# A udev rule to create a /dev/fdcanusb symlink. +# +# Install into /etc/udev/rules.d: +# sudo cp 70-fdcanusb.rules /etc/udev/rules.d +# +# Then run: +# sudo udevadm control --reload-rules +# sudo udevadm trigger --subsystem-match=tty + +SUBSYSTEM=="tty", ATTRS{manufacturer}=="mjbots", ATTRS{product}=="fdcanusb", MODE="0666", SYMLINK+="fdcanusb" diff --git a/src/custom_interfaces/robot_interface.py b/src/custom_interfaces/robot_interface.py index 88c5e57..331fddd 100644 --- a/src/custom_interfaces/robot_interface.py +++ b/src/custom_interfaces/robot_interface.py @@ -8,8 +8,8 @@ from std_msgs.msg import String from std_msgs.msg import Float32 -VELOCITY_CONVERSION = 1.76838724851 -POSITION_CONVERSION = 33 / (6.28) #Radians to position ticks +VELOCITY_CONVERSION = 1 +POSITION_CONVERSION = 1 / (6.28) #Radians to position ticks robotPublishers = dict() From 921afb872520c18331f005464a81287f101eacc8 Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin <45701631+VladimirKupryukhin@users.noreply.github.com> Date: Wed, 10 Jul 2024 19:02:50 -0700 Subject: [PATCH 27/50] Rewrite can_moteus (#41) * Basic node works * Ready to test code * Add launch file modifications * Trying to connect to moteus works * Wheel spins via the robot interface using json * Motors stop after termination * Updated interface to support drivebase * Remove old files. Add shutting motor down when error found * Removed repeated code * Tested stuff * Works * testing canbus disconnection * Canbus disconnection works * Relaunching now works without unplugging.replugging canusb * Added some comments * Motor reconnect works * Proper handling of faults * Handle exception when shutting down. Checks for invalid ros context * Updated RobotInfo * Removed unneeded stuff from the json helpers * Added comments and a few constants * Docs draft 1 * Updated error messages to be more detailed * Some more can_moteus.md docs * Finish documentation * can_modeus.md minor grammar changes --------- Co-authored-by: TrickFire Robotics Co-authored-by: Carl Klay --- docs/OLDcan_moteus.md | 102 +++++++++ .../can_moteus/ros_moteus_bridge.py | 2 +- src/custom_interfaces/robot_info.py | 67 ++++++ src/custom_interfaces/robot_interface.py | 91 ++++---- src/robot_info/robot_info/robot_info.py | 204 ++++++------------ .../testingInterface/testingNode.py | 10 +- src/utility/canbus_mappings.py | 20 ++ src/utility/color_text.py | 12 ++ src/utility/moteus_data_in_json_helper.py | 67 ++++++ src/utility/moteus_data_out_json_helper.py | 48 +++++ 10 files changed, 418 insertions(+), 205 deletions(-) create mode 100644 docs/OLDcan_moteus.md create mode 100644 src/custom_interfaces/robot_info.py create mode 100644 src/utility/canbus_mappings.py create mode 100644 src/utility/color_text.py create mode 100644 src/utility/moteus_data_in_json_helper.py create mode 100644 src/utility/moteus_data_out_json_helper.py diff --git a/docs/OLDcan_moteus.md b/docs/OLDcan_moteus.md new file mode 100644 index 0000000..8e45356 --- /dev/null +++ b/docs/OLDcan_moteus.md @@ -0,0 +1,102 @@ +# The [`can_moteus`](https://github.com/TrickfireRobotics/urc-2023/tree/main/src/can_moteus) Package + + +## **What is it?** +This is a **ROS Node** that is responsible for communication between the [**Moteus motor controllers**](https://github.com/mjbots/moteus) (via a CAN-FD Bus) and **ROS** that the rest of the codebase is written in. + +Motors are created that represent their real-life counterparts. Each motor subscribes to a topic that contains data for the motors to use depending on the motor's mode; i.e. a motor in VELOCITY mode would subscribe to data that would set that motor's velocity. Each motor can publish data to the ROS network that it reads from the Moteus controllers depending on what data the programmer wanted that motor to publish. + +The only structure in the whole codebase that should be directly sending data for these motors to subscribe to is the [`RobotInterface`](../src/interface); see [`code_overview.md`](./code_overview.md) for a diagram. + +## **How to use it** + +### **Adding a Motor in Code** +As each Moteus controller is connected to **only a single** motor, each motor is represented as a [`MoteusMotor`](../src/can_moteus/can_moteus/moteus_motor.py) object. However, the [`MoteusMultiprocess`](../src/can_moteus/can_moteus/moteus_multiprocess.py) object, of which only one should exist, handles these `MoteusMotors`. As such, motors are added via the `MoteusMultiprocess` object inside [`ros_moteus_bridge.py`](../src/can_moteus/can_moteus/ros_moteus_bridge.py). + +To create a motor, we need to pass in the following parameters in this order: +- The CAN ID of the motor. This is an **integer** +- The name of the motor. This is a **String** +- The motor mode. This is a **moteus_motor.Mode** +- A list of data to publish to the ROS network. This is an **array of moteus.Register** + +Here is an example of adding a motor + +``` +moteusPubList = [moteus.Register.VELOCITY, moteus.Register.POSITION] + +moteusMultiprocess.addMotor( + 3, + "topmotor", + moteus_motor.Mode.VELOCITY, + moteusPubList, +) +``` +This motor has a CAN ID of **three** with the name **"topmotor"**. The motor is running in **VELOCITY** mode, and as such expects incoming data intended for the motor to set its velocity in Moteus units. Each time the motor reads data from the Moteus controller, it will publish its **VELOCITY** and **POSITION** values to the ROS network in Moteus units. + + +### **Inputs** + +When a motor is created, it will create a ROS subscriber to the following topic: + +```__from_robot_interface``` + +For example, using the motor above, it would subscribe to the topic of: + +```/topmotor_velocity_from_robot_interface``` + +The data sent to this topic will control the particular motor that it is sent to. Keep in mind that this data has to be formatted in Moteus units. + +Every cycle (every 0.02 seconds), the motor will send the last recieved data to send to the Moteus controller. The default is a value of **zero.** + +**NOTE: All subscribers and publishers handle data in std_msgs.msg.Float32** + +### **Outputs** +When a motor is created, it will publish to the following topic(s) depending on the **moteus.Register array** that was passed in. The topic is in the following format: + +```__from_can``` + +For example, using the motor above, it would publish to the topics of: + +```/topmotor_velocity_from_can``` + +```/topmotor_position_from_can``` + +Every cycle (every 0.02 seconds), the motor would read data it recieved from the Moteus controller and publish it. + +**NOTE: All subscribers and publishers handle data in std_msgs.msg.Float32** + +**NOTE: The data that can be sent must match up exactly to the data that the Moteus controllers send back; which is precisely the values from [`moteus.Register`](https://github.com/mjbots/moteus/blob/38d688a933ce1584ee09f2628b5849d5e758ac21/lib/python/moteus/moteus.py#L148)!** + +## **What is a Moteus Unit?** + +The documentation for the Moteus units are found [here](https://github.com/mjbots/moteus/blob/main/docs/reference.md#a2-register-usage). Each type of data has different units, so keep that in mind. + + +## **Deep Dive - How is `can_moteus` Implemented?** + +### **Overview** +The core idea is that there are two distinct Python processes running that communicate with each other via several different multiprocess queues. The first process is the "main" process where ROS lives and does whatever it needs to do. The second process is started by us and is used to send and read data to the Moteus controllers. + +### **Queue From Motors to Moteus Multiprocess** + +Each motor's callback function for their subscribers writes to the `_queueToMoteus` queue (created in `moteus_multiprocess.py`), where only one such queue exists. As such, all motors share this queue. The data that is enqueued is an array of length two in the following format: + +``` +[0] = CANID +[1] = data (position, velocity, etc) +``` + +### **Queue From Multiprocess to Each Motor** +Each motor has its own multiprocess queue, `toPublisherQueue` that is created in `moteus_multiprocess.py`, which is then populated by the Moteus multiprocess for each corresponding motor. The type of data that is sent is dictated by the `moteusPubList` array as seen earlier in the example motor. The data that is enqueued is an array of length two in the following format: + +``` +[0] = moteus.Register +[1] = data (position, velocity, voltage, current, etc) +``` + +### **The Multiprocess Cycle** +Each cycle, 0.02 seconds, the Moteus multiprocess reads the head of the `_queueToMoteus` and updates the set value for the target motor. It then goes through each motor that was succesfully connected to the CAN/CANFD bus and sends their set data. At the same time, it recieves information about the Moteus controller and populates each motor's `toPublisherQueue`. + +Here is a diagram of the process: + +![what](./resources/moteus_docs.png) \ No newline at end of file diff --git a/src/can_moteus/can_moteus/ros_moteus_bridge.py b/src/can_moteus/can_moteus/ros_moteus_bridge.py index 595a279..17888ae 100644 --- a/src/can_moteus/can_moteus/ros_moteus_bridge.py +++ b/src/can_moteus/can_moteus/ros_moteus_bridge.py @@ -104,4 +104,4 @@ def main(args: list[str] | None = None) -> None: if __name__ == "__main__": - main() + main() \ No newline at end of file diff --git a/src/custom_interfaces/robot_info.py b/src/custom_interfaces/robot_info.py new file mode 100644 index 0000000..4476bce --- /dev/null +++ b/src/custom_interfaces/robot_info.py @@ -0,0 +1,67 @@ +import math +from typing import Any, Callable, get_args, Literal, TYPE_CHECKING +import sys +sys.path.append("/home/trickfire/urc-2023/src") + +from utility.canbus_mappings import CanBusMappings +from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper + +from rclpy.node import Node +from std_msgs.msg import String + +canBusMappings = CanBusMappings() + +moteusTopicList = { + "front_left_drive_motor_from_can", + "mid_left_drive_motor_from_can", + "rear_left_drive_motor_from_can", + "front_right_drive_motor_from_can" + "mid_right_drive_motor_from_can", + "rear_right_drive_motor_from_can", +} + +canIDToMotorName = { + canBusMappings.CANID_FRONT_LEFT_DRIVE_MOTOR: "front_left_drive_motor_from_can", + canBusMappings.CANID_MID_LEFT_DRIVE_MOTOR: "mid_left_drive_motor_from_can", + canBusMappings.CANID_REAR_LEFT_DRIVE_MOTOR: "rear_left_drive_motor_from_can", + canBusMappings.CANID_FRONT_RIGHT_DRIVE_MOTOR: "front_right_drive_motor_from_can", + canBusMappings.CANID_MID_RIGHT_DRIVE_MOTOR: "mid_right_drive_motor_from_can", + canBusMappings.CANID_REAR_RIGHT_DRIVE_MOTOR: "rear_right_drive_motor_from_can" +} + + + +class RobotInfo(): + + + def __init__(self, rosNode : Node): + self._rosNode = rosNode + self.moteusNameToJSON = {} + self.subList = [] + self.createNameToJSONMapping() + self.createSubscribers() + + + def createNameToJSONMapping(self): + for name in moteusTopicList: + self.moteusNameToJSON[name] = MoteusDataOutJsonHelper() + + def createSubscribers(self): + for name in moteusTopicList: + sub = self._rosNode.create_subscription(String, name, self.subCallback, 1) + self.subList.append(sub) + + def subCallback(self, msg): + jsonHelper = MoteusDataOutJsonHelper() + jsonHelper.buildHelper(msg.data) + moteusName = canIDToMotorName[jsonHelper.canID] + self.moteusNameToJSON[moteusName] = jsonHelper + + + + def getMoteusMotorData(self, canID): + topicName = canIDToMotorName[canID] + return self.moteusNameToJSON[topicName] + + + \ No newline at end of file diff --git a/src/custom_interfaces/robot_interface.py b/src/custom_interfaces/robot_interface.py index 331fddd..0f898bb 100644 --- a/src/custom_interfaces/robot_interface.py +++ b/src/custom_interfaces/robot_interface.py @@ -10,6 +10,9 @@ VELOCITY_CONVERSION = 1 POSITION_CONVERSION = 1 / (6.28) #Radians to position ticks +REV_TO_RADIANS = 6.28 # One Revolution = 2pi + +from utility.moteus_data_in_json_helper import MoteusDataInJsonHelper robotPublishers = dict() @@ -23,17 +26,17 @@ def __init__(self, rosNode): print("GOT TO __init__") # Drive base - publisher = self._rosNode.create_publisher(Float32, 'front_left_drive_motor_velocity_from_interface', 10) + publisher = self._rosNode.create_publisher(String, 'front_left_drive_motor_from_interface', 10) robotPublishers['front_left_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'front_right_drive_motor_velocity_from_interface', 10) + publisher = self._rosNode.create_publisher(String, 'front_right_drive_motor_from_interface', 10) robotPublishers['front_right_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'mid_left_drive_motor_velocity_from_interface', 10) + publisher = self._rosNode.create_publisher(String, 'mid_left_drive_motor_from_interface', 10) robotPublishers['mid_left_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'mid_right_drive_motor_velocity_from_interface', 10) + publisher = self._rosNode.create_publisher(String, 'mid_right_drive_motor_from_interface', 10) robotPublishers['mid_right_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'rear_left_drive_motor_velocity_from_interface', 10) + publisher = self._rosNode.create_publisher(String, 'rear_left_drive_motor_from_interface', 10) robotPublishers['rear_left_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'rear_right_drive_motor_velocity_from_interface', 10) + publisher = self._rosNode.create_publisher(String, 'rear_right_drive_motor_from_interface', 10) robotPublishers['rear_right_drive_motor'] = publisher # Arm @@ -67,17 +70,7 @@ def velocityConversion(self, amount): # Converting from input "radians" to output "revolutions" def positionConversion(self, amount): return amount * POSITION_CONVERSION - - # RobotInterface(const RobotInterface&) = delete; - # RobotInterface& operator=(const RobotInterface&) = delete; - # RobotInterface(RobotInterface&&) = delete; - # RobotInterface& operator=(RobotInterface&&) = delete; - - - # - # Movement - # - + # General movement including all wheels def moveForward(): print() @@ -88,58 +81,46 @@ def turnLeft(self, amount): def turnRight(self, amount): print() - # Left front wheel - def front_left_drive_motor(self, amount): - revolutionsOutput = self.velocityConversion(amount) - publisher = robotPublishers['front_left_drive_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - #self._rosNode.get_logger().info(str(revolutionsOutput)) - publisher.publish(strMsg) + # Left front wheel - MEASURED IN REVOLUTIONS PER SECOND + def front_left_drive_motor(self, amount): + self._send_drive_motor("front_left_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) # Right front wheel def front_right_drive_motor(self, amount): - revolutionsOutput = self.velocityConversion(amount) - publisher = robotPublishers['front_right_drive_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) + self._send_drive_motor("front_right_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) # Left middle wheel def mid_left_drive_motor(self, amount): - revolutionsOutput = self.velocityConversion(amount) - publisher = robotPublishers['mid_left_drive_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) + self._send_drive_motor("mid_left_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) # Right middle wheel def mid_right_drive_motor(self, amount): - revolutionsOutput = self.velocityConversion(amount) - publisher = robotPublishers['mid_right_drive_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) + self._send_drive_motor("mid_right_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) # Left back wheel def rear_left_drive_motor(self, amount): - revolutionsOutput = self.velocityConversion(amount) - publisher = robotPublishers['rear_left_drive_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) + self._send_drive_motor("rear_left_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) # Right back wheel def rear_right_drive_motor(self, amount): - revolutionsOutput = self.velocityConversion(amount) - publisher = robotPublishers['rear_right_drive_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput + self._send_drive_motor("rear_right_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) + + def _send_drive_motor(self, pubName, radiansPerSecond = 0): + publisher = robotPublishers[pubName] + + strMsg = String() + jsonHelper = MoteusDataInJsonHelper() + jsonHelper.velocity = radiansPerSecond + jsonHelper.setStop = False + + strMsg.data = jsonHelper.buildJSONString() publisher.publish(strMsg) + + # Arm turntable def arm_turntable_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) #* 5.204 # 5.204 is the gear ratio for turntable + revolutionsOutput = self.positionConversion(amount) publisher = robotPublishers['arm_turntable_motor'] strMsg = Float32() strMsg.data = revolutionsOutput @@ -147,7 +128,7 @@ def arm_turntable_motor(self, amount): # Arm Shoulder movement def arm_shoulder_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 3.979 # 3.979 is gear ratio for shoulder + revolutionsOutput = self.positionConversion(amount) * 3.979 publisher = robotPublishers['arm_shoulder_motor'] strMsg = Float32() strMsg.data = revolutionsOutput @@ -155,7 +136,7 @@ def arm_shoulder_motor(self, amount): # Arm Elbow movement def arm_elbow_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 5.204 # 5.204 is gear ratio for elbow + revolutionsOutput = self.positionConversion(amount) * 5.204 publisher = robotPublishers['arm_elbow_motor'] strMsg = Float32() strMsg.data = revolutionsOutput @@ -163,7 +144,7 @@ def arm_elbow_motor(self, amount): # Arm Forearm movement def arm_forearm_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 3.820 # 3.820 is gear ratio for forearm + revolutionsOutput = self.positionConversion(amount) * 3.820 publisher = robotPublishers['arm_forearm_motor'] strMsg = Float32() strMsg.data = revolutionsOutput @@ -171,7 +152,7 @@ def arm_forearm_motor(self, amount): # Arm Up Down Wrist movement def arm_wrist_updown_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 3.820 # 3.820 is gear ratio for wrist up down + revolutionsOutput = self.positionConversion(amount) * 3.820 publisher = robotPublishers['arm_wrist_updown_motor'] strMsg = Float32() strMsg.data = revolutionsOutput @@ -179,7 +160,7 @@ def arm_wrist_updown_motor(self, amount): # Arm Wrist rotation movement def arm_wrist_rotation_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) / 6.283 # 6.283 is gear ratio for wrist rotation + revolutionsOutput = self.positionConversion(amount) / 6.283 publisher = robotPublishers['arm_wrist_rotation_motor'] strMsg = Float32() strMsg.data = revolutionsOutput diff --git a/src/robot_info/robot_info/robot_info.py b/src/robot_info/robot_info/robot_info.py index 394ca76..9254c64 100644 --- a/src/robot_info/robot_info/robot_info.py +++ b/src/robot_info/robot_info/robot_info.py @@ -1,146 +1,66 @@ import math from typing import Any, Callable, get_args, Literal, TYPE_CHECKING +import sys +sys.path.append("/home/trickfire/urc-2023/src") -from rclpy.node import Node -from std_msgs.msg import Float32 - - -# Because I don't want to write a thousand getters, the getters are made -# dynamically. But because of this, you really have to shoehorn things to make -# pylance (autofill) detect something as a valid attribute. Unfortunately, -# this workaround won't be able to add types to attributes. - -# Anything in this literal will be picked up as a valid attribute. -ATTRIBUTES = Literal[ - "front_left_drive_motor_velocity_from_can", - # "mid_left_drive_motor_velocity", - # "back_left_drive_motor_velocity", - # "front_right_drive_motor_velocity", - # "mid_right_drive_motor_velocity", - # "back_right_drive_motor_velocity", - # "front_left_drive_motor_torque", - # "mid_left_drive_motor_torque", - # "back_left_drive_motor_torque", - # "front_right_drive_motor_torque", - # "mid_right_drive_motor_torque", - # "back_right_drive_motor_torque", - # "front_left_drive_motor_temperature", - # "mid_left_drive_motor_temperature", - # "back_left_drive_motor_temperature", - # "front_right_drive_motor_temperature", - # "mid_right_drive_motor_temperature", - # "back_right_drive_motor_temperature" -] - -# Every type in this tuple is the type used for the topic at the same index in -# ATTRIBUTES -TYPES = ( - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32, - Float32 -) - - -def rotations_to_radians(rotations: float): - """Converts the given rotations to radians. - - Args: - rotations (float): The rotations to convert - - Returns: - float: The given rotations converted to radians. - """ - return rotations * 2 * math.pi - - -# Every method in this tuple is the method used to convert the data in the -# message used for the topic at the same index in ATTRIBUTES. None signifies no -# converter is needed. -CONVERTERS = ( - rotations_to_radians, - rotations_to_radians, - rotations_to_radians, - rotations_to_radians, - rotations_to_radians, - rotations_to_radians, - None, - None, - None, - None, - None, - None, - None, - None, - None, - None, - None, - None, - None -) +from utility.canbus_mappings import CanBusMappings +from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper - -class RobotInfo: - """RobotInfo is a class that subscribes to relevant topics and provides an - attribute for each value. - - Any attribute that hasn't been assigned a value by an event yet will have a - value of `None`. - """ - def __init__(self, node: Node, callback: Callable[[str, Any], Any] = None): - """Creates a RobotInfo instance. - - Args: - node (Node): The node RobotInfo uses to subscribe. - callback (Callable[[str, Any], Any]): A callback invoked whenever a - subscription was received. - """ - self.callback = callback - - # Create subscriptions - zipped = zip(get_args(ATTRIBUTES), TYPES, CONVERTERS) - for topic, type, converter in zipped: - callback = self._create_callback(converter, topic) - node.create_subscription(type, topic, callback, 10) - - # Initialize attribute - setattr(self, topic, None) - - # TYPE_CHECKING is true while coding (aka while type checking) and false - # during runtime, this ensures things that don't need to be defined during - # runtime aren't defined. - if TYPE_CHECKING: - # This method's sole purpose is to tell autofill that a certain - # attribute exists. Anything in the literal on name will be picked up - # as an attribute. - def __getattr__(self, _: ATTRIBUTES): - pass - - def _create_callback(self, converter, topic): - def wrapper(msg): - # setattr(self, "name", "example value") is equivalent to - # self.name = "example value" - # so it actually sets the attribute on the RobotInfo object itself. - data = msg.data - if converter is not None: - data = converter(data) - setattr(self, topic, data) - - if self.callback is not None: - self.callback(topic, data) - - return wrapper +from rclpy.node import Node +from std_msgs.msg import String + +canBusMappings = CanBusMappings() + +moteusTopicList = { + "front_left_drive_motor_from_can", + "mid_left_drive_motor_from_can", + "rear_left_drive_motor_from_can", + "front_right_drive_motor_from_can" + "mid_right_drive_motor_from_can", + "rear_right_drive_motor_from_can", +} + +canIDToMotorName = { + canBusMappings.CANID_FRONT_LEFT_DRIVE_MOTOR: "front_left_drive_motor_from_can", + canBusMappings.CANID_MID_LEFT_DRIVE_MOTOR: "mid_left_drive_motor_from_can", + canBusMappings.CANID_REAR_LEFT_DRIVE_MOTOR: "rear_left_drive_motor_from_can", + canBusMappings.CANID_FRONT_RIGHT_DRIVE_MOTOR: "front_right_drive_motor_from_can", + canBusMappings.CANID_MID_RIGHT_DRIVE_MOTOR: "mid_right_drive_motor_from_can", + canBusMappings.CANID_REAR_RIGHT_DRIVE_MOTOR: "rear_right_drive_motor_from_can" +} + + + +class RobotInfo(): + + + def __init__(self, rosNode : Node): + self._rosNode = rosNode + self.moteusNameToJSON = {} + self.subList = [] + self.createNameToJSONMapping() + self.createSubscribers() + + + def createNameToJSONMapping(self): + for name in moteusTopicList: + self.moteusNameToJSON[name] = MoteusDataOutJsonHelper() + + def createSubscribers(self): + for name in moteusTopicList: + sub = self._rosNode.create_subscription(String, name, self.subCallback, 1) + self.subList.append(sub) + + def subCallback(self, msg): + jsonHelper = MoteusDataOutJsonHelper() + jsonHelper.buildHelper(msg.data) + moteusName = canBusMappings[jsonHelper.canID] + self.moteusNameToJSON[moteusName] = jsonHelper + + + + def getMoteusMotorData(self, canID): + return self.moteusNameToJSON[canBusMappings[canID]] + + + \ No newline at end of file diff --git a/src/testingInterface/testingInterface/testingNode.py b/src/testingInterface/testingInterface/testingNode.py index c8f855e..0f22bdf 100644 --- a/src/testingInterface/testingInterface/testingNode.py +++ b/src/testingInterface/testingInterface/testingNode.py @@ -8,22 +8,18 @@ -class testingNode(Node): +class TestingNode(Node): def __init__(self): super().__init__("testing_node") self.get_logger().info("Launching testing_node node") robotInterface = RobotInterface(self) - time.sleep(3) - - robotInterface.front_left_drive_motor(0.1) - robotInterface.front_right_drive_motor(0.1 * 12) - robotInterface.mid_left_drive_motor(0.1 * 12) + def main(args=None): rclpy.init(args=args) - node = testingNode() + node = TestingNode() rclpy.spin(node) node.destroy_node() rclpy.shutdown() diff --git a/src/utility/canbus_mappings.py b/src/utility/canbus_mappings.py new file mode 100644 index 0000000..0685983 --- /dev/null +++ b/src/utility/canbus_mappings.py @@ -0,0 +1,20 @@ + +class CanBusMappings(): + + def __init__(self): + # Drivebase + self.CANID_REAR_RIGHT_DRIVE_MOTOR = 20 + self.CANID_MID_RIGHT_DRIVE_MOTOR = 21 + self.CANID_FRONT_RIGHT_DRIVE_MOTOR = 22 + + self.CANID_REAR_LEFT_DRIVE_MOTOR = 23 + self.CANID_MID_LEFT_DRIVE_MOTOR = 24 + self.CANID_FRONT_LEFT_DRIVE_MOTOR = 25 + + # Arm + self.CANID_ARM_SHOULDER_MOTOR = 1 + self.CANID_ARM_ELBOW_MOTOR = 2 + self.CANID_ARM_LEFT_WRIST_MOTOR = 3 + self.CANID_ARM_RIGHT_WRIST_MOTOR = 4 + self.CANID_ARM_TURNTABLE_MOTOR = 5 + diff --git a/src/utility/color_text.py b/src/utility/color_text.py new file mode 100644 index 0000000..060df29 --- /dev/null +++ b/src/utility/color_text.py @@ -0,0 +1,12 @@ + +# "Borrowed" from here: https://stackoverflow.com/questions/287871/how-do-i-print-colored-text-to-the-terminal +class ColorCodes: + PINK = '\033[95m' + BLUE_OK = '\033[94m' + CYAN_OK = '\033[96m' + GREEN_OK = '\033[92m' + WARNING_YELLOW = '\033[93m' + FAIL_RED = '\033[91m' + ENDC = '\033[0m' + BOLD = '\033[1m' + UNDERLINE = '\033[4m' diff --git a/src/utility/moteus_data_in_json_helper.py b/src/utility/moteus_data_in_json_helper.py new file mode 100644 index 0000000..e13bbdb --- /dev/null +++ b/src/utility/moteus_data_in_json_helper.py @@ -0,0 +1,67 @@ +import json +import math + + +class MoteusDataInJsonHelper(): + + def __init__(self): + self.position = None + self.velocity = None + self.feedforward_torque = None + self.kp_scale = None + self.kd_scale = None + self.max_torque = None + self.watchdog_timeout = None + self.velocity_limit = None + self.accel_limit = None + self.fixed_voltage_override = None + + self.setStop = True + + def getPosition(self): + if self.position is None: + return math.nan + + return self.position + + def getVelocity(self): + if self.velocity is None: + return math.nan + + return self.velocity + + + def buildJSONString(self): + pythonDict = { + "position": self.position, + "velocity": self.velocity, + "feedforward_torque": self.feedforward_torque, + "kp_scale": self.kp_scale, + "kd_scale": self.kd_scale, + "max_torque": self.max_torque, + "watchdog_timeout": self.watchdog_timeout, + "velocity_limit": self.velocity_limit, + "accel_limit": self.accel_limit, + "fixed_voltage_override": self.fixed_voltage_override, + "set_stop": self.setStop + } + + return json.dumps(pythonDict) + + + def buildHelper(self, jsonString): + pythonDict = json.loads(jsonString) + + self.position = pythonDict["position"] + self.velocity = pythonDict["velocity"] + self.feedforward_torque = pythonDict["feedforward_torque"] + self.kp_scale = pythonDict["kp_scale"] + self.kd_scale = pythonDict["kd_scale"] + self.max_torque = pythonDict["max_torque"] + self.watchdog_timeout = pythonDict["watchdog_timeout"] + self.velocity_limit = pythonDict["velocity_limit"] + self.accel_limit = pythonDict["accel_limit"] + self.fixed_voltage_override = pythonDict["fixed_voltage_override"] + self.setStop = pythonDict["set_stop"] + + \ No newline at end of file diff --git a/src/utility/moteus_data_out_json_helper.py b/src/utility/moteus_data_out_json_helper.py new file mode 100644 index 0000000..b47b128 --- /dev/null +++ b/src/utility/moteus_data_out_json_helper.py @@ -0,0 +1,48 @@ +import json + + +class MoteusDataOutJsonHelper(): + + def __init__(self): + # take a look at moteus.Register + self.canID = -1 + self.position = None + self.velocity = None + self.torque = None + self.temperature = None + + self.power = None + self.inputVoltage = None + + + + + + def buildJSONString(self): + pythonDict = { + "canID": self.canID, + "position": self.position, + "velocity": self.velocity, + "torque": self.torque, + "temperature": self.temperature, + "power": self.power, + "inputVoltage": self.inputVoltage, + } + + return json.dumps(pythonDict) + + + def buildHelper(self, jsonString): + pythonDict = json.loads(jsonString) + + self.canID = pythonDict["canID"] + self.position = pythonDict["position"] + self.velocity = pythonDict["velocity"] + self.torque = pythonDict["torque"] + self.temperature = pythonDict["temperature"] + self.power = pythonDict["power"] + self.inputVoltage = pythonDict["inputVoltage"] + + + + \ No newline at end of file From 805ea8cf6f9b77308dd9052d2aac21c8eb88265e Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin <45701631+VladimirKupryukhin@users.noreply.github.com> Date: Thu, 22 Aug 2024 17:17:31 -0700 Subject: [PATCH 28/50] Send Telemetry Data to Mission Control (#53) * Basic node setup * Need to test publisher code * Send data to mission control * READING POWER WORKS WOOO * Make moteus send telemetry even when set_stop() --------- Co-authored-by: TrickFire Robotics --- src/custom_interfaces/robot_info.py | 53 +++++++++++++------ .../infoToJSONHelper.py | 26 +++++++++ .../test/test_flake8.py | 25 +++++++++ .../test/test_pep257.py | 23 ++++++++ src/utility/moteus_data_out_json_helper.py | 9 ++-- 5 files changed, 118 insertions(+), 18 deletions(-) create mode 100644 src/mission_control_updater/mission_control_updater/infoToJSONHelper.py create mode 100644 src/mission_control_updater/test/test_flake8.py create mode 100644 src/mission_control_updater/test/test_pep257.py diff --git a/src/custom_interfaces/robot_info.py b/src/custom_interfaces/robot_info.py index 4476bce..f4e433b 100644 --- a/src/custom_interfaces/robot_info.py +++ b/src/custom_interfaces/robot_info.py @@ -36,32 +36,55 @@ class RobotInfo(): def __init__(self, rosNode : Node): self._rosNode = rosNode - self.moteusNameToJSON = {} - self.subList = [] - self.createNameToJSONMapping() + self.subList = [] # empty array + self.canIDToJSON = {} #Dict self.createSubscribers() + self.canIDToJSON[20] = MoteusDataOutJsonHelper() + self.canIDToJSON[21] = MoteusDataOutJsonHelper() + self.canIDToJSON[22] = MoteusDataOutJsonHelper() + self.canIDToJSON[23] = MoteusDataOutJsonHelper() + self.canIDToJSON[24] = MoteusDataOutJsonHelper() + self.canIDToJSON[25] = MoteusDataOutJsonHelper() + + # self.moteusNameToJSON = {} + # self.subList = [] + # self.createNameToJSONMapping() + # self.createSubscribers() - def createNameToJSONMapping(self): - for name in moteusTopicList: - self.moteusNameToJSON[name] = MoteusDataOutJsonHelper() - def createSubscribers(self): - for name in moteusTopicList: - sub = self._rosNode.create_subscription(String, name, self.subCallback, 1) + for topicName in moteusTopicList: + sub = self._rosNode.create_subscription(String, topicName, self.subCallback, 1) self.subList.append(sub) - + def subCallback(self, msg): jsonHelper = MoteusDataOutJsonHelper() jsonHelper.buildHelper(msg.data) - moteusName = canIDToMotorName[jsonHelper.canID] - self.moteusNameToJSON[moteusName] = jsonHelper + self.canIDToJSON[jsonHelper.canID] = jsonHelper + + def getDataFromCanID(self, canID): + return self.canIDToJSON[canID] + + # def createNameToJSONMapping(self): + # for name in moteusTopicList: + # self.moteusNameToJSON[name] = MoteusDataOutJsonHelper() + + # def createSubscribers(self): + # for name in moteusTopicList: + # sub = self._rosNode.create_subscription(String, name, self.subCallback, 1) + # self.subList.append(sub) + + # def subCallback(self, msg): + # jsonHelper = MoteusDataOutJsonHelper() + # jsonHelper.buildHelper(msg.data) + # moteusName = canIDToMotorName[jsonHelper.canID] + # self.moteusNameToJSON[moteusName] = jsonHelper - def getMoteusMotorData(self, canID): - topicName = canIDToMotorName[canID] - return self.moteusNameToJSON[topicName] + # def getMoteusMotorData(self, canID): + # topicName = canIDToMotorName[canID] + # return self.moteusNameToJSON[topicName] \ No newline at end of file diff --git a/src/mission_control_updater/mission_control_updater/infoToJSONHelper.py b/src/mission_control_updater/mission_control_updater/infoToJSONHelper.py new file mode 100644 index 0000000..dd6b949 --- /dev/null +++ b/src/mission_control_updater/mission_control_updater/infoToJSONHelper.py @@ -0,0 +1,26 @@ +import json +import array + + +class InfoToJSONHelper(): + + def __init__(self): + self.moteusEntries = [] + + + + def addMoteusEntry(self, entry): + self.moteusEntries.append(entry) + + def buildJSONString(self): + moteusDictArray = [] + + for moteusEntry in self.moteusEntries: + moteusDictArray.append(moteusEntry.buildPythonDict()) + + pythonDict = { + "moteusMotorLength": len(moteusDictArray), + "moteusMotors": moteusDictArray + } + + return json.dumps(pythonDict) \ No newline at end of file diff --git a/src/mission_control_updater/test/test_flake8.py b/src/mission_control_updater/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/mission_control_updater/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/mission_control_updater/test/test_pep257.py b/src/mission_control_updater/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/mission_control_updater/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/utility/moteus_data_out_json_helper.py b/src/utility/moteus_data_out_json_helper.py index b47b128..1f94218 100644 --- a/src/utility/moteus_data_out_json_helper.py +++ b/src/utility/moteus_data_out_json_helper.py @@ -10,7 +10,6 @@ def __init__(self): self.velocity = None self.torque = None self.temperature = None - self.power = None self.inputVoltage = None @@ -19,6 +18,11 @@ def __init__(self): def buildJSONString(self): + pythonDict = self.buildPythonDict() + + return json.dumps(pythonDict) + + def buildPythonDict(self): pythonDict = { "canID": self.canID, "position": self.position, @@ -29,8 +33,7 @@ def buildJSONString(self): "inputVoltage": self.inputVoltage, } - return json.dumps(pythonDict) - + return pythonDict def buildHelper(self, jsonString): pythonDict = json.loads(jsonString) From 88a66fef870d826da577ac1bbff1048aa4d5dc49 Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin <45701631+VladimirKupryukhin@users.noreply.github.com> Date: Tue, 10 Sep 2024 09:28:42 -0700 Subject: [PATCH 29/50] arm: Implement basic arm functionality (velocity-based) with an xbox controller (#55) * Basic arm package works. Handle canusb not being plugged in * Basic service works * Change roverROS armstate from mission control * Added unveiling-arm topics for the motors. Need to implement the robotinterface * Updated interface for arm. Untested * Prevent individual control vel from sending when it is disabled * Remove some bad code due to me copy/pasting * Tested. Working * Last commit before merge --------- Co-authored-by: TrickFire Robotics --- src/arm/test/test_flake8.py | 25 +++ src/arm/test/test_pep257.py | 23 +++ src/custom_interfaces/robot_info.py | 54 ++---- src/custom_interfaces/robot_interface.py | 193 ++++++++------------- src/utility/canbus_mappings.py | 31 ++-- src/utility/moteus_data_out_json_helper.py | 6 + 6 files changed, 159 insertions(+), 173 deletions(-) create mode 100644 src/arm/test/test_flake8.py create mode 100644 src/arm/test/test_pep257.py diff --git a/src/arm/test/test_flake8.py b/src/arm/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/arm/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/arm/test/test_pep257.py b/src/arm/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/arm/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/src/custom_interfaces/robot_info.py b/src/custom_interfaces/robot_info.py index f4e433b..a34165e 100644 --- a/src/custom_interfaces/robot_info.py +++ b/src/custom_interfaces/robot_info.py @@ -9,24 +9,20 @@ from rclpy.node import Node from std_msgs.msg import String -canBusMappings = CanBusMappings() + moteusTopicList = { "front_left_drive_motor_from_can", "mid_left_drive_motor_from_can", "rear_left_drive_motor_from_can", - "front_right_drive_motor_from_can" + "front_right_drive_motor_from_can", "mid_right_drive_motor_from_can", "rear_right_drive_motor_from_can", -} - -canIDToMotorName = { - canBusMappings.CANID_FRONT_LEFT_DRIVE_MOTOR: "front_left_drive_motor_from_can", - canBusMappings.CANID_MID_LEFT_DRIVE_MOTOR: "mid_left_drive_motor_from_can", - canBusMappings.CANID_REAR_LEFT_DRIVE_MOTOR: "rear_left_drive_motor_from_can", - canBusMappings.CANID_FRONT_RIGHT_DRIVE_MOTOR: "front_right_drive_motor_from_can", - canBusMappings.CANID_MID_RIGHT_DRIVE_MOTOR: "mid_right_drive_motor_from_can", - canBusMappings.CANID_REAR_RIGHT_DRIVE_MOTOR: "rear_right_drive_motor_from_can" + "arm_turntable_motor_from_can", + "arm_shoulder_motor_from_can", + "arm_elbow_motor_from_can", + "arm_left_wrist_motor_from_can", + "arm_right_wrist_motor_from_can", } @@ -38,7 +34,6 @@ def __init__(self, rosNode : Node): self._rosNode = rosNode self.subList = [] # empty array self.canIDToJSON = {} #Dict - self.createSubscribers() self.canIDToJSON[20] = MoteusDataOutJsonHelper() self.canIDToJSON[21] = MoteusDataOutJsonHelper() @@ -46,11 +41,13 @@ def __init__(self, rosNode : Node): self.canIDToJSON[23] = MoteusDataOutJsonHelper() self.canIDToJSON[24] = MoteusDataOutJsonHelper() self.canIDToJSON[25] = MoteusDataOutJsonHelper() + self.canIDToJSON[1] = MoteusDataOutJsonHelper() + self.canIDToJSON[2] = MoteusDataOutJsonHelper() + self.canIDToJSON[3] = MoteusDataOutJsonHelper() + self.canIDToJSON[4] = MoteusDataOutJsonHelper() + self.canIDToJSON[5] = MoteusDataOutJsonHelper() - # self.moteusNameToJSON = {} - # self.subList = [] - # self.createNameToJSONMapping() - # self.createSubscribers() + self.createSubscribers() def createSubscribers(self): for topicName in moteusTopicList: @@ -62,29 +59,8 @@ def subCallback(self, msg): jsonHelper.buildHelper(msg.data) self.canIDToJSON[jsonHelper.canID] = jsonHelper - def getDataFromCanID(self, canID): + def getDataFromCanID(self, canID): return self.canIDToJSON[canID] - - # def createNameToJSONMapping(self): - # for name in moteusTopicList: - # self.moteusNameToJSON[name] = MoteusDataOutJsonHelper() - - # def createSubscribers(self): - # for name in moteusTopicList: - # sub = self._rosNode.create_subscription(String, name, self.subCallback, 1) - # self.subList.append(sub) - - # def subCallback(self, msg): - # jsonHelper = MoteusDataOutJsonHelper() - # jsonHelper.buildHelper(msg.data) - # moteusName = canIDToMotorName[jsonHelper.canID] - # self.moteusNameToJSON[moteusName] = jsonHelper - - - - # def getMoteusMotorData(self, canID): - # topicName = canIDToMotorName[canID] - # return self.moteusNameToJSON[topicName] - + \ No newline at end of file diff --git a/src/custom_interfaces/robot_interface.py b/src/custom_interfaces/robot_interface.py index 0f898bb..65f453f 100644 --- a/src/custom_interfaces/robot_interface.py +++ b/src/custom_interfaces/robot_interface.py @@ -7,6 +7,7 @@ import std_msgs.msg from std_msgs.msg import String from std_msgs.msg import Float32 +import math VELOCITY_CONVERSION = 1 POSITION_CONVERSION = 1 / (6.28) #Radians to position ticks @@ -23,7 +24,6 @@ class RobotInterface(Node): def __init__(self, rosNode): self._rosNode = rosNode - print("GOT TO __init__") # Drive base publisher = self._rosNode.create_publisher(String, 'front_left_drive_motor_from_interface', 10) @@ -39,20 +39,6 @@ def __init__(self, rosNode): publisher = self._rosNode.create_publisher(String, 'rear_right_drive_motor_from_interface', 10) robotPublishers['rear_right_drive_motor'] = publisher - # Arm - publisher = self._rosNode.create_publisher(Float32, 'arm_turntable_motor_position_from_interface', 10) - robotPublishers['arm_turntable_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'arm_shoulder_motor_position_from_interface', 10) - robotPublishers['arm_shoulder_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'arm_elbow_motor_position_from_interface', 10) - robotPublishers['arm_elbow_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'arm_forearm_motor_position_from_interface', 10) - robotPublishers['arm_forearm_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'arm_wrist_motor_position_from_interface', 10) - robotPublishers['arm_wrist_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'arm_hand_motor_position_from_interface', 10) - robotPublishers['arm_hand_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'arm_fingers_motor_position_from_interface', 10) robotPublishers['arm_fingers_motor'] = publisher # Antenna @@ -60,9 +46,20 @@ def __init__(self, rosNode): robotPublishers['antenna_motor'] = publisher publisher = self._rosNode.create_publisher(Float32, 'antenna_turntable_motor_position_from_interface', 10) robotPublishers['antenna_turntable_motor'] = publisher - - def __del__(self): - print() + + + # Arm + publisher = self._rosNode.create_publisher(String, 'arm_turntable_motor_from_interface', 10) + robotPublishers['arm_turntable_motor'] = publisher + publisher = self._rosNode.create_publisher(String, 'arm_shoulder_motor_from_interface', 10) + robotPublishers['arm_shoulder_motor'] = publisher + publisher = self._rosNode.create_publisher(String, 'arm_elbow_motor_from_interface', 10) + robotPublishers['arm_elbow_motor'] = publisher + publisher = self._rosNode.create_publisher(String, 'arm_left_wrist_motor_from_interface', 10) + robotPublishers['arm_left_wrist_motor'] = publisher + publisher = self._rosNode.create_publisher(String, 'arm_right_wrist_motor_from_interface', 10) + robotPublishers['arm_right_wrist_motor'] = publisher + def velocityConversion(self, amount): return amount * VELOCITY_CONVERSION @@ -81,29 +78,30 @@ def turnLeft(self, amount): def turnRight(self, amount): print() + # ------ DRIVEBASE ------ # Left front wheel - MEASURED IN REVOLUTIONS PER SECOND def front_left_drive_motor(self, amount): - self._send_drive_motor("front_left_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) + self._send_drive_motor("front_left_drive_motor", radiansPerSecond = (amount)) # Right front wheel def front_right_drive_motor(self, amount): - self._send_drive_motor("front_right_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) + self._send_drive_motor("front_right_drive_motor", radiansPerSecond = (amount)) # Left middle wheel def mid_left_drive_motor(self, amount): - self._send_drive_motor("mid_left_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) + self._send_drive_motor("mid_left_drive_motor", radiansPerSecond = (amount)) # Right middle wheel def mid_right_drive_motor(self, amount): - self._send_drive_motor("mid_right_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) + self._send_drive_motor("mid_right_drive_motor", radiansPerSecond = (amount)) # Left back wheel def rear_left_drive_motor(self, amount): - self._send_drive_motor("rear_left_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) + self._send_drive_motor("rear_left_drive_motor", radiansPerSecond = (amount)) # Right back wheel def rear_right_drive_motor(self, amount): - self._send_drive_motor("rear_right_drive_motor", radiansPerSecond = (amount * REV_TO_RADIANS)) + self._send_drive_motor("rear_right_drive_motor", radiansPerSecond = (amount)) def _send_drive_motor(self, pubName, radiansPerSecond = 0): publisher = robotPublishers[pubName] @@ -116,71 +114,63 @@ def _send_drive_motor(self, pubName, radiansPerSecond = 0): strMsg.data = jsonHelper.buildJSONString() publisher.publish(strMsg) - - - # Arm turntable - def arm_turntable_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) - publisher = robotPublishers['arm_turntable_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) - - # Arm Shoulder movement - def arm_shoulder_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 3.979 - publisher = robotPublishers['arm_shoulder_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) - - # Arm Elbow movement - def arm_elbow_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 5.204 - publisher = robotPublishers['arm_elbow_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) - - # Arm Forearm movement - def arm_forearm_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 3.820 - publisher = robotPublishers['arm_forearm_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) + # ------ ARM ------ - # Arm Up Down Wrist movement - def arm_wrist_updown_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) * 3.820 - publisher = robotPublishers['arm_wrist_updown_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) - - # Arm Wrist rotation movement - def arm_wrist_rotation_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) / 6.283 - publisher = robotPublishers['arm_wrist_rotation_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) + def arm_turntable_velocity(self, targetVel): + self._send_arm_velocity("arm_turntable_motor", targetVel) + + def shoulder_velocity(self, targetVel): + self._send_arm_velocity("arm_shoulder_motor", targetVel) + + def elbow_velocity(self, targetVel): + self._send_arm_velocity("arm_elbow_motor", targetVel) + + def leftWrist_velocity(self, targetVel): + self._send_arm_velocity("arm_left_wrist_motor", targetVel) + + def rightWrist_velocity(self, targetVel): + self._send_arm_velocity("arm_right_wrist_motor", targetVel) - # Arm Hand movement - def arm_hand_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) - publisher = robotPublishers['arm_hand_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput + # For now, I am sending rev/sec + def _send_arm_velocity(self, pubName, velocity = 0): + publisher = robotPublishers[pubName] + + strMsg = String() + jsonHelper = MoteusDataInJsonHelper() + jsonHelper.velocity = velocity + jsonHelper.setStop = False + + strMsg.data = jsonHelper.buildJSONString() publisher.publish(strMsg) + + + def disable_arm_turntable_motor(self): + self._disable_motor("arm_turntable_motor") - # Arm Finger movement - def arm_fingers_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) - publisher = robotPublishers['arm_fingers_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput + def disable_arm_shoulder_motor(self): + self._disable_motor("arm_shoulder_motor") + + def disable_arm_elbow_motor(self): + self._disable_motor("arm_elbow_motor") + + def disable_arm_left_wrist_motor(self): + self._disable_motor("arm_left_wrist_motor") + + def disable_arm_right_wrist_motor(self): + self._disable_motor("arm_right_wrist_motor") + + def _disable_motor(self, pubName): + publisher = robotPublishers[pubName] + + strMsg = String() + jsonHelper = MoteusDataInJsonHelper() + jsonHelper.velocity = 0 # for extra security + jsonHelper.setStop = True + + strMsg.data = jsonHelper.buildJSONString() publisher.publish(strMsg) + + # Antenna movement def antenna_motor_extend(self): @@ -205,38 +195,3 @@ def antenna_turntable_motor(self, amount): strMsg = Float32() strMsg.data = revolutionsOutput publisher.publish(strMsg) - - -class MyTestingNode(Node): - def __init__(self): - super().__init__('my_testing_node') - #self.create_timer(0.2, self.timer_callback) - self.get_logger().info("Hello ROS2") - #def timer_callback(self): - # self.get_logger().info("Hello ROS2") - -def main(args=None): - rclpy.init(args=args) - - testNode = MyTestingNode() - - object1 = RobotInterface(testNode) - - object1.front_left_drive_motor(10) - object1.front_right_drive_motor(15) - object1.mid_left_drive_motor(20) - object1.mid_right_drive_motor(25) - object1.rear_left_drive_motor(30) - object1.rear_right_drive_motor(9999) - - rclpy.spin(testNode) - - # Destroy the node explicitly - # (optional - otherwise it will be done automatically - # when the garbage collector destroys the node object) - testNode.destroy_node() - rclpy.shutdown() - - -if __name__ == '__main__': - main() diff --git a/src/utility/canbus_mappings.py b/src/utility/canbus_mappings.py index 0685983..cdfa2fc 100644 --- a/src/utility/canbus_mappings.py +++ b/src/utility/canbus_mappings.py @@ -1,20 +1,21 @@ class CanBusMappings(): - - def __init__(self): - # Drivebase - self.CANID_REAR_RIGHT_DRIVE_MOTOR = 20 - self.CANID_MID_RIGHT_DRIVE_MOTOR = 21 - self.CANID_FRONT_RIGHT_DRIVE_MOTOR = 22 + # Drivebase + CANID_REAR_RIGHT_DRIVE_MOTOR = 20 + CANID_MID_RIGHT_DRIVE_MOTOR = 21 + CANID_FRONT_RIGHT_DRIVE_MOTOR = 22 - self.CANID_REAR_LEFT_DRIVE_MOTOR = 23 - self.CANID_MID_LEFT_DRIVE_MOTOR = 24 - self.CANID_FRONT_LEFT_DRIVE_MOTOR = 25 + CANID_REAR_LEFT_DRIVE_MOTOR = 23 + CANID_MID_LEFT_DRIVE_MOTOR = 24 + CANID_FRONT_LEFT_DRIVE_MOTOR = 25 - # Arm - self.CANID_ARM_SHOULDER_MOTOR = 1 - self.CANID_ARM_ELBOW_MOTOR = 2 - self.CANID_ARM_LEFT_WRIST_MOTOR = 3 - self.CANID_ARM_RIGHT_WRIST_MOTOR = 4 - self.CANID_ARM_TURNTABLE_MOTOR = 5 + # Arm + CANID_ARM_SHOULDER_MOTOR = 1 + CANID_ARM_ELBOW_MOTOR = 2 + CANID_ARM_LEFT_WRIST_MOTOR = 3 + CANID_ARM_RIGHT_WRIST_MOTOR = 4 + CANID_ARM_TURNTABLE_MOTOR = 5 + + def __init__(self): + pass diff --git a/src/utility/moteus_data_out_json_helper.py b/src/utility/moteus_data_out_json_helper.py index 1f94218..8e3d515 100644 --- a/src/utility/moteus_data_out_json_helper.py +++ b/src/utility/moteus_data_out_json_helper.py @@ -12,6 +12,8 @@ def __init__(self): self.temperature = None self.power = None self.inputVoltage = None + self.qCurrent = None + self.dCurrent = None @@ -31,6 +33,8 @@ def buildPythonDict(self): "temperature": self.temperature, "power": self.power, "inputVoltage": self.inputVoltage, + "qCurrent": self.qCurrent, + "dCurrent": self.dCurrent } return pythonDict @@ -45,6 +49,8 @@ def buildHelper(self, jsonString): self.temperature = pythonDict["temperature"] self.power = pythonDict["power"] self.inputVoltage = pythonDict["inputVoltage"] + self.qCurrent = pythonDict["qCurrent"] + self.dCurrent = pythonDict["dCurrent"] From c57e7ad0014aff3730d21ef7045cc3b730d8d169 Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin Date: Tue, 10 Sep 2024 17:00:18 +0000 Subject: [PATCH 30/50] Remove unused packages, remove unused docs, remove unused shell files --- 70-fdcanusb.rules | 10 -- docs/OLDcan_moteus.md | 102 ------------------ setupCAN.sh | 4 - src/camera/test/test_copyright.py | 25 ----- src/example_node/package.xml | 18 ---- src/example_node/setup.py | 24 ----- src/example_node/test/test_copyright.py | 25 ----- src/robot_info/package.xml | 19 ---- src/robot_info/resource/robot_info | 0 src/robot_info/robot_info/__init__.py | 0 src/robot_info/robot_info/robot_info.py | 66 ------------ src/robot_info/robot_info/test_publisher.py | 35 ------ src/robot_info/robot_info/test_subscriber.py | 28 ----- src/robot_info/setup.cfg | 4 - src/robot_info/setup.py | 27 ----- src/robot_info/test/test_copyright.py | 25 ----- src/robot_info/test/test_flake8.py | 25 ----- src/robot_info/test/test_pep257.py | 23 ---- src/testingInterface/package.xml | 37 ------- .../resource/testingInterface | 0 src/testingInterface/setup.cfg | 4 - src/testingInterface/setup.py | 26 ----- src/testingInterface/test/test_copyright.py | 25 ----- src/testingInterface/test/test_flake8.py | 25 ----- src/testingInterface/test/test_pep257.py | 23 ---- .../testingInterface/__init__.py | 0 .../testingInterface/testingNode.py | 25 ----- src/viator_launch/launch/robot.launch.py | 25 +++-- 28 files changed, 16 insertions(+), 634 deletions(-) delete mode 100644 70-fdcanusb.rules delete mode 100644 docs/OLDcan_moteus.md delete mode 100644 setupCAN.sh delete mode 100644 src/camera/test/test_copyright.py delete mode 100644 src/example_node/package.xml delete mode 100644 src/example_node/setup.py delete mode 100644 src/example_node/test/test_copyright.py delete mode 100644 src/robot_info/package.xml delete mode 100644 src/robot_info/resource/robot_info delete mode 100644 src/robot_info/robot_info/__init__.py delete mode 100644 src/robot_info/robot_info/robot_info.py delete mode 100644 src/robot_info/robot_info/test_publisher.py delete mode 100644 src/robot_info/robot_info/test_subscriber.py delete mode 100644 src/robot_info/setup.cfg delete mode 100644 src/robot_info/setup.py delete mode 100644 src/robot_info/test/test_copyright.py delete mode 100644 src/robot_info/test/test_flake8.py delete mode 100644 src/robot_info/test/test_pep257.py delete mode 100644 src/testingInterface/package.xml delete mode 100644 src/testingInterface/resource/testingInterface delete mode 100644 src/testingInterface/setup.cfg delete mode 100644 src/testingInterface/setup.py delete mode 100644 src/testingInterface/test/test_copyright.py delete mode 100644 src/testingInterface/test/test_flake8.py delete mode 100644 src/testingInterface/test/test_pep257.py delete mode 100644 src/testingInterface/testingInterface/__init__.py delete mode 100644 src/testingInterface/testingInterface/testingNode.py diff --git a/70-fdcanusb.rules b/70-fdcanusb.rules deleted file mode 100644 index 9d5b535..0000000 --- a/70-fdcanusb.rules +++ /dev/null @@ -1,10 +0,0 @@ -# A udev rule to create a /dev/fdcanusb symlink. -# -# Install into /etc/udev/rules.d: -# sudo cp 70-fdcanusb.rules /etc/udev/rules.d -# -# Then run: -# sudo udevadm control --reload-rules -# sudo udevadm trigger --subsystem-match=tty - -SUBSYSTEM=="tty", ATTRS{manufacturer}=="mjbots", ATTRS{product}=="fdcanusb", MODE="0666", SYMLINK+="fdcanusb" diff --git a/docs/OLDcan_moteus.md b/docs/OLDcan_moteus.md deleted file mode 100644 index 8e45356..0000000 --- a/docs/OLDcan_moteus.md +++ /dev/null @@ -1,102 +0,0 @@ -# The [`can_moteus`](https://github.com/TrickfireRobotics/urc-2023/tree/main/src/can_moteus) Package - - -## **What is it?** -This is a **ROS Node** that is responsible for communication between the [**Moteus motor controllers**](https://github.com/mjbots/moteus) (via a CAN-FD Bus) and **ROS** that the rest of the codebase is written in. - -Motors are created that represent their real-life counterparts. Each motor subscribes to a topic that contains data for the motors to use depending on the motor's mode; i.e. a motor in VELOCITY mode would subscribe to data that would set that motor's velocity. Each motor can publish data to the ROS network that it reads from the Moteus controllers depending on what data the programmer wanted that motor to publish. - -The only structure in the whole codebase that should be directly sending data for these motors to subscribe to is the [`RobotInterface`](../src/interface); see [`code_overview.md`](./code_overview.md) for a diagram. - -## **How to use it** - -### **Adding a Motor in Code** -As each Moteus controller is connected to **only a single** motor, each motor is represented as a [`MoteusMotor`](../src/can_moteus/can_moteus/moteus_motor.py) object. However, the [`MoteusMultiprocess`](../src/can_moteus/can_moteus/moteus_multiprocess.py) object, of which only one should exist, handles these `MoteusMotors`. As such, motors are added via the `MoteusMultiprocess` object inside [`ros_moteus_bridge.py`](../src/can_moteus/can_moteus/ros_moteus_bridge.py). - -To create a motor, we need to pass in the following parameters in this order: -- The CAN ID of the motor. This is an **integer** -- The name of the motor. This is a **String** -- The motor mode. This is a **moteus_motor.Mode** -- A list of data to publish to the ROS network. This is an **array of moteus.Register** - -Here is an example of adding a motor - -``` -moteusPubList = [moteus.Register.VELOCITY, moteus.Register.POSITION] - -moteusMultiprocess.addMotor( - 3, - "topmotor", - moteus_motor.Mode.VELOCITY, - moteusPubList, -) -``` -This motor has a CAN ID of **three** with the name **"topmotor"**. The motor is running in **VELOCITY** mode, and as such expects incoming data intended for the motor to set its velocity in Moteus units. Each time the motor reads data from the Moteus controller, it will publish its **VELOCITY** and **POSITION** values to the ROS network in Moteus units. - - -### **Inputs** - -When a motor is created, it will create a ROS subscriber to the following topic: - -```__from_robot_interface``` - -For example, using the motor above, it would subscribe to the topic of: - -```/topmotor_velocity_from_robot_interface``` - -The data sent to this topic will control the particular motor that it is sent to. Keep in mind that this data has to be formatted in Moteus units. - -Every cycle (every 0.02 seconds), the motor will send the last recieved data to send to the Moteus controller. The default is a value of **zero.** - -**NOTE: All subscribers and publishers handle data in std_msgs.msg.Float32** - -### **Outputs** -When a motor is created, it will publish to the following topic(s) depending on the **moteus.Register array** that was passed in. The topic is in the following format: - -```__from_can``` - -For example, using the motor above, it would publish to the topics of: - -```/topmotor_velocity_from_can``` - -```/topmotor_position_from_can``` - -Every cycle (every 0.02 seconds), the motor would read data it recieved from the Moteus controller and publish it. - -**NOTE: All subscribers and publishers handle data in std_msgs.msg.Float32** - -**NOTE: The data that can be sent must match up exactly to the data that the Moteus controllers send back; which is precisely the values from [`moteus.Register`](https://github.com/mjbots/moteus/blob/38d688a933ce1584ee09f2628b5849d5e758ac21/lib/python/moteus/moteus.py#L148)!** - -## **What is a Moteus Unit?** - -The documentation for the Moteus units are found [here](https://github.com/mjbots/moteus/blob/main/docs/reference.md#a2-register-usage). Each type of data has different units, so keep that in mind. - - -## **Deep Dive - How is `can_moteus` Implemented?** - -### **Overview** -The core idea is that there are two distinct Python processes running that communicate with each other via several different multiprocess queues. The first process is the "main" process where ROS lives and does whatever it needs to do. The second process is started by us and is used to send and read data to the Moteus controllers. - -### **Queue From Motors to Moteus Multiprocess** - -Each motor's callback function for their subscribers writes to the `_queueToMoteus` queue (created in `moteus_multiprocess.py`), where only one such queue exists. As such, all motors share this queue. The data that is enqueued is an array of length two in the following format: - -``` -[0] = CANID -[1] = data (position, velocity, etc) -``` - -### **Queue From Multiprocess to Each Motor** -Each motor has its own multiprocess queue, `toPublisherQueue` that is created in `moteus_multiprocess.py`, which is then populated by the Moteus multiprocess for each corresponding motor. The type of data that is sent is dictated by the `moteusPubList` array as seen earlier in the example motor. The data that is enqueued is an array of length two in the following format: - -``` -[0] = moteus.Register -[1] = data (position, velocity, voltage, current, etc) -``` - -### **The Multiprocess Cycle** -Each cycle, 0.02 seconds, the Moteus multiprocess reads the head of the `_queueToMoteus` and updates the set value for the target motor. It then goes through each motor that was succesfully connected to the CAN/CANFD bus and sends their set data. At the same time, it recieves information about the Moteus controller and populates each motor's `toPublisherQueue`. - -Here is a diagram of the process: - -![what](./resources/moteus_docs.png) \ No newline at end of file diff --git a/setupCAN.sh b/setupCAN.sh deleted file mode 100644 index 1126bc0..0000000 --- a/setupCAN.sh +++ /dev/null @@ -1,4 +0,0 @@ -sudo modprobe can -sudo modprobe can_raw -sudo modprobe mttcan -sudo ip link set can0 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on \ No newline at end of file diff --git a/src/camera/test/test_copyright.py b/src/camera/test/test_copyright.py deleted file mode 100644 index 97a3919..0000000 --- a/src/camera/test/test_copyright.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/src/example_node/package.xml b/src/example_node/package.xml deleted file mode 100644 index ff37b33..0000000 --- a/src/example_node/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - example_node - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - - - ament_python - - diff --git a/src/example_node/setup.py b/src/example_node/setup.py deleted file mode 100644 index 571f53b..0000000 --- a/src/example_node/setup.py +++ /dev/null @@ -1,24 +0,0 @@ -from setuptools import find_packages, setup - -package_name = 'example_node' - -setup( - name=package_name, - version='0.0.0', - packages=find_packages(exclude=['test']), - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='trickfire', - maintainer_email='vladimirkupryukhin@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': ["myExampleNode = example_node.example:main"], - }, -) diff --git a/src/example_node/test/test_copyright.py b/src/example_node/test/test_copyright.py deleted file mode 100644 index 97a3919..0000000 --- a/src/example_node/test/test_copyright.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/src/robot_info/package.xml b/src/robot_info/package.xml deleted file mode 100644 index 7dd6a2e..0000000 --- a/src/robot_info/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - robot_info - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - rclpy - - - ament_python - - diff --git a/src/robot_info/resource/robot_info b/src/robot_info/resource/robot_info deleted file mode 100644 index e69de29..0000000 diff --git a/src/robot_info/robot_info/__init__.py b/src/robot_info/robot_info/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/robot_info/robot_info/robot_info.py b/src/robot_info/robot_info/robot_info.py deleted file mode 100644 index 9254c64..0000000 --- a/src/robot_info/robot_info/robot_info.py +++ /dev/null @@ -1,66 +0,0 @@ -import math -from typing import Any, Callable, get_args, Literal, TYPE_CHECKING -import sys -sys.path.append("/home/trickfire/urc-2023/src") - -from utility.canbus_mappings import CanBusMappings -from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper - -from rclpy.node import Node -from std_msgs.msg import String - -canBusMappings = CanBusMappings() - -moteusTopicList = { - "front_left_drive_motor_from_can", - "mid_left_drive_motor_from_can", - "rear_left_drive_motor_from_can", - "front_right_drive_motor_from_can" - "mid_right_drive_motor_from_can", - "rear_right_drive_motor_from_can", -} - -canIDToMotorName = { - canBusMappings.CANID_FRONT_LEFT_DRIVE_MOTOR: "front_left_drive_motor_from_can", - canBusMappings.CANID_MID_LEFT_DRIVE_MOTOR: "mid_left_drive_motor_from_can", - canBusMappings.CANID_REAR_LEFT_DRIVE_MOTOR: "rear_left_drive_motor_from_can", - canBusMappings.CANID_FRONT_RIGHT_DRIVE_MOTOR: "front_right_drive_motor_from_can", - canBusMappings.CANID_MID_RIGHT_DRIVE_MOTOR: "mid_right_drive_motor_from_can", - canBusMappings.CANID_REAR_RIGHT_DRIVE_MOTOR: "rear_right_drive_motor_from_can" -} - - - -class RobotInfo(): - - - def __init__(self, rosNode : Node): - self._rosNode = rosNode - self.moteusNameToJSON = {} - self.subList = [] - self.createNameToJSONMapping() - self.createSubscribers() - - - def createNameToJSONMapping(self): - for name in moteusTopicList: - self.moteusNameToJSON[name] = MoteusDataOutJsonHelper() - - def createSubscribers(self): - for name in moteusTopicList: - sub = self._rosNode.create_subscription(String, name, self.subCallback, 1) - self.subList.append(sub) - - def subCallback(self, msg): - jsonHelper = MoteusDataOutJsonHelper() - jsonHelper.buildHelper(msg.data) - moteusName = canBusMappings[jsonHelper.canID] - self.moteusNameToJSON[moteusName] = jsonHelper - - - - def getMoteusMotorData(self, canID): - return self.moteusNameToJSON[canBusMappings[canID]] - - - \ No newline at end of file diff --git a/src/robot_info/robot_info/test_publisher.py b/src/robot_info/robot_info/test_publisher.py deleted file mode 100644 index 0106429..0000000 --- a/src/robot_info/robot_info/test_publisher.py +++ /dev/null @@ -1,35 +0,0 @@ -import random - -import rclpy -from rclpy.node import Node - -from std_msgs.msg import Float32 - - -TOPIC1 = "front_left_drive_motor_velocity_from_robot_interface" - - -class TestPublisher(Node): - def __init__(self): - super().__init__("test_publisher") - self.get_logger().info("Hello World") - - self.create_timer(0.5, self.callback) - - self.publisher1 = self.create_publisher(Float32, TOPIC1, 10) - - def callback(self): - msg1 = Float32() - msg1.data = 0.5 - self.publisher1.publish(msg1) - - -def main(args=None): - rclpy.init(args=args) - publisher = TestPublisher() - rclpy.spin(publisher) - rclpy.shutdown() - - -if __name__ == '__main__': - main() diff --git a/src/robot_info/robot_info/test_subscriber.py b/src/robot_info/robot_info/test_subscriber.py deleted file mode 100644 index f2684a6..0000000 --- a/src/robot_info/robot_info/test_subscriber.py +++ /dev/null @@ -1,28 +0,0 @@ -import rclpy -from rclpy.node import Node - -from .robot_info import RobotInfo - - -class TestSubscriber(Node): - def __init__(self): - super().__init__("test_subscriber") - self.get_logger().info("Hello World!") - self.info = RobotInfo(self, self.callback) - - def callback(self, topic, data): - self.get_logger().info(f"received topic: {topic}; data: {data}") - self.get_logger().info("info.front_left_drive_motor_velocity_from_can: " - + str(self.info.front_left_drive_motor_velocity_from_can)) - - - -def main(args=None): - rclpy.init(args=args) - subscriber = TestSubscriber() - rclpy.spin(subscriber) - rclpy.shutdown() - - -if __name__ == '__main__': - main() diff --git a/src/robot_info/setup.cfg b/src/robot_info/setup.cfg deleted file mode 100644 index 404d555..0000000 --- a/src/robot_info/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/robot_info -[install] -install_scripts=$base/lib/robot_info diff --git a/src/robot_info/setup.py b/src/robot_info/setup.py deleted file mode 100644 index 8141076..0000000 --- a/src/robot_info/setup.py +++ /dev/null @@ -1,27 +0,0 @@ -from setuptools import find_packages, setup - -package_name = 'robot_info' - -setup( - name=package_name, - version='0.0.0', - packages=find_packages(exclude=['test']), - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='trickfire', - maintainer_email='loukylor@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - "talker = robot_info.test_publisher:main", - "listener = robot_info.test_subscriber:main" - ], - }, -) diff --git a/src/robot_info/test/test_copyright.py b/src/robot_info/test/test_copyright.py deleted file mode 100644 index 97a3919..0000000 --- a/src/robot_info/test/test_copyright.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/src/robot_info/test/test_flake8.py b/src/robot_info/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/robot_info/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/robot_info/test/test_pep257.py b/src/robot_info/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/robot_info/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/testingInterface/package.xml b/src/testingInterface/package.xml deleted file mode 100644 index 3847a6e..0000000 --- a/src/testingInterface/package.xml +++ /dev/null @@ -1,37 +0,0 @@ - - - -<<<<<<<< HEAD:src/custom_interfaces/package.xml - custom_interfaces - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_cmake - - rosidl_default_generators - - rosidl_default_runtime - - rosidl_interface_packages - - ament_lint_auto - ament_lint_common -======== - testingInterface - 0.0.0 - TODO: Package description - trickfire - TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest ->>>>>>>> e9f631c (Robot Interface Merge (#24)):src/testingInterface/package.xml - - - ament_python - - diff --git a/src/testingInterface/resource/testingInterface b/src/testingInterface/resource/testingInterface deleted file mode 100644 index e69de29..0000000 diff --git a/src/testingInterface/setup.cfg b/src/testingInterface/setup.cfg deleted file mode 100644 index 93c251d..0000000 --- a/src/testingInterface/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/testingInterface -[install] -install_scripts=$base/lib/testingInterface diff --git a/src/testingInterface/setup.py b/src/testingInterface/setup.py deleted file mode 100644 index 985d64d..0000000 --- a/src/testingInterface/setup.py +++ /dev/null @@ -1,26 +0,0 @@ -from setuptools import setup - -package_name = 'testingInterface' - -setup( - name=package_name, - version='0.0.0', - packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='trickfire', - maintainer_email='matthew.c.perry@outlook.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - 'testingInterface = testingInterface.testingNode:main' - ], - }, -) diff --git a/src/testingInterface/test/test_copyright.py b/src/testingInterface/test/test_copyright.py deleted file mode 100644 index 97a3919..0000000 --- a/src/testingInterface/test/test_copyright.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/src/testingInterface/test/test_flake8.py b/src/testingInterface/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/testingInterface/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/testingInterface/test/test_pep257.py b/src/testingInterface/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/testingInterface/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/testingInterface/testingInterface/__init__.py b/src/testingInterface/testingInterface/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/testingInterface/testingInterface/testingNode.py b/src/testingInterface/testingInterface/testingNode.py deleted file mode 100644 index 0f22bdf..0000000 --- a/src/testingInterface/testingInterface/testingNode.py +++ /dev/null @@ -1,25 +0,0 @@ -import sys -import rclpy -from rclpy.node import Node -import time - -sys.path.append('/home/trickfire/urc-2023/src/interface') -from robot_interface import RobotInterface - - - -class TestingNode(Node): - - def __init__(self): - super().__init__("testing_node") - self.get_logger().info("Launching testing_node node") - robotInterface = RobotInterface(self) - - - -def main(args=None): - rclpy.init(args=args) - node = TestingNode() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index e35d172..37d651a 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -1,10 +1,19 @@ import launch from launch_ros.actions import Node -can_moteus_node = Node(package="can_moteus", executable="can_moteus", name="can_moteus_node") + +can_moteus_node = Node( + package='can_moteus', + executable='can_moteus', + name='can_moteus_node' +) -drivebase_node = Node(package="drivebase", executable="drivebase", name="drivebase_node") +drivebase_node = Node( + package='drivebase', + executable='drivebase', + name='drivebase_node' +) mission_control_updater_node = Node( @@ -13,13 +22,11 @@ name="mission_control_updater_node", ) -arm_node = Node(package="arm", executable="arm", name="arm_node") - -camera_node = Node(package="camera", executable="roscamera", name="camera_node") - -# This is the example node. It will show ROS timers, subscribers, and publishers -# To include it in the startup, add it to the array in the generate_launch_description() method -example_node = Node(package="example_node", executable="myExampleNode", name="my_example_node") +arm_node = Node( + package='arm', + executable='arm', + name='arm_node' +) def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name From f1e339fa0e451ebf5a21614aea1d861741b722f6 Mon Sep 17 00:00:00 2001 From: Kyler Li Date: Tue, 10 Sep 2024 23:33:03 +0000 Subject: [PATCH 31/50] [reformat] remove existing linter tests these tests are nigh impossible to integrate with and customize, plus it would be a pain to integrate pylint support. plus these tests don't run on lib files --- src/arm/test/test_flake8.py | 25 ------------------- src/arm/test/test_pep257.py | 23 ----------------- .../test/test_flake8.py | 25 ------------------- .../test/test_pep257.py | 23 ----------------- 4 files changed, 96 deletions(-) delete mode 100644 src/arm/test/test_flake8.py delete mode 100644 src/arm/test/test_pep257.py delete mode 100644 src/mission_control_updater/test/test_flake8.py delete mode 100644 src/mission_control_updater/test/test_pep257.py diff --git a/src/arm/test/test_flake8.py b/src/arm/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/arm/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/arm/test/test_pep257.py b/src/arm/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/arm/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/src/mission_control_updater/test/test_flake8.py b/src/mission_control_updater/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/src/mission_control_updater/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/src/mission_control_updater/test/test_pep257.py b/src/mission_control_updater/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/src/mission_control_updater/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' From 67a5b2a395921f6f31eb9a26521a20517a35eb61 Mon Sep 17 00:00:00 2001 From: Kyler Li Date: Wed, 11 Sep 2024 07:50:40 +0000 Subject: [PATCH 32/50] THE GREAT REFORMATTENING there's a long laundry list of changes (let's hope i don't forget anything): - added pylint, isort, black, and mypy - pylint does most of the linting work - isort is specifically for import sorting, and some whitespace issues - black runs autoformatting on save - I don't particularly like autoformatters but I know for a fact that people will not heed the warnings for linters so ive included it as an extreme measure. - mypy is for type checking - linting has several things people should pay attention to - max line length is 100 - doc strings for all functions, classes, and modules is required - imports now must be in specific orders - isort will automatically sort imports for you - function parameters must be type hinted - function return types must be specified too - some class attributes must also be type hinted - function names will be camelCase - attributes, variables, and file names must be snake_case - whitespace will be automatically managed by the auto formatter - other than consistent formatting, this will give type hinting and intellisense to almost every variable --- .devcontainer/devcontainer.json | 6 +- .vscode/settings.json | 1 - launch.sh | 7 +- src/arm/arm/arm.py | 47 ++- src/arm/arm/individual_control_vel.py | 68 ++-- src/arm/test/test_copyright.py | 25 -- src/can_moteus/can_moteus/moteus_motor.py | 116 +++++-- .../can_moteus/moteus_thread_manager.py | 221 ++++++------ .../can_moteus/ros_moteus_bridge.py | 90 ++++- src/can_moteus/test/test_copyright.py | 7 +- src/custom_interfaces/robot_info.py | 78 ++--- src/custom_interfaces/robot_interface.py | 327 ++++++++++-------- src/drivebase/drivebase/drivebase.py | 26 +- .../infoToJSONHelper.py | 26 -- .../info_to_json_helper.py | 8 +- .../mission_control_updater/updater.py | 30 +- src/mission_control_updater/setup.py | 15 +- .../test/test_copyright.py | 25 -- src/utility/canbus_mappings.py | 8 +- src/utility/color_text.py | 22 +- src/utility/moteus_data_in_json_helper.py | 88 +++-- src/utility/moteus_data_out_json_helper.py | 86 +++-- src/viator_launch/launch/robot.launch.py | 26 +- 23 files changed, 735 insertions(+), 618 deletions(-) delete mode 100644 src/mission_control_updater/mission_control_updater/infoToJSONHelper.py diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index f576f75..cd1e6a1 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -15,9 +15,9 @@ "ms-python.python", "ms-python.vscode-pylance", "ms-python.pylint", - "ms-python.mypy-type-checker", - "ms-python.isort", - "ms-python.black-formatter", + "ms-python.mypy-type-checker", + "ms-python.isort", + "ms-python.black-formatter", "ms-vscode.cmake-tools", "ms-vscode.cpptools", "twxs.cmake", diff --git a/.vscode/settings.json b/.vscode/settings.json index b077611..e9d3d23 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -21,7 +21,6 @@ "editor.defaultFormatter": "ms-python.black-formatter", "editor.formatOnSave": true }, - "black-formatter.args": ["-l", "100"], "cmake.configureOnOpen": false, "cmake.sourceDirectory": "${workspaceFolder}/src/hello_world", "files.associations": { diff --git a/launch.sh b/launch.sh index 09ba431..76e883f 100755 --- a/launch.sh +++ b/launch.sh @@ -9,13 +9,8 @@ source /home/trickfire/urc-2023/install/setup.bash #ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on #ip link set can0 up -#modprobe can -#modprobe can_raw -#modprobe mttcan -#ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on -#ip link set can0 up - # Add to the python import pathes. Not the best, but will work for now +# TODO: Switch this folder to the libs folder once that's done export PYTHONPATH="/home/trickfire/urc-2023/src/:$PYTHONPATH" ros2 launch viator_launch robot.launch.py & ros2 launch rosbridge_server rosbridge_websocket_launch.xml \ No newline at end of file diff --git a/src/arm/arm/arm.py b/src/arm/arm/arm.py index f99ab40..446b058 100644 --- a/src/arm/arm/arm.py +++ b/src/arm/arm/arm.py @@ -2,15 +2,20 @@ from enum import IntEnum from typing import Any +from enum import IntEnum +from typing import Any + import rclpy from rclpy.executors import ExternalShutdownException from rclpy.node import Node from std_msgs.msg import Int32 +from rclpy.node import Node +from std_msgs.msg import Int32 + from custom_interfaces.srv import ArmMode -from lib.color_codes import ColorCodes, colorStr -from lib.configs import MotorConfigs -from lib.interface.robot_interface import RobotInterface +from interface.robot_interface import RobotInterface +from utility.color_text import ColorCodes from .individual_control_vel import IndividualControlVel @@ -21,11 +26,19 @@ class ArmModeEnum(IntEnum): INDIVIDUAL_MOTOR_CONTROL_POS = 2 INVERSE_KINEMATICS = 3 + DISABLED = 0 + INDIVIDUAL_MOTOR_CONTROL_VEL = 1 + INDIVIDUAL_MOTOR_CONTROL_POS = 2 + INVERSE_KINEMATICS = 3 + class Arm(Node): + def __init__(self) -> None: def __init__(self) -> None: super().__init__("arm_node") - self.get_logger().info(colorStr("Launching arm_node", ColorCodes.BLUE_OK)) + self.get_logger().info( + ColorCodes.BLUE_OK + "Launching arm_node" + ColorCodes.ENDC + ) self.change_arm_mode_sub = self.create_subscription( Int32, "update_arm_mode", self.updateArmMode, 10 @@ -33,7 +46,9 @@ def __init__(self) -> None: self.current_mode = ArmModeEnum.DISABLED - self.mode_service = self.create_service(ArmMode, "get_arm_mode", self.modeServiceHandler) + self.mode_service = self.create_service( + ArmMode, "get_arm_mode", self.modeServiceHandler + ) self.bot_interface = RobotInterface(self) @@ -43,15 +58,18 @@ def modeServiceHandler(self, _: Any, response: ArmMode.Response) -> ArmMode.Resp response.current_mode = int(self.current_mode) return response + def updateArmMode(self, msg: Int32) -> None: + def updateArmMode(self, msg: Int32) -> None: self.current_mode = msg.data + if self.current_mode == 0: - self.bot_interface.disableMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) - self.bot_interface.disableMotor(MotorConfigs.ARM_SHOULDER_MOTOR) - self.bot_interface.disableMotor(MotorConfigs.ARM_ELBOW_MOTOR) - self.bot_interface.disableMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) - self.bot_interface.disableMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + self.bot_interface.disableArmTurntableMotor() + self.bot_interface.disableArmShoulderMotor() + self.bot_interface.disableArmElbowMotor() + self.bot_interface.disableArmLeftWristMotor() + self.bot_interface.disableArmRightWristMotor() self.individual_control_vel.can_send = False elif self.current_mode == 1: @@ -65,21 +83,28 @@ def updateArmMode(self, msg: Int32) -> None: def main(args: list[str] | None = None) -> None: """ The entry point of the node. + The entry point of the node. """ + rclpy.init(args=args) try: node = Arm() rclpy.spin(node) + except KeyboardInterrupt: pass except ExternalShutdownException: # This is done when we ctrl-c the progam to shut it down - node.get_logger().info(colorStr("Shutting down arm_node node", ColorCodes.BLUE_OK)) + node.get_logger().info( + ColorCodes.BLUE_OK + "Shutting down arm_node node" + ColorCodes.ENDC + ) node.destroy_node() sys.exit(0) + if __name__ == "__main__": main() + diff --git a/src/arm/arm/individual_control_vel.py b/src/arm/arm/individual_control_vel.py index dfefb52..4ee3e1c 100644 --- a/src/arm/arm/individual_control_vel.py +++ b/src/arm/arm/individual_control_vel.py @@ -1,8 +1,7 @@ -from rclpy.node import Node +from rclpy import Node from std_msgs.msg import Float32 -from lib.configs import MotorConfigs -from lib.interface.robot_interface import RobotInterface +from interface.robot_interface import RobotInterface class IndividualControlVel: @@ -23,6 +22,13 @@ def __init__(self, ros_node: Node, interface: RobotInterface): Float32, "left_wrist_ccw", self.leftWristCCW, 10 ) + self.left_wrist_motor_sub = ros_node.create_subscription( + Float32, "left_wrist_cw", self.leftWristCW, 10 + ) + self.left_wrist_motor_sub = ros_node.create_subscription( + Float32, "left_wrist_ccw", self.leftWristCCW, 10 + ) + # Right wrist motor self.left_wrist_motor_sub = ros_node.create_subscription( Float32, "right_wrist_cw", self.rightWristCW, 10 @@ -32,7 +38,9 @@ def __init__(self, ros_node: Node, interface: RobotInterface): ) # Elbow motor - self.elbow_up_sub = ros_node.create_subscription(Float32, "elbow_up", self.elbowUp, 10) + self.elbow_up_sub = ros_node.create_subscription( + Float32, "elbow_up", self.elbowUp, 10 + ) self.elbow_down_sub = ros_node.create_subscription( Float32, "elbow_down", self.elbowDown, 10 @@ -56,6 +64,14 @@ def __init__(self, ros_node: Node, interface: RobotInterface): Float32, "turntable_ccw", self.turntableCCW, 10 ) + def leftWristCW(self, msg: Float32) -> None: + if not self.can_send: + return + + self.turntable_counter_clockwise_sub = ros_node.create_subscription( + Float32, "turntable_ccw", self.turntableCCW, 10 + ) + def leftWristCW(self, msg: Float32) -> None: if not self.can_send: return @@ -64,11 +80,11 @@ def leftWristCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Left Wrist CW" + str(joystick)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_LEFT_WRIST_MOTOR, self.WRIST_VEL) + self.bot_interface.leftWriteVelocity(self.WRIST_VEL) else: self._ros_node.get_logger().info("Left Wrist STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + self.bot_interface.leftWriteVelocity(0.0) def leftWristCCW(self, msg: Float32) -> None: if not self.can_send: @@ -78,11 +94,11 @@ def leftWristCCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Left Wrist CCW" + str(joystick)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_LEFT_WRIST_MOTOR, -self.WRIST_VEL) + self.bot_interface.leftWriteVelocity(-self.WRIST_VEL) else: self._ros_node.get_logger().info("Left Wrist STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + self.bot_interface.leftWriteVelocity(0.0) def rightWristCW(self, msg: Float32) -> None: if not self.can_send: @@ -92,11 +108,11 @@ def rightWristCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Right Wrist CW" + str(joystick)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_RIGHT_WRIST_MOTOR, -self.WRIST_VEL) + self.bot_interface.rightWristVelocity(-self.WRIST_VEL) else: self._ros_node.get_logger().info("Right Wrist STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + self.bot_interface.rightWristVelocity(0.0) def rightWristCCW(self, msg: Float32) -> None: if not self.can_send: @@ -106,11 +122,11 @@ def rightWristCCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Right Wrist CCW" + str(joystick)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_RIGHT_WRIST_MOTOR, -self.WRIST_VEL) + self.bot_interface.rightWristVelocity(-self.WRIST_VEL) else: self._ros_node.get_logger().info("Right Wrist STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + self.bot_interface.rightWristVelocity(0.0) def elbowUp(self, msg: Float32) -> None: if not self.can_send: @@ -120,11 +136,11 @@ def elbowUp(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Elbow up" + str(data)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_ELBOW_MOTOR, -self.VEL) + self.bot_interface.elbowVelocity(-self.VEL) else: self._ros_node.get_logger().info("Elbow down STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_ELBOW_MOTOR) + self.bot_interface.elbowVelocity(0.0) def elbowDown(self, msg: Float32) -> None: if not self.can_send: @@ -134,11 +150,11 @@ def elbowDown(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Elbow down" + str(data)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_ELBOW_MOTOR, self.VEL) + self.bot_interface.elbowVelocity(self.VEL) else: self._ros_node.get_logger().info("Elbow down STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_ELBOW_MOTOR) + self.bot_interface.elbowVelocity(0.0) def shoulderUp(self, msg: Float32) -> None: if not self.can_send: @@ -148,11 +164,11 @@ def shoulderUp(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Shoulder up" + str(data)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_SHOULDER_MOTOR, -self.VEL) + self.bot_interface.shoulderVelocity(-self.VEL) else: self._ros_node.get_logger().info("Shoulder STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + self.bot_interface.shoulderVelocity(0.0) def shoulderDown(self, msg: Float32) -> None: if not self.can_send: @@ -162,11 +178,11 @@ def shoulderDown(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Shoulder down" + str(data)) - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_SHOULDER_MOTOR, self.VEL) + self.bot_interface.shoulderVelocity(self.VEL) else: self._ros_node.get_logger().info("Shoulder STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + self.bot_interface.shoulderVelocity(0.0) def turntableCW(self, msg: Float32) -> None: if not self.can_send: @@ -176,11 +192,15 @@ def turntableCW(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Turntable clock wise") - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, self.VEL) + self.bot_interface.armTurntableVelocity(self.VEL) else: self._ros_node.get_logger().info("Turntable STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) + self.bot_interface.armTurntableVelocity(0.0) + + def turntableCCW(self, msg: Float32) -> None: + if not self.can_send: + return def turntableCCW(self, msg: Float32) -> None: if not self.can_send: @@ -190,8 +210,8 @@ def turntableCCW(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Turntable counter clock wise") - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, -self.VEL) + self.bot_interface.armTurntableVelocity(-self.VEL) else: self._ros_node.get_logger().info("Turntable STOP") - self.bot_interface.stopMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) + self.bot_interface.armTurntableVelocity(0.0) diff --git a/src/arm/test/test_copyright.py b/src/arm/test/test_copyright.py index 95f0381..e69de29 100644 --- a/src/arm/test/test_copyright.py +++ b/src/arm/test/test_copyright.py @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=[".", "test"]) - assert rc == 0, "Found errors" diff --git a/src/can_moteus/can_moteus/moteus_motor.py b/src/can_moteus/can_moteus/moteus_motor.py index b2b5c67..8f2389c 100644 --- a/src/can_moteus/can_moteus/moteus_motor.py +++ b/src/can_moteus/can_moteus/moteus_motor.py @@ -1,19 +1,18 @@ from threading import Lock +from typing import Any +import moteus import std_msgs.msg -from moteus.moteus import Result -from rclpy.node import Node +from rclpy import Node from rclpy.publisher import Publisher from rclpy.subscription import Subscription from std_msgs.msg import String -from lib.configs import MoteusMotorConfig -from lib.moteus_motor_state import MoteusMotorState, MoteusRunSettings class MoteusMotor: - def __init__(self, config: MoteusMotorConfig, ros_node: Node) -> None: + def __init__(self, can_id: int, name: str, ros_node: Node) -> None: """ Create a logical representation of a motor that is using a Moteus controller. Contains a list of variables that should be @@ -21,34 +20,49 @@ def __init__(self, config: MoteusMotorConfig, ros_node: Node) -> None: Paramaters ------- - config : MoteusMotorConfig - The config of the motor. + canID : int + The canID of the Moteus Controller + name : string + The name of the motor. This is used in the topic names rosNode : Node The ROS node used to create the ros_moteus_bridge.py """ - self.config = config + self.can_id = can_id + self.name = name self._ros_node = ros_node self._subscriber = self._createSubscriber() self._publisher = self._createPublisher() + # Mutex - used to protect writing/reading the state of the motor + # Mutex - used to protect writing/reading the state of the motor self.mutex_lock = Lock() # The settings we can send to the moteus controller # using the make_position() method - self.run_settings: MoteusRunSettings = MoteusRunSettings() + self.position: float | None = None + self.velocity: float | None = None + self.feedforward_torque: float | None = None + self.kp_scale: float | None = None + self.kd_scale: float | None = None + self.max_torque: float | None = None + self.watchdog_timeout: float | None = None + self.velocity_limit: float | None = None + self.accel_limit: float | None = None + self.fixed_voltage_override: float | None = None # By default, the motor is shutoff self.set_stop = True + def _createSubscriber(self) -> Subscription: def _createSubscriber(self) -> Subscription: """ The subscriber to get data from. - The format of the topic is the following: moteusmotor__from_interface + The format of the topic is the following: _from_interface """ - topic_name = self.config.getInterfaceTopicName() + topic_name = self.name + "_from_interface" subscriber = self._ros_node.create_subscription( std_msgs.msg.String, topic_name, @@ -56,36 +70,76 @@ def _createSubscriber(self) -> Subscription: 1, # Size of queue is 1. All additional ones are dropped ) + return subscriber + def _createPublisher(self) -> Publisher: def _createPublisher(self) -> Publisher: """ The publisher to send data to. - The format of the topic is the following: moteusmotor__from_can + The format of the topic is the following: _from_can """ - topic_name = self.config.getCanTopicName() + topic_name = self.name + "_from_can" # Size of queue is 1. All additional ones are dropped publisher = self._ros_node.create_publisher(std_msgs.msg.String, topic_name, 1) return publisher + def dataInCallback(self, msg: String) -> None: def dataInCallback(self, msg: String) -> None: """ Update the motor state. Mutex protected, meaning that no one can go into any other "critical section" of code that also has a mutex protecting it. + Update the motor state. Mutex protected, + meaning that no one can go into any other "critical section" + of code that also has a mutex protecting it. + """ + self.mutex_lock.acquire() + try: + json_string = msg.data + self.updateMotorState(json_string) + finally: + self.mutex_lock.release() + + def updateMotorState(self, raw_json_string: str) -> None: + """ + Update the motor's variables from + the input JSON string """ - with self.mutex_lock: - self.run_settings = MoteusRunSettings.fromJsonMsg(msg) - def publishData(self, moteus_data: Result) -> None: + json_helper = MoteusDataInJsonHelper() + json_helper.buildHelper(raw_json_string) + + self.position = json_helper.getPosition() + self.velocity = json_helper.getVelocity() + self.feedforward_torque = json_helper.feedforward_torque + self.kp_scale = json_helper.kp_scale + self.kd_scale = json_helper.kd_scale + self.max_torque = json_helper.max_torque + self.watchdog_timeout = json_helper.watchdog_timeout + self.accel_limit = json_helper.accel_limit + self.fixed_voltage_override = json_helper.fixed_voltage_override + self.set_stop = json_helper.set_stop + + def publishData(self, moteus_data: Any) -> None: """ Publishes the data from the moteus controller + Publishes the data from the moteus controller """ - with self.mutex_lock: - try: - if not self._ros_node.context.ok(): - return + self.mutex_lock.acquire() + try: + if self._ros_node.context.ok: + json_helper = MoteusDataOutJsonHelper() + json_helper.can_id = self.can_id + json_helper.position = moteus_data.values[moteus.Register.POSITION] + json_helper.velocity = moteus_data.values[moteus.Register.VELOCITY] + json_helper.torque = moteus_data.values[moteus.Register.TORQUE] + json_helper.temperature = moteus_data.values[moteus.Register.TEMPERATURE] + json_helper.power = moteus_data.values[moteus.Register.POWER] + json_helper.input_voltage = moteus_data.values[moteus.Register.VOLTAGE] + json_helper.q_current = moteus_data.values[moteus.Register.Q_CURRENT] + json_helper.d_current = moteus_data.values[moteus.Register.D_CURRENT] # self._rosNode.get_logger().info(str(moteusData.values)) @@ -94,11 +148,17 @@ def publishData(self, moteus_data: Result) -> None: # https://discord.com/channels/633996205759791104/722434939676786688/1252380387783610428 # self._rosNode.get_logger().info(str(moteusData.values.keys())) - state = MoteusMotorState.fromMoteusData(self.config.can_id, moteus_data) - self._publisher.publish(state.toMsg()) - except Exception as error: # pylint: disable=broad-exception-caught - # This is used to handle any errors in order to prevent the thread from dying - # Specifically, when we crtl-c we want the motors to be set_stop(), but if this - # thread crashes we cannot do that. So we catch any errors - self._ros_node.get_logger().info("Failed to publish motor data") - self._ros_node.get_logger().info(str(error)) + json_string = json_helper.buildJSONString() + + msg = String() + msg.data = json_string + + self._publisher.publish(msg) + except Exception as error: # pylint: disable=broad-exception-caught + # This is used to handle any errors in order to prevent the thread from dying + # Specifically, when we crtl-c we want the motors to be set_stop(), but if this thread + # crashes we cannot do that. So we catch any errors + self._ros_node.get_logger().info("Failed to publish motor data") + self._ros_node.get_logger().info(str(error)) + finally: + self.mutex_lock.release() diff --git a/src/can_moteus/can_moteus/moteus_thread_manager.py b/src/can_moteus/can_moteus/moteus_thread_manager.py index 96ac3a8..5c2abc2 100644 --- a/src/can_moteus/can_moteus/moteus_thread_manager.py +++ b/src/can_moteus/can_moteus/moteus_thread_manager.py @@ -1,14 +1,13 @@ import asyncio +import asyncio import threading import moteus -from moteus.moteus import Result from rclpy.node import Node -from lib.color_codes import ColorCodes, colorStr -from lib.configs import MoteusMotorConfig +from utility.color_text import ColorCodes -from .moteus_motor import MoteusMotor +from . import moteus_motor class MoteusThreadManager: @@ -18,31 +17,31 @@ class MoteusThreadManager: """ This creates a new thread called "moteus_thread" to run all of the asyncio methods required by the Moteus library + This creates a new thread called "moteus_thread" to run all + of the asyncio methods required by the Moteus library """ def __init__(self, ros_node: Node): - self._id_to_moteus_motor: dict[int, MoteusMotor] = {} - self._id_to_moteus_controller: dict[int, moteus.Controller] = {} # Used by the thread + self._name_to_moteus_motor: dict[str, moteus_motor.MoteusMotor] = {} + self._name_to_moteus_controller: dict[str, moteus.Controller] = {} # Used by the thread self._ros_node = ros_node self._moteus_thread: threading.Thread | None = None self._should_moteus_thread_loop = True # No thread safety, but it works lololol self._should_reconnect = True # No thread safety, but it works lololol - def addMotor(self, config: MoteusMotorConfig) -> None: + def addMotor(self, can_id: int, motor_name: str) -> None: """ - Adds a motor to the list to attempt to connect to it. + Adds a motor to the list to attempt to connect to """ - if self._moteus_thread is not None: - self._ros_node.get_logger().error("Attempted to add motor after thread was started!") - return - # Create motor - motor = MoteusMotor(config, self._ros_node) - self._id_to_moteus_motor[config.can_id] = motor + motor = moteus_motor.MoteusMotor(can_id, motor_name, self._ros_node) + self._name_to_moteus_motor[motor_name] = motor + def start(self) -> None: def start(self) -> None: """ Starts a new thread. New motors cannot be added after this is called + Starts a new thread. New motors cannot be added after this is called """ self._moteus_thread = threading.Thread( @@ -53,47 +52,77 @@ def start(self) -> None: def reconnectMotors(self) -> None: self._should_reconnect = True + self._moteus_thread = threading.Thread( + target=self.threadEntry, name="moteus_thread", daemon=True + ) + self._moteus_thread.start() + + def reconnectMotors(self) -> None: + self._should_reconnect = True + + def terminateAllThreads(self) -> None: def terminateAllThreads(self) -> None: """ Gracefully shuts down the motors by calling set_stop(). Terminates the thread. Does not clean up this class + Gracefully shuts down the motors by calling set_stop(). + Terminates the thread. + Does not clean up this class """ self._should_moteus_thread_loop = False if self._moteus_thread is not None: self._moteus_thread.join() + def threadEntry(self) -> None: + self._should_moteus_thread_loop = False + if self._moteus_thread is not None: + self._moteus_thread.join() + def threadEntry(self) -> None: """ The entry of the thread that launches the asyncio loop + The entry of the thread that launches the asyncio loop """ - self._ros_node.get_logger().info(colorStr("Moteus Thread Launched", ColorCodes.BLUE_OK)) + self._ros_node.get_logger().info( + ColorCodes.BLUE_OK + "Moteus Thread Launched" + ColorCodes.ENDC + ) asyncio.run(self.startLoop()) - async def tryToShutdownMotor(self, can_id: int) -> None: + async def tryToShutdownMotor(self, motor_name: str) -> None: self._ros_node.get_logger().info( - colorStr(f"Unexpectedly trying to turn off motor: {can_id}", ColorCodes.WARNING_YELLOW) + ColorCodes.WARNING_YELLOW + + f"Unexpectedly trying to turn off motor \"{motor_name}\" (CANID " + + str(self._name_to_moteus_motor[motor_name].canID) + ")" + + ColorCodes.ENDC ) try: await asyncio.wait_for( - self._id_to_moteus_controller[can_id].set_stop(), + self._name_to_moteus_controller[motor_name].set_stop(), timeout=self.GENERAL_TIMEOUT, ) self._ros_node.get_logger().info( - colorStr(f"Stopped motor: {can_id}", ColorCodes.GREEN_OK) + ColorCodes.GREEN_OK + + f"Stopped motor \"{motor_name}\" (CANID " + + str(self._name_to_moteus_motor[motor_name].can_id) + ")" + + ColorCodes.ENDC ) except asyncio.TimeoutError: self._ros_node.get_logger().info( - colorStr(f'FAILED TO "set_stop" MOTOR. TIMED OUT {can_id}', ColorCodes.FAIL_RED) + ColorCodes.FAIL_RED + + F"FAILED TO \"set_stop\" MOTOR. TIMED OUT \"{motor_name}\" (CANID " + + str(self._name_to_moteus_motor[motor_name].can_id) + ")" + + ColorCodes.ENDC ) - del self._id_to_moteus_controller[can_id] - del self._id_to_moteus_motor[can_id] + del self._name_to_moteus_controller[motor_name] + del self._name_to_moteus_motor[motor_name] except RuntimeError as error: - self._ros_node.get_logger().info(colorStr(str(error), ColorCodes.FAIL_RED)) - del self._id_to_moteus_controller[can_id] - del self._id_to_moteus_motor[can_id] + self._ros_node.get_logger().info(ColorCodes.FAIL_RED + str(error) + ColorCodes.ENDC) + del self._name_to_moteus_controller[motor_name] + del self._name_to_moteus_motor[motor_name] + async def startLoop(self) -> None: async def startLoop(self) -> None: """ The main loop of the whole system. @@ -109,51 +138,66 @@ async def startLoop(self) -> None: 3) Reconnect to Moteus Controllers + The main loop of the whole system. + Reads/sends data to/from the Moteus controllers. + + This can handle the following edge cases + ---------- + 1) Motor faults + A) set_stop() the motor or + B) Remove the motor from the list of motors + 2) CAN Bus disconnection + A) Remove the motor from the list of motors + 3) Reconnect to Moteus Controllers + + """ # Connect the motor for the first time await self.connectToMoteusControllers() + while self._should_moteus_thread_loop: + if self._should_reconnect: while self._should_moteus_thread_loop: if self._should_reconnect: await self.connectToMoteusControllers() + # Go through each Moteus Controller to send data - for can_id, controller in self._id_to_moteus_controller.copy().items(): - motor = self._id_to_moteus_motor[can_id] + for name, controller in self._name_to_moteus_controller.copy().items(): + motor = self._name_to_moteus_motor[name] try: # Check for faults - result_from_moteus: Result = await asyncio.wait_for( + result_from_moteus = await asyncio.wait_for( controller.query(), self.GENERAL_TIMEOUT ) if result_from_moteus.values[moteus.Register.FAULT] != 0: self._ros_node.get_logger().info( - colorStr( - f"FAULT CODE: {result_from_moteus.values[moteus.Register.FAULT]} " - f"FOR {motor.config.can_id}", - ColorCodes.FAIL_RED, - ) + ColorCodes.FAIL_RED + + f"FAULT CODE: {result_from_moteus.values[moteus.Register.FAULT]} FOR " + + F"\"{name}\" (CANID {motor.can_id})" + + ColorCodes.ENDC ) - await self.tryToShutdownMotor(can_id) + await self.tryToShutdownMotor(name) continue - if motor.run_settings.set_stop is True: + if motor.setStop is True: await asyncio.wait_for(controller.set_stop(), self.GENERAL_TIMEOUT) else: result_from_moteus = await asyncio.wait_for( controller.set_position( - position=motor.run_settings.position, - velocity=motor.run_settings.velocity, - feedforward_torque=motor.run_settings.feedforward_torque, - kp_scale=motor.run_settings.kp_scale, - kd_scale=motor.run_settings.kd_scale, - maximum_torque=motor.run_settings.max_torque, - watchdog_timeout=motor.run_settings.watchdog_timeout, - velocity_limit=motor.run_settings.velocity_limit, - accel_limit=motor.run_settings.accel_limit, - fixed_voltage_override=motor.run_settings.fixed_voltage_override, + position=motor.position, + velocity=motor.velocity, + feedforward_torque=motor.feedforward_torque, + kp_scale=motor.kp_scale, + kd_scale=motor.kd_scale, + maximum_torque=motor.max_torque, + watchdog_timeout=motor.watchdog_timeout, + velocity_limit=motor.velocity_limit, + accel_limit=motor.accel_limit, + fixed_voltage_override=motor.fixed_voltage_override, query=True, ), self.GENERAL_TIMEOUT, @@ -163,98 +207,69 @@ async def startLoop(self) -> None: except asyncio.TimeoutError: self._ros_node.get_logger().info( - colorStr( - f"FAILED TO SEND/READ DATA TO MOTEUS MOTOR: {can_id} " - + "CAN-FD bus disconnected?", - ColorCodes.FAIL_RED, - ), + ColorCodes.FAIL_RED + + f"FAILED TO SEND/READ DATA TO MOTEUS MOTOR: \"{name}\" {motor.can_id}) " + + "CAN-FD bus disconnected?" + + ColorCodes.ENDC ) - del self._id_to_moteus_controller[can_id] - del self._id_to_moteus_motor[can_id] + del self._name_to_moteus_controller[name] + del self._name_to_moteus_motor[name] await asyncio.sleep(0.02) + # When we exit the while loop, via ctrl-c, we set_stop() all the motors # Watch out for the arm - for can_id, controller in self._id_to_moteus_controller.items(): + for name, controller in self._name_to_moteus_controller.items(): await controller.set_stop() + async def connectToMoteusControllers(self) -> None: + async def connectToMoteusControllers(self) -> None: """ Connect to the Moteus motors. There is a timeout until we give up trying to connect + Connect to the Moteus motors. + There is a timeout until we give up trying to connect """ - self._id_to_moteus_controller = {} + self._name_to_moteus_controller = {} self._should_reconnect = False - for can_id, motor in self._id_to_moteus_motor.items(): + for key, motor in self._name_to_moteus_motor.items(): qr = moteus.QueryResolution() qr.power = moteus.F32 qr.q_current = moteus.F32 qr.d_current = moteus.F32 - controller = moteus.Controller(motor.config.can_id, query_resolution=qr) + controller = moteus.Controller(motor.can_id, query_resolution=qr) try: # Reset the controller - self._ros_node.get_logger().info("Connecting to motor with id: " + str(can_id)) + self._ros_node.get_logger().info( + "Connecting to motor with name: " + str(motor.name) + ) await asyncio.wait_for( controller.query(), timeout=self.CONNECTION_TIMEOUT_IN_SECONDS ) # Try to get data, if timeout then cannot connect - self._id_to_moteus_controller[can_id] = controller + self._name_to_moteus_controller[key] = controller await controller.set_stop() self._ros_node.get_logger().info( - colorStr( - f"Moteus motor controller connected: {motor.config.can_id}", - ColorCodes.GREEN_OK, - ) - ) - - except asyncio.TimeoutError: - self._ros_node.get_logger().info( - colorStr( - "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CANID " - + str(motor.config.can_id), - ColorCodes.FAIL_RED, - ) - ) - continue - except RuntimeError as error: - self._ros_node.get_logger().info( - colorStr( - "ERROR WHEN set_stop() IS CALLED. MOST LIKELY CANNOT FIND CANBUS", - ColorCodes.FAIL_RED, - ) + ColorCodes.GREEN_OK + + f"Moteus motor controller connected: \"{motor.name}\" (CANID {motor.can_id})" + + ColorCodes.ENDC ) - self._ros_node.get_logger().info( - colorStr(str(error.with_traceback(None)), ColorCodes.FAIL_RED) - ) - continue - stream = moteus.Stream(controller, verbose=True) - try: - await asyncio.wait_for( - stream.command("conf load".encode(encoding="utf-8")), - timeout=self.CONNECTION_TIMEOUT_IN_SECONDS - ) - for key, value in motor.config.config.items(): - if key == "id.id": - continue - await asyncio.wait_for( - stream.command(f"conf set {key} {value}".encode(encoding="utf-8")), - timeout=self.CONNECTION_TIMEOUT_IN_SECONDS - ) except asyncio.TimeoutError: self._ros_node.get_logger().info( - colorStr( - "FAILED TO SET CONFIG ON MOTOR: " - + str(motor.config.can_id), - ColorCodes.FAIL_RED, - ) + ColorCodes.FAIL_RED + + "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CANID " + str(motor.can_id) + + ColorCodes.ENDC ) except RuntimeError as error: self._ros_node.get_logger().info( - colorStr("ERROR WHEN SETTING CONFIG.", ColorCodes.FAIL_RED) + ColorCodes.FAIL_RED + + "ERROR WHEN set_stop() IS CALLED. MOST LIKELY CANNOT FIND CANBUS" + + ColorCodes.ENDC ) self._ros_node.get_logger().info( - colorStr(str(error.with_traceback(None)), ColorCodes.FAIL_RED) + ColorCodes.FAIL_RED + str(error.with_traceback(None)) + ColorCodes.ENDC ) diff --git a/src/can_moteus/can_moteus/ros_moteus_bridge.py b/src/can_moteus/can_moteus/ros_moteus_bridge.py index 17888ae..ff88b89 100644 --- a/src/can_moteus/can_moteus/ros_moteus_bridge.py +++ b/src/can_moteus/can_moteus/ros_moteus_bridge.py @@ -1,13 +1,16 @@ import sys + import rclpy from rclpy.executors import ExternalShutdownException from rclpy.node import Node from std_msgs.msg import Float32 +from rclpy.node import Node +from std_msgs.msg import Float32 from usb.core import find as finddev -from lib.color_codes import ColorCodes, colorStr -from lib.configs import MotorConfigs +from utility.canbus_mappings import CanBusMappings +from utility.color_text import ColorCodes from . import moteus_thread_manager @@ -18,22 +21,34 @@ class RosMotuesBridge(Node): with the rest of the ROS codebase. You can easily add new motors using the addMotor() function from the self.threadManager. + You can attempt to reconnect to the Moteus Controllers during runtime. + The CANFD-USB is reset every time the code is execute from the ./launch.sh + This is the node that connects the Moteus Motor Controllers + with the rest of the ROS codebase. You can easily add new + motors using the addMotor() function from the self.threadManager. + You can attempt to reconnect to the Moteus Controllers during runtime. The CANFD-USB is reset every time the code is execute from the ./launch.sh """ + def __init__(self) -> None: + def __init__(self) -> None: super().__init__("can_moteus_node") - self.get_logger().info(colorStr("Launching can_moteus node", ColorCodes.BLUE_OK)) + self.get_logger().info( + ColorCodes.BLUE_OK + "Launching can_moteus node" + ColorCodes.ENDC + ) # Reset the CANFD-USB # run "lsusb" in cmd with the CANFD-USB connected # to find the idVendor and the idProduct dev = finddev(idVendor=0x0483, idProduct=0x5740) + if dev is not None: if dev is not None: dev.reset() self.thread_manager: moteus_thread_manager.MoteusThreadManager | None = None + self.canbus_mappings = CanBusMappings() self.reconnect_to_moteus_sub = self.create_subscription( Float32, "reconnectMoteusControllers", self.reconnect, 1 @@ -42,9 +57,9 @@ def __init__(self) -> None: self.createMoteusMotors() else: self.get_logger().info( - colorStr( - "Failed to find CANFD-USB usb device. Is it plugged in?", ColorCodes.FAIL_RED - ) + ColorCodes.FAIL_RED + + "Failed to find CANFD-USB usb device. Is it plugged in?" + + ColorCodes.ENDC ) def reconnect(self, _: Float32) -> None: @@ -52,32 +67,65 @@ def reconnect(self, _: Float32) -> None: Gracefully shuts down the threadManager and creates a new instance of the threadManager object. + Gracefully shuts down the threadManager and creates a new instance of + the threadManager object. + """ self.get_logger().info("Reconnecting") if self.thread_manager is not None: self.thread_manager.reconnectMotors() + if self.thread_manager is not None: + self.thread_manager.reconnectMotors() + def createMoteusMotors(self) -> None: def createMoteusMotors(self) -> None: """ Creates the threadManager and adds all the moteus motors + Creates the threadManager and adds all the moteus motors """ + self.thread_manager = moteus_thread_manager.MoteusThreadManager(self) + + self.thread_manager = moteus_thread_manager.MoteusThreadManager(self) # Drivebase - self.thread_manager.addMotor(MotorConfigs.REAR_RIGHT_DRIVE_MOTOR) - self.thread_manager.addMotor(MotorConfigs.MID_RIGHT_DRIVE_MOTOR) - self.thread_manager.addMotor(MotorConfigs.FRONT_RIGHT_DRIVE_MOTOR) - self.thread_manager.addMotor(MotorConfigs.REAR_LEFT_DRIVE_MOTOR) - self.thread_manager.addMotor(MotorConfigs.MID_LEFT_DRIVE_MOTOR) - self.thread_manager.addMotor(MotorConfigs.FRONT_LEFT_DRIVE_MOTOR) + self.thread_manager.addMotor( + CanBusMappings.CANID_REAR_RIGHT_DRIVE_MOTOR, "rear_right_drive_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_MID_RIGHT_DRIVE_MOTOR, "mid_right_drive_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_FRONT_RIGHT_DRIVE_MOTOR, "front_right_drive_motor" + ) + + self.thread_manager.addMotor( + CanBusMappings.CANID_REAR_LEFT_DRIVE_MOTOR, "rear_left_drive_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_MID_LEFT_DRIVE_MOTOR, "mid_left_drive_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_FRONT_LEFT_DRIVE_MOTOR, "front_left_drive_motor" + ) # Arm - self.thread_manager.addMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) - self.thread_manager.addMotor(MotorConfigs.ARM_SHOULDER_MOTOR) - self.thread_manager.addMotor(MotorConfigs.ARM_ELBOW_MOTOR) - self.thread_manager.addMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) - self.thread_manager.addMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) + self.thread_manager.addMotor( + CanBusMappings.CANID_ARM_TURNTABLE_MOTOR, "arm_turntable_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_ARM_SHOULDER_MOTOR, "arm_shoulder_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_ARM_ELBOW_MOTOR, "arm_elbow_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_ARM_LEFT_WRIST_MOTOR, "arm_left_wrist_motor" + ) + self.thread_manager.addMotor( + CanBusMappings.CANID_ARM_RIGHT_WRIST_MOTOR, "arm_right_wrist_motor" + ) self.thread_manager.start() @@ -85,23 +133,27 @@ def createMoteusMotors(self) -> None: def main(args: list[str] | None = None) -> None: """ The entry point of the node. + The entry point of the node. """ + rclpy.init(args=args) try: node = RosMotuesBridge() rclpy.spin(node) + except KeyboardInterrupt: pass except ExternalShutdownException: # This is done when we ctrl-c the progam to shut it down - node.get_logger().info(colorStr("Shutting down can_moteus", ColorCodes.BLUE_OK)) + node.get_logger().info(ColorCodes.BLUE_OK + "Shutting down can_moteus" + ColorCodes.ENDC) if node.thread_manager is not None: node.thread_manager.terminateAllThreads() node.destroy_node() sys.exit(0) + if __name__ == "__main__": - main() \ No newline at end of file + main() diff --git a/src/can_moteus/test/test_copyright.py b/src/can_moteus/test/test_copyright.py index 60c2d1e..0b3e7df 100644 --- a/src/can_moteus/test/test_copyright.py +++ b/src/can_moteus/test/test_copyright.py @@ -12,14 +12,19 @@ # See the License for the specific language governing permissions and # limitations under the License. +import pytest import pytest from ament_copyright.main import main # Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") +@pytest.mark.skip( + reason="No copyright header has been placed in the generated source file." +) @pytest.mark.copyright @pytest.mark.linter def test_copyright(): rc = main(argv=[".", "test"]) assert rc == 0, "Found errors" + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/custom_interfaces/robot_info.py b/src/custom_interfaces/robot_info.py index a34165e..c1639b4 100644 --- a/src/custom_interfaces/robot_info.py +++ b/src/custom_interfaces/robot_info.py @@ -1,15 +1,8 @@ -import math -from typing import Any, Callable, get_args, Literal, TYPE_CHECKING -import sys -sys.path.append("/home/trickfire/urc-2023/src") - -from utility.canbus_mappings import CanBusMappings -from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper - from rclpy.node import Node +from rclpy.subscription import Subscription from std_msgs.msg import String - +from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper moteusTopicList = { "front_left_drive_motor_from_can", @@ -26,41 +19,38 @@ } +class RobotInfo: + + def __init__(self, ros_node: Node): + self._ros_node = ros_node + self.sub_list: list[Subscription] = [] # empty array + self.can_id_to_json: dict[int, MoteusDataOutJsonHelper] = {} # Dict + + self.can_id_to_json[20] = MoteusDataOutJsonHelper() + self.can_id_to_json[21] = MoteusDataOutJsonHelper() + self.can_id_to_json[22] = MoteusDataOutJsonHelper() + self.can_id_to_json[23] = MoteusDataOutJsonHelper() + self.can_id_to_json[24] = MoteusDataOutJsonHelper() + self.can_id_to_json[25] = MoteusDataOutJsonHelper() + self.can_id_to_json[1] = MoteusDataOutJsonHelper() + self.can_id_to_json[2] = MoteusDataOutJsonHelper() + self.can_id_to_json[3] = MoteusDataOutJsonHelper() + self.can_id_to_json[4] = MoteusDataOutJsonHelper() + self.can_id_to_json[5] = MoteusDataOutJsonHelper() -class RobotInfo(): - - - def __init__(self, rosNode : Node): - self._rosNode = rosNode - self.subList = [] # empty array - self.canIDToJSON = {} #Dict - - self.canIDToJSON[20] = MoteusDataOutJsonHelper() - self.canIDToJSON[21] = MoteusDataOutJsonHelper() - self.canIDToJSON[22] = MoteusDataOutJsonHelper() - self.canIDToJSON[23] = MoteusDataOutJsonHelper() - self.canIDToJSON[24] = MoteusDataOutJsonHelper() - self.canIDToJSON[25] = MoteusDataOutJsonHelper() - self.canIDToJSON[1] = MoteusDataOutJsonHelper() - self.canIDToJSON[2] = MoteusDataOutJsonHelper() - self.canIDToJSON[3] = MoteusDataOutJsonHelper() - self.canIDToJSON[4] = MoteusDataOutJsonHelper() - self.canIDToJSON[5] = MoteusDataOutJsonHelper() - self.createSubscribers() - - def createSubscribers(self): - for topicName in moteusTopicList: - sub = self._rosNode.create_subscription(String, topicName, self.subCallback, 1) - self.subList.append(sub) - - def subCallback(self, msg): - jsonHelper = MoteusDataOutJsonHelper() - jsonHelper.buildHelper(msg.data) - self.canIDToJSON[jsonHelper.canID] = jsonHelper - - def getDataFromCanID(self, canID): - return self.canIDToJSON[canID] - - \ No newline at end of file + def createSubscribers(self) -> None: + for topic_name in moteusTopicList: + sub = self._ros_node.create_subscription( + String, topic_name, self.subCallback, 1 + ) + self.sub_list.append(sub) + + def subCallback(self, msg: String) -> None: + json_helper = MoteusDataOutJsonHelper() + json_helper.buildHelper(msg.data) + self.can_id_to_json[json_helper.can_id] = json_helper + + def getDataFromCanID(self, can_id: int) -> MoteusDataOutJsonHelper: + return self.can_id_to_json[can_id] diff --git a/src/custom_interfaces/robot_interface.py b/src/custom_interfaces/robot_interface.py index 65f453f..8df2633 100644 --- a/src/custom_interfaces/robot_interface.py +++ b/src/custom_interfaces/robot_interface.py @@ -1,197 +1,222 @@ -#!/usr/bin/env python3 - # General interface for robot funcitonality -import rclpy from rclpy.node import Node -import std_msgs.msg -from std_msgs.msg import String -from std_msgs.msg import Float32 -import math +from rclpy.publisher import Publisher +from std_msgs.msg import Float32, String + +from utility.moteus_data_in_json_helper import MoteusDataInJsonHelper VELOCITY_CONVERSION = 1 -POSITION_CONVERSION = 1 / (6.28) #Radians to position ticks -REV_TO_RADIANS = 6.28 # One Revolution = 2pi +POSITION_CONVERSION = 1 / (6.28) # Radians to position ticks +REV_TO_RADIANS = 6.28 # One Revolution = 2pi -from utility.moteus_data_in_json_helper import MoteusDataInJsonHelper -robotPublishers = dict() +robot_publishers: dict[str, Publisher] = {} -class RobotInterface(Node): + +class RobotInterface: # # Constructors/Destructors # - - def __init__(self, rosNode): - self._rosNode = rosNode + + def __init__(self, ros_node: Node) -> None: + self._ros_node = ros_node # Drive base - publisher = self._rosNode.create_publisher(String, 'front_left_drive_motor_from_interface', 10) - robotPublishers['front_left_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'front_right_drive_motor_from_interface', 10) - robotPublishers['front_right_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'mid_left_drive_motor_from_interface', 10) - robotPublishers['mid_left_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'mid_right_drive_motor_from_interface', 10) - robotPublishers['mid_right_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'rear_left_drive_motor_from_interface', 10) - robotPublishers['rear_left_drive_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'rear_right_drive_motor_from_interface', 10) - robotPublishers['rear_right_drive_motor'] = publisher - - robotPublishers['arm_fingers_motor'] = publisher + publisher = self._ros_node.create_publisher( + String, "front_left_drive_motor_from_interface", 10 + ) + robot_publishers["front_left_drive_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "front_right_drive_motor_from_interface", 10 + ) + robot_publishers["front_right_drive_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "mid_left_drive_motor_from_interface", 10 + ) + robot_publishers["mid_left_drive_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "mid_right_drive_motor_from_interface", 10 + ) + robot_publishers["mid_right_drive_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "rear_left_drive_motor_from_interface", 10 + ) + robot_publishers["rear_left_drive_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "rear_right_drive_motor_from_interface", 10 + ) + robot_publishers["rear_right_drive_motor"] = publisher + + robot_publishers["arm_fingers_motor"] = publisher # Antenna - publisher = self._rosNode.create_publisher(Float32, 'antenna_motor_position_from_interface', 10) - robotPublishers['antenna_motor'] = publisher - publisher = self._rosNode.create_publisher(Float32, 'antenna_turntable_motor_position_from_interface', 10) - robotPublishers['antenna_turntable_motor'] = publisher - - + publisher = self._ros_node.create_publisher( + Float32, "antenna_motor_position_from_interface", 10 + ) + robot_publishers["antenna_motor"] = publisher + publisher = self._ros_node.create_publisher( + Float32, "antenna_turntable_motor_position_from_interface", 10 + ) + robot_publishers["antenna_turntable_motor"] = publisher + # Arm - publisher = self._rosNode.create_publisher(String, 'arm_turntable_motor_from_interface', 10) - robotPublishers['arm_turntable_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'arm_shoulder_motor_from_interface', 10) - robotPublishers['arm_shoulder_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'arm_elbow_motor_from_interface', 10) - robotPublishers['arm_elbow_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'arm_left_wrist_motor_from_interface', 10) - robotPublishers['arm_left_wrist_motor'] = publisher - publisher = self._rosNode.create_publisher(String, 'arm_right_wrist_motor_from_interface', 10) - robotPublishers['arm_right_wrist_motor'] = publisher - - - def velocityConversion(self, amount): + publisher = self._ros_node.create_publisher( + String, "arm_turntable_motor_from_interface", 10 + ) + robot_publishers["arm_turntable_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "arm_shoulder_motor_from_interface", 10 + ) + robot_publishers["arm_shoulder_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "arm_elbow_motor_from_interface", 10 + ) + robot_publishers["arm_elbow_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "arm_left_wrist_motor_from_interface", 10 + ) + robot_publishers["arm_left_wrist_motor"] = publisher + publisher = self._ros_node.create_publisher( + String, "arm_right_wrist_motor_from_interface", 10 + ) + robot_publishers["arm_right_wrist_motor"] = publisher + + def velocityConversion(self, amount: float) -> float: return amount * VELOCITY_CONVERSION # Converting from input "radians" to output "revolutions" - def positionConversion(self, amount): + def positionConversion(self, amount: float) -> float: return amount * POSITION_CONVERSION - + # General movement including all wheels - def moveForward(): + def moveForward(self, amount: float) -> None: print() - def moveBackward(self, amount): + + def moveBackward(self, amount: float) -> None: print() - def turnLeft(self, amount): + + def turnLeft(self, amount: float) -> None: print() - def turnRight(self, amount): + + def turnRight(self, amount: float) -> None: print() # ------ DRIVEBASE ------ # Left front wheel - MEASURED IN REVOLUTIONS PER SECOND - def front_left_drive_motor(self, amount): - self._send_drive_motor("front_left_drive_motor", radiansPerSecond = (amount)) + def frontLeftDriveMotor(self, amount: float) -> None: + self._sendDriveMotor("front_left_drive_motor", radians_per_second=amount) # Right front wheel - def front_right_drive_motor(self, amount): - self._send_drive_motor("front_right_drive_motor", radiansPerSecond = (amount)) + def frontRightDriverMotor(self, amount: float) -> None: + self._sendDriveMotor("front_right_drive_motor", radians_per_second=amount) # Left middle wheel - def mid_left_drive_motor(self, amount): - self._send_drive_motor("mid_left_drive_motor", radiansPerSecond = (amount)) + def midLeftDriveMotor(self, amount: float) -> None: + self._sendDriveMotor("mid_left_drive_motor", radians_per_second=amount) # Right middle wheel - def mid_right_drive_motor(self, amount): - self._send_drive_motor("mid_right_drive_motor", radiansPerSecond = (amount)) + def midRightDriveMotor(self, amount: float) -> None: + self._sendDriveMotor("mid_right_drive_motor", radians_per_second=amount) # Left back wheel - def rear_left_drive_motor(self, amount): - self._send_drive_motor("rear_left_drive_motor", radiansPerSecond = (amount)) + def rearLeftDriveMotor(self, amount: float) -> None: + self._sendDriveMotor("rear_left_drive_motor", radians_per_second=amount) # Right back wheel - def rear_right_drive_motor(self, amount): - self._send_drive_motor("rear_right_drive_motor", radiansPerSecond = (amount)) - - def _send_drive_motor(self, pubName, radiansPerSecond = 0): - publisher = robotPublishers[pubName] - - strMsg = String() - jsonHelper = MoteusDataInJsonHelper() - jsonHelper.velocity = radiansPerSecond - jsonHelper.setStop = False - - strMsg.data = jsonHelper.buildJSONString() - publisher.publish(strMsg) + def rearRightDriveMotor(self, amount: float) -> None: + self._sendDriveMotor("rear_right_drive_motor", radians_per_second=amount) + + def _sendDriveMotor(self, pub_name: str, radians_per_second: float = 0.0) -> None: + publisher = robot_publishers[pub_name] + + str_msg = String() + json_helper = MoteusDataInJsonHelper() + json_helper.velocity = radians_per_second + json_helper.set_stop = False + + str_msg.data = json_helper.buildJSONString() + publisher.publish(str_msg) # ------ ARM ------ - - def arm_turntable_velocity(self, targetVel): - self._send_arm_velocity("arm_turntable_motor", targetVel) - - def shoulder_velocity(self, targetVel): - self._send_arm_velocity("arm_shoulder_motor", targetVel) - - def elbow_velocity(self, targetVel): - self._send_arm_velocity("arm_elbow_motor", targetVel) - - def leftWrist_velocity(self, targetVel): - self._send_arm_velocity("arm_left_wrist_motor", targetVel) - - def rightWrist_velocity(self, targetVel): - self._send_arm_velocity("arm_right_wrist_motor", targetVel) + + def armTurntableVelocity(self, target_vel: float) -> None: + self._sendArmVelocity("arm_turntable_motor", target_vel) + + def shoulderVelocity(self, target_vel: float) -> None: + self._sendArmVelocity("arm_shoulder_motor", target_vel) + + def elbowVelocity(self, target_vel: float) -> None: + self._sendArmVelocity("arm_elbow_motor", target_vel) + + def leftWriteVelocity(self, target_vel: float) -> None: + self._sendArmVelocity("arm_left_wrist_motor", target_vel) + + def rightWristVelocity(self, target_vel: float) -> None: + self._sendArmVelocity("arm_right_wrist_motor", target_vel) # For now, I am sending rev/sec - def _send_arm_velocity(self, pubName, velocity = 0): - publisher = robotPublishers[pubName] - - strMsg = String() - jsonHelper = MoteusDataInJsonHelper() - jsonHelper.velocity = velocity - jsonHelper.setStop = False - - strMsg.data = jsonHelper.buildJSONString() - publisher.publish(strMsg) - - - def disable_arm_turntable_motor(self): - self._disable_motor("arm_turntable_motor") - - def disable_arm_shoulder_motor(self): - self._disable_motor("arm_shoulder_motor") - - def disable_arm_elbow_motor(self): - self._disable_motor("arm_elbow_motor") - - def disable_arm_left_wrist_motor(self): - self._disable_motor("arm_left_wrist_motor") - - def disable_arm_right_wrist_motor(self): - self._disable_motor("arm_right_wrist_motor") - - def _disable_motor(self, pubName): - publisher = robotPublishers[pubName] - - strMsg = String() - jsonHelper = MoteusDataInJsonHelper() - jsonHelper.velocity = 0 # for extra security - jsonHelper.setStop = True - - strMsg.data = jsonHelper.buildJSONString() - publisher.publish(strMsg) - - + def _sendArmVelocity(self, pub_name: str, velocity: float = 0.0) -> None: + publisher = robot_publishers[pub_name] + + str_msg = String() + json_helper = MoteusDataInJsonHelper() + json_helper.velocity = velocity + json_helper.set_stop = False + + str_msg.data = json_helper.buildJSONString() + publisher.publish(str_msg) + + def disableArmTurntableMotor(self) -> None: + self._disableMotor("arm_turntable_motor") + + def disableArmShoulderMotor(self) -> None: + self._disableMotor("arm_shoulder_motor") + + def disableArmElbowMotor(self) -> None: + self._disableMotor("arm_elbow_motor") + + def disableArmLeftWristMotor(self) -> None: + self._disableMotor("arm_left_wrist_motor") + + def disableArmRightWristMotor(self) -> None: + self._disableMotor("arm_right_wrist_motor") + + def _disableMotor(self, pub_name: str) -> None: + publisher = robot_publishers[pub_name] + + str_msg = String() + json_helper = MoteusDataInJsonHelper() + json_helper.velocity = 0 # for extra security + json_helper.set_stop = True + + str_msg.data = json_helper.buildJSONString() + publisher.publish(str_msg) # Antenna movement - def antenna_motor_extend(self): + def antennaMotorExtend(self) -> None: # Output is in "revolutions" - revolutionsOutput = 1 # we don't know the actual position it should be. this is a placeholder - publisher = robotPublishers['antenna_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) - - def antenna_motor_retract(self): + revolutions_output = ( + 1 # we don't know the actual position it should be. this is a placeholder + ) + publisher = robot_publishers["antenna_motor"] + str_msg = Float32() + str_msg.data = revolutions_output + publisher.publish(str_msg) + + def antennaMotorRetract(self) -> None: # Output is in "revolutions" - revolutionsOutput = 0 # we don't know the actual position it should be. this is a placeholder - publisher = robotPublishers['antenna_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) - - def antenna_turntable_motor(self, amount): - revolutionsOutput = self.positionConversion(amount) - publisher = robotPublishers['antenna_turntable_motor'] - strMsg = Float32() - strMsg.data = revolutionsOutput - publisher.publish(strMsg) + revolutions_output = ( + 0 # we don't know the actual position it should be. this is a placeholder + ) + publisher = robot_publishers["antenna_motor"] + str_msg = Float32() + str_msg.data = revolutions_output + publisher.publish(str_msg) + + def antennaTurntableMotor(self, amount: float) -> None: + revolutions_output = self.positionConversion(amount) + publisher = robot_publishers["antenna_turntable_motor"] + str_msg = Float32() + str_msg.data = revolutions_output + publisher.publish(str_msg) diff --git a/src/drivebase/drivebase/drivebase.py b/src/drivebase/drivebase/drivebase.py index a9a2321..3f64351 100644 --- a/src/drivebase/drivebase/drivebase.py +++ b/src/drivebase/drivebase/drivebase.py @@ -5,17 +5,17 @@ from rclpy.node import Node from std_msgs.msg import Float32 -from lib.color_codes import ColorCodes, colorStr -from lib.configs import MotorConfigs -from lib.interface.robot_interface import RobotInterface +from interface.robot_interface import RobotInterface +from utility.color_text import ColorCodes class Drivebase(Node): - SPEED = 6.28 * 1.5 + SPEED = 1.5 def __init__(self) -> None: super().__init__("drivebase") - self.get_logger().info(colorStr("Launching drivebase node", ColorCodes.BLUE_OK)) + self.get_logger().info(ColorCodes.BLUE_OK + "Launching drivebase node" + ColorCodes.ENDC) + self.bot_interface = RobotInterface(self) self.left_subscription = self.create_subscription( @@ -27,15 +27,15 @@ def __init__(self) -> None: def moveLeftSide(self, msg: Float32) -> None: vel = msg.data * self.SPEED - self.bot_interface.runMotorSpeed(MotorConfigs.FRONT_LEFT_DRIVE_MOTOR, -vel) - self.bot_interface.runMotorSpeed(MotorConfigs.MID_LEFT_DRIVE_MOTOR, -vel) - self.bot_interface.runMotorSpeed(MotorConfigs.REAR_LEFT_DRIVE_MOTOR, -vel) + self.bot_interface.frontLeftDriveMotor(-vel) + self.bot_interface.midLeftDriveMotor(-vel) + self.bot_interface.rearLeftDriveMotor(-vel) def moveRightSide(self, msg: Float32) -> None: vel = msg.data * self.SPEED - self.bot_interface.runMotorSpeed(MotorConfigs.FRONT_RIGHT_DRIVE_MOTOR, vel) - self.bot_interface.runMotorSpeed(MotorConfigs.MID_RIGHT_DRIVE_MOTOR, vel) - self.bot_interface.runMotorSpeed(MotorConfigs.REAR_RIGHT_DRIVE_MOTOR, vel) + self.bot_interface.frontRightDriverMotor(vel) + self.bot_interface.midRightDriveMotor(vel) + self.bot_interface.rearRightDriveMotor(vel) def turnLeft(self, msg: Float32) -> None: self.moveLeftSide(msg) @@ -57,7 +57,9 @@ def main(args: list[str] | None = None) -> None: # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) - drivebase.get_logger().info(colorStr("Shutting down drivebase", ColorCodes.BLUE_OK)) + drivebase.get_logger().info( + ColorCodes.BLUE_OK + "Shutting down drivebase" + ColorCodes.ENDC + ) drivebase.destroy_node() sys.exit(0) diff --git a/src/mission_control_updater/mission_control_updater/infoToJSONHelper.py b/src/mission_control_updater/mission_control_updater/infoToJSONHelper.py deleted file mode 100644 index dd6b949..0000000 --- a/src/mission_control_updater/mission_control_updater/infoToJSONHelper.py +++ /dev/null @@ -1,26 +0,0 @@ -import json -import array - - -class InfoToJSONHelper(): - - def __init__(self): - self.moteusEntries = [] - - - - def addMoteusEntry(self, entry): - self.moteusEntries.append(entry) - - def buildJSONString(self): - moteusDictArray = [] - - for moteusEntry in self.moteusEntries: - moteusDictArray.append(moteusEntry.buildPythonDict()) - - pythonDict = { - "moteusMotorLength": len(moteusDictArray), - "moteusMotors": moteusDictArray - } - - return json.dumps(pythonDict) \ No newline at end of file diff --git a/src/mission_control_updater/mission_control_updater/info_to_json_helper.py b/src/mission_control_updater/mission_control_updater/info_to_json_helper.py index b537ac9..a66f16e 100644 --- a/src/mission_control_updater/mission_control_updater/info_to_json_helper.py +++ b/src/mission_control_updater/mission_control_updater/info_to_json_helper.py @@ -1,21 +1,21 @@ import json -from lib.moteus_motor_state import MoteusMotorState +from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper class InfoToJSONHelper: def __init__(self) -> None: - self.moteus_entries: list[MoteusMotorState] = [] + self.moteus_entries: list[MoteusDataOutJsonHelper] = [] - def addMoteusEntry(self, entry: MoteusMotorState) -> None: + def addMoteusEntry(self, entry: MoteusDataOutJsonHelper) -> None: self.moteus_entries.append(entry) def buildJSONString(self) -> str: moteus_dict_array = [] for moteus_entry in self.moteus_entries: - moteus_dict_array.append(moteus_entry.toDict()) + moteus_dict_array.append(moteus_entry.buildPythonDict()) python_dict = { "moteusMotorLength": len(moteus_dict_array), diff --git a/src/mission_control_updater/mission_control_updater/updater.py b/src/mission_control_updater/mission_control_updater/updater.py index dd8a25f..7564422 100644 --- a/src/mission_control_updater/mission_control_updater/updater.py +++ b/src/mission_control_updater/mission_control_updater/updater.py @@ -1,23 +1,27 @@ import sys +import sys + import rclpy from rclpy.executors import ExternalShutdownException from rclpy.node import Node +from rclpy.node import Node from std_msgs.msg import String -from lib.color_codes import ColorCodes, colorStr -from lib.configs import MotorConfigs -from lib.interface.robot_info import RobotInfo +from interface.robot_info import RobotInfo +from utility.color_text import ColorCodes from . import info_to_json_helper class MissionControlUpdater(Node): + def __init__(self) -> None: + def __init__(self) -> None: super().__init__("mission_control_updater_node") self.get_logger().info( - colorStr("Launching mission_control_updater_node", ColorCodes.BLUE_OK) + ColorCodes.BLUE_OK + "Launching mission_control_updater_node" + ColorCodes.ENDC ) self.publisher_to_mc = self.create_publisher(String, "mission_control_updater", 1) @@ -26,36 +30,48 @@ def __init__(self) -> None: self.robot_info = RobotInfo(self) def sendData(self) -> None: + set_of_can_id = {20, 21, 22, 23, 24, 25, 1, 2, 3, 4, 5} + json_builder = info_to_json_helper.InfoToJSONHelper() - for motor in MotorConfigs.getAllMotors(): - json_builder.addMoteusEntry(self.robot_info.getMotorState(motor)) + for can_id in set_of_can_id: + json_builder.addMoteusEntry(self.robot_info.getDataFromCanID(can_id)) msg = String() msg.data = json_builder.buildJSONString() self.publisher_to_mc.publish(msg) +def main(args: list[str] | None = None) -> None: + msg.data = json_builder.buildJSONString() + self.publisher_to_mc.publish(msg) + + def main(args: list[str] | None = None) -> None: """ The entry point of the node. + The entry point of the node. """ + rclpy.init(args=args) try: node = MissionControlUpdater() rclpy.spin(node) + except KeyboardInterrupt: pass except ExternalShutdownException: # This is done when we ctrl-c the progam to shut it down node.get_logger().info( - colorStr("Shutting down mission_control_updater_node", ColorCodes.BLUE_OK) + ColorCodes.BLUE_OK + "Shutting down mission_control_updater_node" + ColorCodes.ENDC ) node.destroy_node() sys.exit(0) + if __name__ == "__main__": main() + diff --git a/src/mission_control_updater/setup.py b/src/mission_control_updater/setup.py index f6469a6..27a403d 100644 --- a/src/mission_control_updater/setup.py +++ b/src/mission_control_updater/setup.py @@ -1,23 +1,36 @@ from setuptools import find_packages, setup +package_name = "mission_control_updater" package_name = "mission_control_updater" setup( name=package_name, version="0.0.0", packages=find_packages(exclude=["test"]), + version="0.0.0", + packages=find_packages(exclude=["test"]), data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), ("share/" + package_name, ["package.xml"]), + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), ], install_requires=["setuptools"], + install_requires=["setuptools"], zip_safe=True, maintainer="trickfire", maintainer_email="vladimirkupryukhin@gmail.com", description="TODO: Package description", license="TODO: License declaration", tests_require=["pytest"], + maintainer="trickfire", + maintainer_email="vladimirkupryukhin@gmail.com", + description="TODO: Package description", + license="TODO: License declaration", + tests_require=["pytest"], entry_points={ - "console_scripts": ["mission_control_updater = mission_control_updater.updater:main"], + "console_scripts": [ + "mission_control_updater = mission_control_updater.updater:main" + ], }, ) diff --git a/src/mission_control_updater/test/test_copyright.py b/src/mission_control_updater/test/test_copyright.py index 95f0381..e69de29 100644 --- a/src/mission_control_updater/test/test_copyright.py +++ b/src/mission_control_updater/test/test_copyright.py @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=[".", "test"]) - assert rc == 0, "Found errors" diff --git a/src/utility/canbus_mappings.py b/src/utility/canbus_mappings.py index cdfa2fc..de61fba 100644 --- a/src/utility/canbus_mappings.py +++ b/src/utility/canbus_mappings.py @@ -1,5 +1,4 @@ - -class CanBusMappings(): +class CanBusMappings: # Drivebase CANID_REAR_RIGHT_DRIVE_MOTOR = 20 CANID_MID_RIGHT_DRIVE_MOTOR = 21 @@ -15,7 +14,6 @@ class CanBusMappings(): CANID_ARM_LEFT_WRIST_MOTOR = 3 CANID_ARM_RIGHT_WRIST_MOTOR = 4 CANID_ARM_TURNTABLE_MOTOR = 5 - - def __init__(self): - pass + def __init__(self) -> None: + pass diff --git a/src/utility/color_text.py b/src/utility/color_text.py index 060df29..2d8ff65 100644 --- a/src/utility/color_text.py +++ b/src/utility/color_text.py @@ -1,12 +1,12 @@ - -# "Borrowed" from here: https://stackoverflow.com/questions/287871/how-do-i-print-colored-text-to-the-terminal +# "Borrowed" from here: +# https://stackoverflow.com/questions/287871/how-do-i-print-colored-text-to-the-terminal class ColorCodes: - PINK = '\033[95m' - BLUE_OK = '\033[94m' - CYAN_OK = '\033[96m' - GREEN_OK = '\033[92m' - WARNING_YELLOW = '\033[93m' - FAIL_RED = '\033[91m' - ENDC = '\033[0m' - BOLD = '\033[1m' - UNDERLINE = '\033[4m' + PINK = "\033[95m" + BLUE_OK = "\033[94m" + CYAN_OK = "\033[96m" + GREEN_OK = "\033[92m" + WARNING_YELLOW = "\033[93m" + FAIL_RED = "\033[91m" + ENDC = "\033[0m" + BOLD = "\033[1m" + UNDERLINE = "\033[4m" diff --git a/src/utility/moteus_data_in_json_helper.py b/src/utility/moteus_data_in_json_helper.py index e13bbdb..a5d8311 100644 --- a/src/utility/moteus_data_in_json_helper.py +++ b/src/utility/moteus_data_in_json_helper.py @@ -2,37 +2,36 @@ import math -class MoteusDataInJsonHelper(): - - def __init__(self): - self.position = None - self.velocity = None - self.feedforward_torque = None - self.kp_scale = None - self.kd_scale = None - self.max_torque = None - self.watchdog_timeout = None - self.velocity_limit = None - self.accel_limit = None - self.fixed_voltage_override = None - - self.setStop = True - - def getPosition(self): +class MoteusDataInJsonHelper: + + def __init__(self) -> None: + self.position: float | None = None + self.velocity: float | None = None + self.feedforward_torque: float | None = None + self.kp_scale: float | None = None + self.kd_scale: float | None = None + self.max_torque: float | None = None + self.watchdog_timeout: float | None = None + self.velocity_limit: float | None = None + self.accel_limit: float | None = None + self.fixed_voltage_override: float | None = None + + self.set_stop = True + + def getPosition(self) -> float: if self.position is None: return math.nan - + return self.position - - def getVelocity(self): + + def getVelocity(self) -> float: if self.velocity is None: return math.nan - + return self.velocity - - - def buildJSONString(self): - pythonDict = { + + def buildJSONString(self) -> str: + python_dict = { "position": self.position, "velocity": self.velocity, "feedforward_torque": self.feedforward_torque, @@ -43,25 +42,22 @@ def buildJSONString(self): "velocity_limit": self.velocity_limit, "accel_limit": self.accel_limit, "fixed_voltage_override": self.fixed_voltage_override, - "set_stop": self.setStop + "set_stop": self.set_stop, } - - return json.dumps(pythonDict) - - - def buildHelper(self, jsonString): - pythonDict = json.loads(jsonString) - - self.position = pythonDict["position"] - self.velocity = pythonDict["velocity"] - self.feedforward_torque = pythonDict["feedforward_torque"] - self.kp_scale = pythonDict["kp_scale"] - self.kd_scale = pythonDict["kd_scale"] - self.max_torque = pythonDict["max_torque"] - self.watchdog_timeout = pythonDict["watchdog_timeout"] - self.velocity_limit = pythonDict["velocity_limit"] - self.accel_limit = pythonDict["accel_limit"] - self.fixed_voltage_override = pythonDict["fixed_voltage_override"] - self.setStop = pythonDict["set_stop"] - - \ No newline at end of file + + return json.dumps(python_dict) + + def buildHelper(self, json_string: str) -> None: + python_dict = json.loads(json_string) + + self.position = python_dict["position"] + self.velocity = python_dict["velocity"] + self.feedforward_torque = python_dict["feedforward_torque"] + self.kp_scale = python_dict["kp_scale"] + self.kd_scale = python_dict["kd_scale"] + self.max_torque = python_dict["max_torque"] + self.watchdog_timeout = python_dict["watchdog_timeout"] + self.velocity_limit = python_dict["velocity_limit"] + self.accel_limit = python_dict["accel_limit"] + self.fixed_voltage_override = python_dict["fixed_voltage_override"] + self.set_stop = python_dict["set_stop"] diff --git a/src/utility/moteus_data_out_json_helper.py b/src/utility/moteus_data_out_json_helper.py index 8e3d515..5859b29 100644 --- a/src/utility/moteus_data_out_json_helper.py +++ b/src/utility/moteus_data_out_json_helper.py @@ -1,57 +1,49 @@ import json -class MoteusDataOutJsonHelper(): - - def __init__(self): +class MoteusDataOutJsonHelper: + + def __init__(self) -> None: # take a look at moteus.Register - self.canID = -1 - self.position = None - self.velocity = None - self.torque = None - self.temperature = None - self.power = None - self.inputVoltage = None - self.qCurrent = None - self.dCurrent = None - - - - - - def buildJSONString(self): - pythonDict = self.buildPythonDict() - - return json.dumps(pythonDict) - - def buildPythonDict(self): - pythonDict = { - "canID": self.canID, + self.can_id = -1 + self.position: float | None = None + self.velocity: float | None = None + self.torque: float | None = None + self.temperature: float | None = None + self.power: float | None = None + self.input_voltage: float | None = None + self.q_current: float | None = None + self.d_current: float | None = None + + def buildJSONString(self) -> str: + python_dict = self.buildPythonDict() + + return json.dumps(python_dict) + + def buildPythonDict(self) -> dict[str, float | None]: + python_dict = { + "can_id": self.can_id, "position": self.position, "velocity": self.velocity, "torque": self.torque, "temperature": self.temperature, "power": self.power, - "inputVoltage": self.inputVoltage, - "qCurrent": self.qCurrent, - "dCurrent": self.dCurrent + "input_voltage": self.input_voltage, + "q_current": self.q_current, + "d_current": self.d_current, } - - return pythonDict - - def buildHelper(self, jsonString): - pythonDict = json.loads(jsonString) - - self.canID = pythonDict["canID"] - self.position = pythonDict["position"] - self.velocity = pythonDict["velocity"] - self.torque = pythonDict["torque"] - self.temperature = pythonDict["temperature"] - self.power = pythonDict["power"] - self.inputVoltage = pythonDict["inputVoltage"] - self.qCurrent = pythonDict["qCurrent"] - self.dCurrent = pythonDict["dCurrent"] - - - - \ No newline at end of file + + return python_dict + + def buildHelper(self, json_string: str) -> None: + python_dict = json.loads(json_string) + + self.can_id = python_dict["can_id"] + self.position = python_dict["position"] + self.velocity = python_dict["velocity"] + self.torque = python_dict["torque"] + self.temperature = python_dict["temperature"] + self.power = python_dict["power"] + self.input_voltage = python_dict["input_voltage"] + self.q_current = python_dict["q_current"] + self.d_current = python_dict["d_current"] diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 37d651a..49001b4 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -1,35 +1,25 @@ import launch from launch_ros.actions import Node - -can_moteus_node = Node( - package='can_moteus', - executable='can_moteus', - name='can_moteus_node' -) +can_moteus_node = Node(package="can_moteus", executable="can_moteus", name="can_moteus_node") -drivebase_node = Node( - package='drivebase', - executable='drivebase', - name='drivebase_node' -) +drivebase_node = Node(package="drivebase", executable="drivebase", name="drivebase_node") mission_control_updater_node = Node( package="mission_control_updater", executable="mission_control_updater", name="mission_control_updater_node", + package="mission_control_updater", + executable="mission_control_updater", + name="mission_control_updater_node", ) -arm_node = Node( - package='arm', - executable='arm', - name='arm_node' -) +arm_node = Node(package="arm", executable="arm", name="arm_node") -def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name +def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name return launch.LaunchDescription( - [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node, camera_node] + [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node] ) From 4798ee90f3fc2889f717492e191e534f1f8ffd6a Mon Sep 17 00:00:00 2001 From: Kyler Li Date: Wed, 11 Sep 2024 08:11:17 +0000 Subject: [PATCH 33/50] THE GREAT REFORMATTENING (pt 2) --- .devcontainer/devcontainer.json | 1 - .vscode/settings.json | 1 + src/arm/arm/arm.py | 12 +++------ src/arm/arm/individual_control_vel.py | 4 +-- src/arm/test/test_copyright.py | 1 + src/can_moteus/can_moteus/moteus_motor.py | 2 +- .../can_moteus/moteus_thread_manager.py | 24 ++++++++++-------- .../can_moteus/ros_moteus_bridge.py | 12 +++------ src/can_moteus/test/test_copyright.py | 4 +-- src/custom_interfaces/robot_info.py | 4 +-- src/custom_interfaces/robot_interface.py | 8 ++---- src/mission_control_updater/setup.py | 4 +-- .../test/test_copyright.py | 25 +++++++++++++++++++ src/viator_launch/launch/robot.launch.py | 2 +- 14 files changed, 55 insertions(+), 49 deletions(-) diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index cd1e6a1..852b7df 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -17,7 +17,6 @@ "ms-python.pylint", "ms-python.mypy-type-checker", "ms-python.isort", - "ms-python.black-formatter", "ms-vscode.cmake-tools", "ms-vscode.cpptools", "twxs.cmake", diff --git a/.vscode/settings.json b/.vscode/settings.json index e9d3d23..b077611 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -21,6 +21,7 @@ "editor.defaultFormatter": "ms-python.black-formatter", "editor.formatOnSave": true }, + "black-formatter.args": ["-l", "100"], "cmake.configureOnOpen": false, "cmake.sourceDirectory": "${workspaceFolder}/src/hello_world", "files.associations": { diff --git a/src/arm/arm/arm.py b/src/arm/arm/arm.py index 446b058..dac205e 100644 --- a/src/arm/arm/arm.py +++ b/src/arm/arm/arm.py @@ -36,9 +36,7 @@ class Arm(Node): def __init__(self) -> None: def __init__(self) -> None: super().__init__("arm_node") - self.get_logger().info( - ColorCodes.BLUE_OK + "Launching arm_node" + ColorCodes.ENDC - ) + self.get_logger().info(ColorCodes.BLUE_OK + "Launching arm_node" + ColorCodes.ENDC) self.change_arm_mode_sub = self.create_subscription( Int32, "update_arm_mode", self.updateArmMode, 10 @@ -46,9 +44,7 @@ def __init__(self) -> None: self.current_mode = ArmModeEnum.DISABLED - self.mode_service = self.create_service( - ArmMode, "get_arm_mode", self.modeServiceHandler - ) + self.mode_service = self.create_service(ArmMode, "get_arm_mode", self.modeServiceHandler) self.bot_interface = RobotInterface(self) @@ -97,9 +93,7 @@ def main(args: list[str] | None = None) -> None: pass except ExternalShutdownException: # This is done when we ctrl-c the progam to shut it down - node.get_logger().info( - ColorCodes.BLUE_OK + "Shutting down arm_node node" + ColorCodes.ENDC - ) + node.get_logger().info(ColorCodes.BLUE_OK + "Shutting down arm_node node" + ColorCodes.ENDC) node.destroy_node() sys.exit(0) diff --git a/src/arm/arm/individual_control_vel.py b/src/arm/arm/individual_control_vel.py index 4ee3e1c..e03bd8f 100644 --- a/src/arm/arm/individual_control_vel.py +++ b/src/arm/arm/individual_control_vel.py @@ -38,9 +38,7 @@ def __init__(self, ros_node: Node, interface: RobotInterface): ) # Elbow motor - self.elbow_up_sub = ros_node.create_subscription( - Float32, "elbow_up", self.elbowUp, 10 - ) + self.elbow_up_sub = ros_node.create_subscription(Float32, "elbow_up", self.elbowUp, 10) self.elbow_down_sub = ros_node.create_subscription( Float32, "elbow_down", self.elbowDown, 10 diff --git a/src/arm/test/test_copyright.py b/src/arm/test/test_copyright.py index e69de29..8b13789 100644 --- a/src/arm/test/test_copyright.py +++ b/src/arm/test/test_copyright.py @@ -0,0 +1 @@ + diff --git a/src/can_moteus/can_moteus/moteus_motor.py b/src/can_moteus/can_moteus/moteus_motor.py index 8f2389c..ad10369 100644 --- a/src/can_moteus/can_moteus/moteus_motor.py +++ b/src/can_moteus/can_moteus/moteus_motor.py @@ -154,7 +154,7 @@ def publishData(self, moteus_data: Any) -> None: msg.data = json_string self._publisher.publish(msg) - except Exception as error: # pylint: disable=broad-exception-caught + except Exception as error: # pylint: disable=broad-exception-caught # This is used to handle any errors in order to prevent the thread from dying # Specifically, when we crtl-c we want the motors to be set_stop(), but if this thread # crashes we cannot do that. So we catch any errors diff --git a/src/can_moteus/can_moteus/moteus_thread_manager.py b/src/can_moteus/can_moteus/moteus_thread_manager.py index 5c2abc2..01bcae1 100644 --- a/src/can_moteus/can_moteus/moteus_thread_manager.py +++ b/src/can_moteus/can_moteus/moteus_thread_manager.py @@ -92,8 +92,9 @@ def threadEntry(self) -> None: async def tryToShutdownMotor(self, motor_name: str) -> None: self._ros_node.get_logger().info( ColorCodes.WARNING_YELLOW - + f"Unexpectedly trying to turn off motor \"{motor_name}\" (CANID " - + str(self._name_to_moteus_motor[motor_name].canID) + ")" + + f'Unexpectedly trying to turn off motor "{motor_name}" (CANID ' + + str(self._name_to_moteus_motor[motor_name].canID) + + ")" + ColorCodes.ENDC ) @@ -104,15 +105,17 @@ async def tryToShutdownMotor(self, motor_name: str) -> None: ) self._ros_node.get_logger().info( ColorCodes.GREEN_OK - + f"Stopped motor \"{motor_name}\" (CANID " - + str(self._name_to_moteus_motor[motor_name].can_id) + ")" + + f'Stopped motor "{motor_name}" (CANID ' + + str(self._name_to_moteus_motor[motor_name].can_id) + + ")" + ColorCodes.ENDC ) except asyncio.TimeoutError: self._ros_node.get_logger().info( ColorCodes.FAIL_RED - + F"FAILED TO \"set_stop\" MOTOR. TIMED OUT \"{motor_name}\" (CANID " - + str(self._name_to_moteus_motor[motor_name].can_id) + ")" + + f'FAILED TO "set_stop" MOTOR. TIMED OUT "{motor_name}" (CANID ' + + str(self._name_to_moteus_motor[motor_name].can_id) + + ")" + ColorCodes.ENDC ) del self._name_to_moteus_controller[motor_name] @@ -176,7 +179,7 @@ async def startLoop(self) -> None: self._ros_node.get_logger().info( ColorCodes.FAIL_RED + f"FAULT CODE: {result_from_moteus.values[moteus.Register.FAULT]} FOR " - + F"\"{name}\" (CANID {motor.can_id})" + + f'"{name}" (CANID {motor.can_id})' + ColorCodes.ENDC ) await self.tryToShutdownMotor(name) @@ -208,7 +211,7 @@ async def startLoop(self) -> None: except asyncio.TimeoutError: self._ros_node.get_logger().info( ColorCodes.FAIL_RED - + f"FAILED TO SEND/READ DATA TO MOTEUS MOTOR: \"{name}\" {motor.can_id}) " + + f'FAILED TO SEND/READ DATA TO MOTEUS MOTOR: "{name}" {motor.can_id}) ' + "CAN-FD bus disconnected?" + ColorCodes.ENDC ) @@ -254,14 +257,15 @@ async def connectToMoteusControllers(self) -> None: await controller.set_stop() self._ros_node.get_logger().info( ColorCodes.GREEN_OK - + f"Moteus motor controller connected: \"{motor.name}\" (CANID {motor.can_id})" + + f'Moteus motor controller connected: "{motor.name}" (CANID {motor.can_id})' + ColorCodes.ENDC ) except asyncio.TimeoutError: self._ros_node.get_logger().info( ColorCodes.FAIL_RED - + "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CANID " + str(motor.can_id) + + "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CANID " + + str(motor.can_id) + ColorCodes.ENDC ) except RuntimeError as error: diff --git a/src/can_moteus/can_moteus/ros_moteus_bridge.py b/src/can_moteus/can_moteus/ros_moteus_bridge.py index ff88b89..28df1ff 100644 --- a/src/can_moteus/can_moteus/ros_moteus_bridge.py +++ b/src/can_moteus/can_moteus/ros_moteus_bridge.py @@ -35,9 +35,7 @@ def __init__(self) -> None: def __init__(self) -> None: super().__init__("can_moteus_node") - self.get_logger().info( - ColorCodes.BLUE_OK + "Launching can_moteus node" + ColorCodes.ENDC - ) + self.get_logger().info(ColorCodes.BLUE_OK + "Launching can_moteus node" + ColorCodes.ENDC) # Reset the CANFD-USB # run "lsusb" in cmd with the CANFD-USB connected @@ -114,12 +112,8 @@ def createMoteusMotors(self) -> None: self.thread_manager.addMotor( CanBusMappings.CANID_ARM_TURNTABLE_MOTOR, "arm_turntable_motor" ) - self.thread_manager.addMotor( - CanBusMappings.CANID_ARM_SHOULDER_MOTOR, "arm_shoulder_motor" - ) - self.thread_manager.addMotor( - CanBusMappings.CANID_ARM_ELBOW_MOTOR, "arm_elbow_motor" - ) + self.thread_manager.addMotor(CanBusMappings.CANID_ARM_SHOULDER_MOTOR, "arm_shoulder_motor") + self.thread_manager.addMotor(CanBusMappings.CANID_ARM_ELBOW_MOTOR, "arm_elbow_motor") self.thread_manager.addMotor( CanBusMappings.CANID_ARM_LEFT_WRIST_MOTOR, "arm_left_wrist_motor" ) diff --git a/src/can_moteus/test/test_copyright.py b/src/can_moteus/test/test_copyright.py index 0b3e7df..99f554f 100644 --- a/src/can_moteus/test/test_copyright.py +++ b/src/can_moteus/test/test_copyright.py @@ -18,9 +18,7 @@ # Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip( - reason="No copyright header has been placed in the generated source file." -) +@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") @pytest.mark.copyright @pytest.mark.linter def test_copyright(): diff --git a/src/custom_interfaces/robot_info.py b/src/custom_interfaces/robot_info.py index c1639b4..59e49ee 100644 --- a/src/custom_interfaces/robot_info.py +++ b/src/custom_interfaces/robot_info.py @@ -42,9 +42,7 @@ def __init__(self, ros_node: Node): def createSubscribers(self) -> None: for topic_name in moteusTopicList: - sub = self._ros_node.create_subscription( - String, topic_name, self.subCallback, 1 - ) + sub = self._ros_node.create_subscription(String, topic_name, self.subCallback, 1) self.sub_list.append(sub) def subCallback(self, msg: String) -> None: diff --git a/src/custom_interfaces/robot_interface.py b/src/custom_interfaces/robot_interface.py index 8df2633..893a978 100644 --- a/src/custom_interfaces/robot_interface.py +++ b/src/custom_interfaces/robot_interface.py @@ -65,13 +65,9 @@ def __init__(self, ros_node: Node) -> None: String, "arm_turntable_motor_from_interface", 10 ) robot_publishers["arm_turntable_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "arm_shoulder_motor_from_interface", 10 - ) + publisher = self._ros_node.create_publisher(String, "arm_shoulder_motor_from_interface", 10) robot_publishers["arm_shoulder_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "arm_elbow_motor_from_interface", 10 - ) + publisher = self._ros_node.create_publisher(String, "arm_elbow_motor_from_interface", 10) robot_publishers["arm_elbow_motor"] = publisher publisher = self._ros_node.create_publisher( String, "arm_left_wrist_motor_from_interface", 10 diff --git a/src/mission_control_updater/setup.py b/src/mission_control_updater/setup.py index 27a403d..a6c061a 100644 --- a/src/mission_control_updater/setup.py +++ b/src/mission_control_updater/setup.py @@ -29,8 +29,6 @@ license="TODO: License declaration", tests_require=["pytest"], entry_points={ - "console_scripts": [ - "mission_control_updater = mission_control_updater.updater:main" - ], + "console_scripts": ["mission_control_updater = mission_control_updater.updater:main"], }, ) diff --git a/src/mission_control_updater/test/test_copyright.py b/src/mission_control_updater/test/test_copyright.py index e69de29..95f0381 100644 --- a/src/mission_control_updater/test/test_copyright.py +++ b/src/mission_control_updater/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 49001b4..76070c9 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -19,7 +19,7 @@ arm_node = Node(package="arm", executable="arm", name="arm_node") -def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name +def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name return launch.LaunchDescription( [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node] ) From 09ce8827391f88b6e76c28c7d4ec44b8289ba47c Mon Sep 17 00:00:00 2001 From: Kyler Li <46853114+loukylor@users.noreply.github.com> Date: Mon, 16 Sep 2024 15:09:31 -0700 Subject: [PATCH 34/50] [lib] Refactor non-node modules to be easier to work with (#59) * [lib] add lib folder and refactor constants into configs, removing motor names only relying on can id * [lib] refactor robot interface and info to take motor configs and new msg types * [lib] make coloring slightly less annoying * [lib] differentiate between disable and stop motor * [lib] set position to `nan` when stopping motor * add typing to moteus command results * [lib] debug in person to make it work * [lib] make robot info take motor configs over can ids * [lib] fix formatting * fix units on robot interface and document some motor state attributes * [lib] Changed drivebase speed to match radian/s inputs rather than rev/s --------- Co-authored-by: TrickFire Robotics --- .devcontainer/devcontainer.json | 5 +- launch.sh | 1 - src/arm/arm/arm.py | 19 +- src/arm/arm/individual_control_vel.py | 45 ++-- src/can_moteus/can_moteus/moteus_motor.py | 107 +++------ .../can_moteus/moteus_thread_manager.py | 149 ++++++------ .../can_moteus/ros_moteus_bridge.py | 56 ++--- src/custom_interfaces/robot_info.py | 54 ----- src/custom_interfaces/robot_interface.py | 218 ------------------ src/drivebase/drivebase/drivebase.py | 26 +-- src/lib/configs.py | 141 +---------- .../info_to_json_helper.py | 8 +- .../mission_control_updater/updater.py | 15 +- src/utility/canbus_mappings.py | 19 -- src/utility/color_text.py | 12 - src/utility/moteus_data_in_json_helper.py | 63 ----- src/utility/moteus_data_out_json_helper.py | 49 ---- 17 files changed, 188 insertions(+), 799 deletions(-) delete mode 100644 src/custom_interfaces/robot_info.py delete mode 100644 src/custom_interfaces/robot_interface.py delete mode 100644 src/utility/canbus_mappings.py delete mode 100644 src/utility/color_text.py delete mode 100644 src/utility/moteus_data_in_json_helper.py delete mode 100644 src/utility/moteus_data_out_json_helper.py diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 852b7df..f576f75 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -15,8 +15,9 @@ "ms-python.python", "ms-python.vscode-pylance", "ms-python.pylint", - "ms-python.mypy-type-checker", - "ms-python.isort", + "ms-python.mypy-type-checker", + "ms-python.isort", + "ms-python.black-formatter", "ms-vscode.cmake-tools", "ms-vscode.cpptools", "twxs.cmake", diff --git a/launch.sh b/launch.sh index 76e883f..aa11a7a 100755 --- a/launch.sh +++ b/launch.sh @@ -10,7 +10,6 @@ source /home/trickfire/urc-2023/install/setup.bash #ip link set can0 up # Add to the python import pathes. Not the best, but will work for now -# TODO: Switch this folder to the libs folder once that's done export PYTHONPATH="/home/trickfire/urc-2023/src/:$PYTHONPATH" ros2 launch viator_launch robot.launch.py & ros2 launch rosbridge_server rosbridge_websocket_launch.xml \ No newline at end of file diff --git a/src/arm/arm/arm.py b/src/arm/arm/arm.py index dac205e..44d5d93 100644 --- a/src/arm/arm/arm.py +++ b/src/arm/arm/arm.py @@ -14,8 +14,9 @@ from std_msgs.msg import Int32 from custom_interfaces.srv import ArmMode -from interface.robot_interface import RobotInterface -from utility.color_text import ColorCodes +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs +from lib.interface.robot_interface import RobotInterface from .individual_control_vel import IndividualControlVel @@ -36,7 +37,7 @@ class Arm(Node): def __init__(self) -> None: def __init__(self) -> None: super().__init__("arm_node") - self.get_logger().info(ColorCodes.BLUE_OK + "Launching arm_node" + ColorCodes.ENDC) + self.get_logger().info(colorStr("Launching arm_node", ColorCodes.BLUE_OK)) self.change_arm_mode_sub = self.create_subscription( Int32, "update_arm_mode", self.updateArmMode, 10 @@ -61,11 +62,11 @@ def updateArmMode(self, msg: Int32) -> None: if self.current_mode == 0: - self.bot_interface.disableArmTurntableMotor() - self.bot_interface.disableArmShoulderMotor() - self.bot_interface.disableArmElbowMotor() - self.bot_interface.disableArmLeftWristMotor() - self.bot_interface.disableArmRightWristMotor() + self.bot_interface.disableMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_ELBOW_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + self.bot_interface.disableMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) self.individual_control_vel.can_send = False elif self.current_mode == 1: @@ -93,7 +94,7 @@ def main(args: list[str] | None = None) -> None: pass except ExternalShutdownException: # This is done when we ctrl-c the progam to shut it down - node.get_logger().info(ColorCodes.BLUE_OK + "Shutting down arm_node node" + ColorCodes.ENDC) + node.get_logger().info(colorStr("Shutting down arm_node node", ColorCodes.BLUE_OK)) node.destroy_node() sys.exit(0) diff --git a/src/arm/arm/individual_control_vel.py b/src/arm/arm/individual_control_vel.py index e03bd8f..e143c32 100644 --- a/src/arm/arm/individual_control_vel.py +++ b/src/arm/arm/individual_control_vel.py @@ -1,7 +1,8 @@ -from rclpy import Node +from rclpy.node import Node from std_msgs.msg import Float32 -from interface.robot_interface import RobotInterface +from lib.configs import MotorConfigs +from lib.interface.robot_interface import RobotInterface class IndividualControlVel: @@ -78,11 +79,11 @@ def leftWristCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Left Wrist CW" + str(joystick)) - self.bot_interface.leftWriteVelocity(self.WRIST_VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_LEFT_WRIST_MOTOR, self.WRIST_VEL) else: self._ros_node.get_logger().info("Left Wrist STOP") - self.bot_interface.leftWriteVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) def leftWristCCW(self, msg: Float32) -> None: if not self.can_send: @@ -92,11 +93,11 @@ def leftWristCCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Left Wrist CCW" + str(joystick)) - self.bot_interface.leftWriteVelocity(-self.WRIST_VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_LEFT_WRIST_MOTOR, -self.WRIST_VEL) else: self._ros_node.get_logger().info("Left Wrist STOP") - self.bot_interface.leftWriteVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) def rightWristCW(self, msg: Float32) -> None: if not self.can_send: @@ -106,11 +107,11 @@ def rightWristCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Right Wrist CW" + str(joystick)) - self.bot_interface.rightWristVelocity(-self.WRIST_VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_RIGHT_WRIST_MOTOR, -self.WRIST_VEL) else: self._ros_node.get_logger().info("Right Wrist STOP") - self.bot_interface.rightWristVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) def rightWristCCW(self, msg: Float32) -> None: if not self.can_send: @@ -120,11 +121,11 @@ def rightWristCCW(self, msg: Float32) -> None: if joystick > 0: self._ros_node.get_logger().info("Right Wrist CCW" + str(joystick)) - self.bot_interface.rightWristVelocity(-self.WRIST_VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_RIGHT_WRIST_MOTOR, -self.WRIST_VEL) else: self._ros_node.get_logger().info("Right Wrist STOP") - self.bot_interface.rightWristVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) def elbowUp(self, msg: Float32) -> None: if not self.can_send: @@ -134,11 +135,11 @@ def elbowUp(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Elbow up" + str(data)) - self.bot_interface.elbowVelocity(-self.VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_ELBOW_MOTOR, -self.VEL) else: self._ros_node.get_logger().info("Elbow down STOP") - self.bot_interface.elbowVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_ELBOW_MOTOR) def elbowDown(self, msg: Float32) -> None: if not self.can_send: @@ -148,11 +149,11 @@ def elbowDown(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Elbow down" + str(data)) - self.bot_interface.elbowVelocity(self.VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_ELBOW_MOTOR, self.VEL) else: self._ros_node.get_logger().info("Elbow down STOP") - self.bot_interface.elbowVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_ELBOW_MOTOR) def shoulderUp(self, msg: Float32) -> None: if not self.can_send: @@ -162,11 +163,11 @@ def shoulderUp(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Shoulder up" + str(data)) - self.bot_interface.shoulderVelocity(-self.VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_SHOULDER_MOTOR, -self.VEL) else: self._ros_node.get_logger().info("Shoulder STOP") - self.bot_interface.shoulderVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_SHOULDER_MOTOR) def shoulderDown(self, msg: Float32) -> None: if not self.can_send: @@ -176,11 +177,11 @@ def shoulderDown(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Shoulder down" + str(data)) - self.bot_interface.shoulderVelocity(self.VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_SHOULDER_MOTOR, self.VEL) else: self._ros_node.get_logger().info("Shoulder STOP") - self.bot_interface.shoulderVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_SHOULDER_MOTOR) def turntableCW(self, msg: Float32) -> None: if not self.can_send: @@ -190,11 +191,11 @@ def turntableCW(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Turntable clock wise") - self.bot_interface.armTurntableVelocity(self.VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, self.VEL) else: self._ros_node.get_logger().info("Turntable STOP") - self.bot_interface.armTurntableVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) def turntableCCW(self, msg: Float32) -> None: if not self.can_send: @@ -208,8 +209,8 @@ def turntableCCW(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Turntable counter clock wise") - self.bot_interface.armTurntableVelocity(-self.VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, -self.VEL) else: self._ros_node.get_logger().info("Turntable STOP") - self.bot_interface.armTurntableVelocity(0.0) + self.bot_interface.stopMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) diff --git a/src/can_moteus/can_moteus/moteus_motor.py b/src/can_moteus/can_moteus/moteus_motor.py index ad10369..50d79ae 100644 --- a/src/can_moteus/can_moteus/moteus_motor.py +++ b/src/can_moteus/can_moteus/moteus_motor.py @@ -1,18 +1,19 @@ from threading import Lock -from typing import Any -import moteus import std_msgs.msg -from rclpy import Node +from moteus.moteus import Result +from rclpy.node import Node from rclpy.publisher import Publisher from rclpy.subscription import Subscription from std_msgs.msg import String +from lib.configs import MoteusMotorConfig +from lib.moteus_motor_state import MoteusMotorState, MoteusRunSettings class MoteusMotor: - def __init__(self, can_id: int, name: str, ros_node: Node) -> None: + def __init__(self, config: MoteusMotorConfig, ros_node: Node) -> None: """ Create a logical representation of a motor that is using a Moteus controller. Contains a list of variables that should be @@ -20,16 +21,13 @@ def __init__(self, can_id: int, name: str, ros_node: Node) -> None: Paramaters ------- - canID : int - The canID of the Moteus Controller - name : string - The name of the motor. This is used in the topic names + config : MoteusMotorConfig + The config of the motor. rosNode : Node The ROS node used to create the ros_moteus_bridge.py """ - self.can_id = can_id - self.name = name + self.config = config self._ros_node = ros_node self._subscriber = self._createSubscriber() @@ -42,16 +40,7 @@ def __init__(self, can_id: int, name: str, ros_node: Node) -> None: # The settings we can send to the moteus controller # using the make_position() method - self.position: float | None = None - self.velocity: float | None = None - self.feedforward_torque: float | None = None - self.kp_scale: float | None = None - self.kd_scale: float | None = None - self.max_torque: float | None = None - self.watchdog_timeout: float | None = None - self.velocity_limit: float | None = None - self.accel_limit: float | None = None - self.fixed_voltage_override: float | None = None + self.run_settings: MoteusRunSettings = MoteusRunSettings() # By default, the motor is shutoff self.set_stop = True @@ -60,9 +49,9 @@ def _createSubscriber(self) -> Subscription: def _createSubscriber(self) -> Subscription: """ The subscriber to get data from. - The format of the topic is the following: _from_interface + The format of the topic is the following: moteusmotor__from_interface """ - topic_name = self.name + "_from_interface" + topic_name = self.config.getInterfaceTopicName() subscriber = self._ros_node.create_subscription( std_msgs.msg.String, topic_name, @@ -77,9 +66,9 @@ def _createPublisher(self) -> Publisher: def _createPublisher(self) -> Publisher: """ The publisher to send data to. - The format of the topic is the following: _from_can + The format of the topic is the following: moteusmotor__from_can """ - topic_name = self.name + "_from_can" + topic_name = self.config.getCanTopicName() # Size of queue is 1. All additional ones are dropped publisher = self._ros_node.create_publisher(std_msgs.msg.String, topic_name, 1) @@ -95,51 +84,17 @@ def dataInCallback(self, msg: String) -> None: meaning that no one can go into any other "critical section" of code that also has a mutex protecting it. """ - self.mutex_lock.acquire() - try: - json_string = msg.data - self.updateMotorState(json_string) - finally: - self.mutex_lock.release() - - def updateMotorState(self, raw_json_string: str) -> None: - """ - Update the motor's variables from - the input JSON string - """ + with self.mutex_lock: + self.run_settings = MoteusRunSettings.fromJsonMsg(msg) - json_helper = MoteusDataInJsonHelper() - json_helper.buildHelper(raw_json_string) - - self.position = json_helper.getPosition() - self.velocity = json_helper.getVelocity() - self.feedforward_torque = json_helper.feedforward_torque - self.kp_scale = json_helper.kp_scale - self.kd_scale = json_helper.kd_scale - self.max_torque = json_helper.max_torque - self.watchdog_timeout = json_helper.watchdog_timeout - self.accel_limit = json_helper.accel_limit - self.fixed_voltage_override = json_helper.fixed_voltage_override - self.set_stop = json_helper.set_stop - - def publishData(self, moteus_data: Any) -> None: + def publishData(self, moteus_data: Result) -> None: """ Publishes the data from the moteus controller - Publishes the data from the moteus controller """ - self.mutex_lock.acquire() - try: - if self._ros_node.context.ok: - json_helper = MoteusDataOutJsonHelper() - json_helper.can_id = self.can_id - json_helper.position = moteus_data.values[moteus.Register.POSITION] - json_helper.velocity = moteus_data.values[moteus.Register.VELOCITY] - json_helper.torque = moteus_data.values[moteus.Register.TORQUE] - json_helper.temperature = moteus_data.values[moteus.Register.TEMPERATURE] - json_helper.power = moteus_data.values[moteus.Register.POWER] - json_helper.input_voltage = moteus_data.values[moteus.Register.VOLTAGE] - json_helper.q_current = moteus_data.values[moteus.Register.Q_CURRENT] - json_helper.d_current = moteus_data.values[moteus.Register.D_CURRENT] + with self.mutex_lock: + try: + if not self._ros_node.context.ok(): + return # self._rosNode.get_logger().info(str(moteusData.values)) @@ -148,17 +103,11 @@ def publishData(self, moteus_data: Any) -> None: # https://discord.com/channels/633996205759791104/722434939676786688/1252380387783610428 # self._rosNode.get_logger().info(str(moteusData.values.keys())) - json_string = json_helper.buildJSONString() - - msg = String() - msg.data = json_string - - self._publisher.publish(msg) - except Exception as error: # pylint: disable=broad-exception-caught - # This is used to handle any errors in order to prevent the thread from dying - # Specifically, when we crtl-c we want the motors to be set_stop(), but if this thread - # crashes we cannot do that. So we catch any errors - self._ros_node.get_logger().info("Failed to publish motor data") - self._ros_node.get_logger().info(str(error)) - finally: - self.mutex_lock.release() + state = MoteusMotorState.fromMoteusData(self.config.can_id, moteus_data) + self._publisher.publish(state.toMsg()) + except Exception as error: # pylint: disable=broad-exception-caught + # This is used to handle any errors in order to prevent the thread from dying + # Specifically, when we crtl-c we want the motors to be set_stop(), but if this + # thread crashes we cannot do that. So we catch any errors + self._ros_node.get_logger().info("Failed to publish motor data") + self._ros_node.get_logger().info(str(error)) diff --git a/src/can_moteus/can_moteus/moteus_thread_manager.py b/src/can_moteus/can_moteus/moteus_thread_manager.py index 01bcae1..dda6d5d 100644 --- a/src/can_moteus/can_moteus/moteus_thread_manager.py +++ b/src/can_moteus/can_moteus/moteus_thread_manager.py @@ -3,11 +3,13 @@ import threading import moteus +from moteus.moteus import Result from rclpy.node import Node -from utility.color_text import ColorCodes +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MoteusMotorConfig -from . import moteus_motor +from .moteus_motor import MoteusMotor class MoteusThreadManager: @@ -22,20 +24,24 @@ class MoteusThreadManager: """ def __init__(self, ros_node: Node): - self._name_to_moteus_motor: dict[str, moteus_motor.MoteusMotor] = {} - self._name_to_moteus_controller: dict[str, moteus.Controller] = {} # Used by the thread + self._id_to_moteus_motor: dict[int, MoteusMotor] = {} + self._id_to_moteus_controller: dict[int, moteus.Controller] = {} # Used by the thread self._ros_node = ros_node self._moteus_thread: threading.Thread | None = None self._should_moteus_thread_loop = True # No thread safety, but it works lololol self._should_reconnect = True # No thread safety, but it works lololol - def addMotor(self, can_id: int, motor_name: str) -> None: + def addMotor(self, config: MoteusMotorConfig) -> None: """ - Adds a motor to the list to attempt to connect to + Adds a motor to the list to attempt to connect to it. """ + if self._moteus_thread is not None: + self._ros_node.get_logger().error("Attempted to add motor after thread was started!") + return + # Create motor - motor = moteus_motor.MoteusMotor(can_id, motor_name, self._ros_node) - self._name_to_moteus_motor[motor_name] = motor + motor = MoteusMotor(config, self._ros_node) + self._id_to_moteus_motor[config.can_id] = motor def start(self) -> None: def start(self) -> None: @@ -84,46 +90,32 @@ def threadEntry(self) -> None: The entry of the thread that launches the asyncio loop The entry of the thread that launches the asyncio loop """ - self._ros_node.get_logger().info( - ColorCodes.BLUE_OK + "Moteus Thread Launched" + ColorCodes.ENDC - ) + self._ros_node.get_logger().info(colorStr("Moteus Thread Launched", ColorCodes.BLUE_OK)) asyncio.run(self.startLoop()) - async def tryToShutdownMotor(self, motor_name: str) -> None: + async def tryToShutdownMotor(self, can_id: int) -> None: self._ros_node.get_logger().info( - ColorCodes.WARNING_YELLOW - + f'Unexpectedly trying to turn off motor "{motor_name}" (CANID ' - + str(self._name_to_moteus_motor[motor_name].canID) - + ")" - + ColorCodes.ENDC + colorStr(f"Unexpectedly trying to turn off motor: {can_id}", ColorCodes.WARNING_YELLOW) ) try: await asyncio.wait_for( - self._name_to_moteus_controller[motor_name].set_stop(), + self._id_to_moteus_controller[can_id].set_stop(), timeout=self.GENERAL_TIMEOUT, ) self._ros_node.get_logger().info( - ColorCodes.GREEN_OK - + f'Stopped motor "{motor_name}" (CANID ' - + str(self._name_to_moteus_motor[motor_name].can_id) - + ")" - + ColorCodes.ENDC + colorStr(f"Stopped motor: {can_id}", ColorCodes.GREEN_OK) ) except asyncio.TimeoutError: self._ros_node.get_logger().info( - ColorCodes.FAIL_RED - + f'FAILED TO "set_stop" MOTOR. TIMED OUT "{motor_name}" (CANID ' - + str(self._name_to_moteus_motor[motor_name].can_id) - + ")" - + ColorCodes.ENDC + colorStr(f'FAILED TO "set_stop" MOTOR. TIMED OUT {can_id}', ColorCodes.FAIL_RED) ) - del self._name_to_moteus_controller[motor_name] - del self._name_to_moteus_motor[motor_name] + del self._id_to_moteus_controller[can_id] + del self._id_to_moteus_motor[can_id] except RuntimeError as error: - self._ros_node.get_logger().info(ColorCodes.FAIL_RED + str(error) + ColorCodes.ENDC) - del self._name_to_moteus_controller[motor_name] - del self._name_to_moteus_motor[motor_name] + self._ros_node.get_logger().info(colorStr(str(error), ColorCodes.FAIL_RED)) + del self._id_to_moteus_controller[can_id] + del self._id_to_moteus_motor[can_id] async def startLoop(self) -> None: async def startLoop(self) -> None: @@ -166,41 +158,42 @@ async def startLoop(self) -> None: # Go through each Moteus Controller to send data - for name, controller in self._name_to_moteus_controller.copy().items(): - motor = self._name_to_moteus_motor[name] + for can_id, controller in self._id_to_moteus_controller.copy().items(): + motor = self._id_to_moteus_motor[can_id] try: # Check for faults - result_from_moteus = await asyncio.wait_for( + result_from_moteus: Result = await asyncio.wait_for( controller.query(), self.GENERAL_TIMEOUT ) if result_from_moteus.values[moteus.Register.FAULT] != 0: self._ros_node.get_logger().info( - ColorCodes.FAIL_RED - + f"FAULT CODE: {result_from_moteus.values[moteus.Register.FAULT]} FOR " - + f'"{name}" (CANID {motor.can_id})' - + ColorCodes.ENDC + colorStr( + f"FAULT CODE: {result_from_moteus.values[moteus.Register.FAULT]} " + f"FOR {motor.config.can_id}", + ColorCodes.FAIL_RED, + ) ) - await self.tryToShutdownMotor(name) + await self.tryToShutdownMotor(can_id) continue - if motor.setStop is True: + if motor.run_settings.set_stop is True: await asyncio.wait_for(controller.set_stop(), self.GENERAL_TIMEOUT) else: result_from_moteus = await asyncio.wait_for( controller.set_position( - position=motor.position, - velocity=motor.velocity, - feedforward_torque=motor.feedforward_torque, - kp_scale=motor.kp_scale, - kd_scale=motor.kd_scale, - maximum_torque=motor.max_torque, - watchdog_timeout=motor.watchdog_timeout, - velocity_limit=motor.velocity_limit, - accel_limit=motor.accel_limit, - fixed_voltage_override=motor.fixed_voltage_override, + position=motor.run_settings.position, + velocity=motor.run_settings.velocity, + feedforward_torque=motor.run_settings.feedforward_torque, + kp_scale=motor.run_settings.kp_scale, + kd_scale=motor.run_settings.kd_scale, + maximum_torque=motor.run_settings.max_torque, + watchdog_timeout=motor.run_settings.watchdog_timeout, + velocity_limit=motor.run_settings.velocity_limit, + accel_limit=motor.run_settings.accel_limit, + fixed_voltage_override=motor.run_settings.fixed_voltage_override, query=True, ), self.GENERAL_TIMEOUT, @@ -210,20 +203,21 @@ async def startLoop(self) -> None: except asyncio.TimeoutError: self._ros_node.get_logger().info( - ColorCodes.FAIL_RED - + f'FAILED TO SEND/READ DATA TO MOTEUS MOTOR: "{name}" {motor.can_id}) ' - + "CAN-FD bus disconnected?" - + ColorCodes.ENDC + colorStr( + f"FAILED TO SEND/READ DATA TO MOTEUS MOTOR: {can_id} " + + "CAN-FD bus disconnected?", + ColorCodes.FAIL_RED, + ), ) - del self._name_to_moteus_controller[name] - del self._name_to_moteus_motor[name] + del self._id_to_moteus_controller[can_id] + del self._id_to_moteus_motor[can_id] await asyncio.sleep(0.02) # When we exit the while loop, via ctrl-c, we set_stop() all the motors # Watch out for the arm - for name, controller in self._name_to_moteus_controller.items(): + for can_id, controller in self._id_to_moteus_controller.items(): await controller.set_stop() async def connectToMoteusControllers(self) -> None: @@ -235,45 +229,46 @@ async def connectToMoteusControllers(self) -> None: Connect to the Moteus motors. There is a timeout until we give up trying to connect """ - self._name_to_moteus_controller = {} + self._id_to_moteus_controller = {} self._should_reconnect = False - for key, motor in self._name_to_moteus_motor.items(): + for can_id, motor in self._id_to_moteus_motor.items(): qr = moteus.QueryResolution() qr.power = moteus.F32 qr.q_current = moteus.F32 qr.d_current = moteus.F32 - controller = moteus.Controller(motor.can_id, query_resolution=qr) + controller = moteus.Controller(motor.config.can_id, query_resolution=qr) try: # Reset the controller - self._ros_node.get_logger().info( - "Connecting to motor with name: " + str(motor.name) - ) + self._ros_node.get_logger().info("Connecting to motor with id: " + str(can_id)) await asyncio.wait_for( controller.query(), timeout=self.CONNECTION_TIMEOUT_IN_SECONDS ) # Try to get data, if timeout then cannot connect - self._name_to_moteus_controller[key] = controller + self._id_to_moteus_controller[can_id] = controller await controller.set_stop() self._ros_node.get_logger().info( - ColorCodes.GREEN_OK - + f'Moteus motor controller connected: "{motor.name}" (CANID {motor.can_id})' - + ColorCodes.ENDC + colorStr( + f"Moteus motor controller connected: {motor.config.can_id}", + ColorCodes.GREEN_OK, + ) ) except asyncio.TimeoutError: self._ros_node.get_logger().info( - ColorCodes.FAIL_RED - + "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CANID " - + str(motor.can_id) - + ColorCodes.ENDC + colorStr( + "FAILED TO CONNECT TO MOTEUS CONTROLLER WITH CANID " + + str(motor.config.can_id), + ColorCodes.FAIL_RED, + ) ) except RuntimeError as error: self._ros_node.get_logger().info( - ColorCodes.FAIL_RED - + "ERROR WHEN set_stop() IS CALLED. MOST LIKELY CANNOT FIND CANBUS" - + ColorCodes.ENDC + colorStr( + "ERROR WHEN set_stop() IS CALLED. MOST LIKELY CANNOT FIND CANBUS", + ColorCodes.FAIL_RED, + ) ) self._ros_node.get_logger().info( - ColorCodes.FAIL_RED + str(error.with_traceback(None)) + ColorCodes.ENDC + colorStr(str(error.with_traceback(None)), ColorCodes.FAIL_RED) ) diff --git a/src/can_moteus/can_moteus/ros_moteus_bridge.py b/src/can_moteus/can_moteus/ros_moteus_bridge.py index 28df1ff..671983a 100644 --- a/src/can_moteus/can_moteus/ros_moteus_bridge.py +++ b/src/can_moteus/can_moteus/ros_moteus_bridge.py @@ -9,8 +9,8 @@ from std_msgs.msg import Float32 from usb.core import find as finddev -from utility.canbus_mappings import CanBusMappings -from utility.color_text import ColorCodes +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs from . import moteus_thread_manager @@ -35,7 +35,7 @@ def __init__(self) -> None: def __init__(self) -> None: super().__init__("can_moteus_node") - self.get_logger().info(ColorCodes.BLUE_OK + "Launching can_moteus node" + ColorCodes.ENDC) + self.get_logger().info(colorStr("Launching can_moteus node", ColorCodes.BLUE_OK)) # Reset the CANFD-USB # run "lsusb" in cmd with the CANFD-USB connected @@ -46,7 +46,6 @@ def __init__(self) -> None: if dev is not None: dev.reset() self.thread_manager: moteus_thread_manager.MoteusThreadManager | None = None - self.canbus_mappings = CanBusMappings() self.reconnect_to_moteus_sub = self.create_subscription( Float32, "reconnectMoteusControllers", self.reconnect, 1 @@ -55,9 +54,9 @@ def __init__(self) -> None: self.createMoteusMotors() else: self.get_logger().info( - ColorCodes.FAIL_RED - + "Failed to find CANFD-USB usb device. Is it plugged in?" - + ColorCodes.ENDC + colorStr( + "Failed to find CANFD-USB usb device. Is it plugged in?", ColorCodes.FAIL_RED + ) ) def reconnect(self, _: Float32) -> None: @@ -88,38 +87,19 @@ def createMoteusMotors(self) -> None: self.thread_manager = moteus_thread_manager.MoteusThreadManager(self) # Drivebase - self.thread_manager.addMotor( - CanBusMappings.CANID_REAR_RIGHT_DRIVE_MOTOR, "rear_right_drive_motor" - ) - self.thread_manager.addMotor( - CanBusMappings.CANID_MID_RIGHT_DRIVE_MOTOR, "mid_right_drive_motor" - ) - self.thread_manager.addMotor( - CanBusMappings.CANID_FRONT_RIGHT_DRIVE_MOTOR, "front_right_drive_motor" - ) - - self.thread_manager.addMotor( - CanBusMappings.CANID_REAR_LEFT_DRIVE_MOTOR, "rear_left_drive_motor" - ) - self.thread_manager.addMotor( - CanBusMappings.CANID_MID_LEFT_DRIVE_MOTOR, "mid_left_drive_motor" - ) - self.thread_manager.addMotor( - CanBusMappings.CANID_FRONT_LEFT_DRIVE_MOTOR, "front_left_drive_motor" - ) + self.thread_manager.addMotor(MotorConfigs.REAR_RIGHT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.MID_RIGHT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.FRONT_RIGHT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.REAR_LEFT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.MID_LEFT_DRIVE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.FRONT_LEFT_DRIVE_MOTOR) # Arm - self.thread_manager.addMotor( - CanBusMappings.CANID_ARM_TURNTABLE_MOTOR, "arm_turntable_motor" - ) - self.thread_manager.addMotor(CanBusMappings.CANID_ARM_SHOULDER_MOTOR, "arm_shoulder_motor") - self.thread_manager.addMotor(CanBusMappings.CANID_ARM_ELBOW_MOTOR, "arm_elbow_motor") - self.thread_manager.addMotor( - CanBusMappings.CANID_ARM_LEFT_WRIST_MOTOR, "arm_left_wrist_motor" - ) - self.thread_manager.addMotor( - CanBusMappings.CANID_ARM_RIGHT_WRIST_MOTOR, "arm_right_wrist_motor" - ) + self.thread_manager.addMotor(MotorConfigs.ARM_TURNTABLE_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_SHOULDER_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_ELBOW_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_LEFT_WRIST_MOTOR) + self.thread_manager.addMotor(MotorConfigs.ARM_RIGHT_WRIST_MOTOR) self.thread_manager.start() @@ -141,7 +121,7 @@ def main(args: list[str] | None = None) -> None: pass except ExternalShutdownException: # This is done when we ctrl-c the progam to shut it down - node.get_logger().info(ColorCodes.BLUE_OK + "Shutting down can_moteus" + ColorCodes.ENDC) + node.get_logger().info(colorStr("Shutting down can_moteus", ColorCodes.BLUE_OK)) if node.thread_manager is not None: node.thread_manager.terminateAllThreads() node.destroy_node() diff --git a/src/custom_interfaces/robot_info.py b/src/custom_interfaces/robot_info.py deleted file mode 100644 index 59e49ee..0000000 --- a/src/custom_interfaces/robot_info.py +++ /dev/null @@ -1,54 +0,0 @@ -from rclpy.node import Node -from rclpy.subscription import Subscription -from std_msgs.msg import String - -from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper - -moteusTopicList = { - "front_left_drive_motor_from_can", - "mid_left_drive_motor_from_can", - "rear_left_drive_motor_from_can", - "front_right_drive_motor_from_can", - "mid_right_drive_motor_from_can", - "rear_right_drive_motor_from_can", - "arm_turntable_motor_from_can", - "arm_shoulder_motor_from_can", - "arm_elbow_motor_from_can", - "arm_left_wrist_motor_from_can", - "arm_right_wrist_motor_from_can", -} - - -class RobotInfo: - - def __init__(self, ros_node: Node): - self._ros_node = ros_node - self.sub_list: list[Subscription] = [] # empty array - self.can_id_to_json: dict[int, MoteusDataOutJsonHelper] = {} # Dict - - self.can_id_to_json[20] = MoteusDataOutJsonHelper() - self.can_id_to_json[21] = MoteusDataOutJsonHelper() - self.can_id_to_json[22] = MoteusDataOutJsonHelper() - self.can_id_to_json[23] = MoteusDataOutJsonHelper() - self.can_id_to_json[24] = MoteusDataOutJsonHelper() - self.can_id_to_json[25] = MoteusDataOutJsonHelper() - self.can_id_to_json[1] = MoteusDataOutJsonHelper() - self.can_id_to_json[2] = MoteusDataOutJsonHelper() - self.can_id_to_json[3] = MoteusDataOutJsonHelper() - self.can_id_to_json[4] = MoteusDataOutJsonHelper() - self.can_id_to_json[5] = MoteusDataOutJsonHelper() - - self.createSubscribers() - - def createSubscribers(self) -> None: - for topic_name in moteusTopicList: - sub = self._ros_node.create_subscription(String, topic_name, self.subCallback, 1) - self.sub_list.append(sub) - - def subCallback(self, msg: String) -> None: - json_helper = MoteusDataOutJsonHelper() - json_helper.buildHelper(msg.data) - self.can_id_to_json[json_helper.can_id] = json_helper - - def getDataFromCanID(self, can_id: int) -> MoteusDataOutJsonHelper: - return self.can_id_to_json[can_id] diff --git a/src/custom_interfaces/robot_interface.py b/src/custom_interfaces/robot_interface.py deleted file mode 100644 index 893a978..0000000 --- a/src/custom_interfaces/robot_interface.py +++ /dev/null @@ -1,218 +0,0 @@ -# General interface for robot funcitonality - -from rclpy.node import Node -from rclpy.publisher import Publisher -from std_msgs.msg import Float32, String - -from utility.moteus_data_in_json_helper import MoteusDataInJsonHelper - -VELOCITY_CONVERSION = 1 -POSITION_CONVERSION = 1 / (6.28) # Radians to position ticks -REV_TO_RADIANS = 6.28 # One Revolution = 2pi - - -robot_publishers: dict[str, Publisher] = {} - - -class RobotInterface: - # - # Constructors/Destructors - # - - def __init__(self, ros_node: Node) -> None: - self._ros_node = ros_node - - # Drive base - publisher = self._ros_node.create_publisher( - String, "front_left_drive_motor_from_interface", 10 - ) - robot_publishers["front_left_drive_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "front_right_drive_motor_from_interface", 10 - ) - robot_publishers["front_right_drive_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "mid_left_drive_motor_from_interface", 10 - ) - robot_publishers["mid_left_drive_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "mid_right_drive_motor_from_interface", 10 - ) - robot_publishers["mid_right_drive_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "rear_left_drive_motor_from_interface", 10 - ) - robot_publishers["rear_left_drive_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "rear_right_drive_motor_from_interface", 10 - ) - robot_publishers["rear_right_drive_motor"] = publisher - - robot_publishers["arm_fingers_motor"] = publisher - - # Antenna - publisher = self._ros_node.create_publisher( - Float32, "antenna_motor_position_from_interface", 10 - ) - robot_publishers["antenna_motor"] = publisher - publisher = self._ros_node.create_publisher( - Float32, "antenna_turntable_motor_position_from_interface", 10 - ) - robot_publishers["antenna_turntable_motor"] = publisher - - # Arm - publisher = self._ros_node.create_publisher( - String, "arm_turntable_motor_from_interface", 10 - ) - robot_publishers["arm_turntable_motor"] = publisher - publisher = self._ros_node.create_publisher(String, "arm_shoulder_motor_from_interface", 10) - robot_publishers["arm_shoulder_motor"] = publisher - publisher = self._ros_node.create_publisher(String, "arm_elbow_motor_from_interface", 10) - robot_publishers["arm_elbow_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "arm_left_wrist_motor_from_interface", 10 - ) - robot_publishers["arm_left_wrist_motor"] = publisher - publisher = self._ros_node.create_publisher( - String, "arm_right_wrist_motor_from_interface", 10 - ) - robot_publishers["arm_right_wrist_motor"] = publisher - - def velocityConversion(self, amount: float) -> float: - return amount * VELOCITY_CONVERSION - - # Converting from input "radians" to output "revolutions" - def positionConversion(self, amount: float) -> float: - return amount * POSITION_CONVERSION - - # General movement including all wheels - def moveForward(self, amount: float) -> None: - print() - - def moveBackward(self, amount: float) -> None: - print() - - def turnLeft(self, amount: float) -> None: - print() - - def turnRight(self, amount: float) -> None: - print() - - # ------ DRIVEBASE ------ - # Left front wheel - MEASURED IN REVOLUTIONS PER SECOND - def frontLeftDriveMotor(self, amount: float) -> None: - self._sendDriveMotor("front_left_drive_motor", radians_per_second=amount) - - # Right front wheel - def frontRightDriverMotor(self, amount: float) -> None: - self._sendDriveMotor("front_right_drive_motor", radians_per_second=amount) - - # Left middle wheel - def midLeftDriveMotor(self, amount: float) -> None: - self._sendDriveMotor("mid_left_drive_motor", radians_per_second=amount) - - # Right middle wheel - def midRightDriveMotor(self, amount: float) -> None: - self._sendDriveMotor("mid_right_drive_motor", radians_per_second=amount) - - # Left back wheel - def rearLeftDriveMotor(self, amount: float) -> None: - self._sendDriveMotor("rear_left_drive_motor", radians_per_second=amount) - - # Right back wheel - def rearRightDriveMotor(self, amount: float) -> None: - self._sendDriveMotor("rear_right_drive_motor", radians_per_second=amount) - - def _sendDriveMotor(self, pub_name: str, radians_per_second: float = 0.0) -> None: - publisher = robot_publishers[pub_name] - - str_msg = String() - json_helper = MoteusDataInJsonHelper() - json_helper.velocity = radians_per_second - json_helper.set_stop = False - - str_msg.data = json_helper.buildJSONString() - publisher.publish(str_msg) - - # ------ ARM ------ - - def armTurntableVelocity(self, target_vel: float) -> None: - self._sendArmVelocity("arm_turntable_motor", target_vel) - - def shoulderVelocity(self, target_vel: float) -> None: - self._sendArmVelocity("arm_shoulder_motor", target_vel) - - def elbowVelocity(self, target_vel: float) -> None: - self._sendArmVelocity("arm_elbow_motor", target_vel) - - def leftWriteVelocity(self, target_vel: float) -> None: - self._sendArmVelocity("arm_left_wrist_motor", target_vel) - - def rightWristVelocity(self, target_vel: float) -> None: - self._sendArmVelocity("arm_right_wrist_motor", target_vel) - - # For now, I am sending rev/sec - def _sendArmVelocity(self, pub_name: str, velocity: float = 0.0) -> None: - publisher = robot_publishers[pub_name] - - str_msg = String() - json_helper = MoteusDataInJsonHelper() - json_helper.velocity = velocity - json_helper.set_stop = False - - str_msg.data = json_helper.buildJSONString() - publisher.publish(str_msg) - - def disableArmTurntableMotor(self) -> None: - self._disableMotor("arm_turntable_motor") - - def disableArmShoulderMotor(self) -> None: - self._disableMotor("arm_shoulder_motor") - - def disableArmElbowMotor(self) -> None: - self._disableMotor("arm_elbow_motor") - - def disableArmLeftWristMotor(self) -> None: - self._disableMotor("arm_left_wrist_motor") - - def disableArmRightWristMotor(self) -> None: - self._disableMotor("arm_right_wrist_motor") - - def _disableMotor(self, pub_name: str) -> None: - publisher = robot_publishers[pub_name] - - str_msg = String() - json_helper = MoteusDataInJsonHelper() - json_helper.velocity = 0 # for extra security - json_helper.set_stop = True - - str_msg.data = json_helper.buildJSONString() - publisher.publish(str_msg) - - # Antenna movement - def antennaMotorExtend(self) -> None: - # Output is in "revolutions" - revolutions_output = ( - 1 # we don't know the actual position it should be. this is a placeholder - ) - publisher = robot_publishers["antenna_motor"] - str_msg = Float32() - str_msg.data = revolutions_output - publisher.publish(str_msg) - - def antennaMotorRetract(self) -> None: - # Output is in "revolutions" - revolutions_output = ( - 0 # we don't know the actual position it should be. this is a placeholder - ) - publisher = robot_publishers["antenna_motor"] - str_msg = Float32() - str_msg.data = revolutions_output - publisher.publish(str_msg) - - def antennaTurntableMotor(self, amount: float) -> None: - revolutions_output = self.positionConversion(amount) - publisher = robot_publishers["antenna_turntable_motor"] - str_msg = Float32() - str_msg.data = revolutions_output - publisher.publish(str_msg) diff --git a/src/drivebase/drivebase/drivebase.py b/src/drivebase/drivebase/drivebase.py index 3f64351..a9a2321 100644 --- a/src/drivebase/drivebase/drivebase.py +++ b/src/drivebase/drivebase/drivebase.py @@ -5,17 +5,17 @@ from rclpy.node import Node from std_msgs.msg import Float32 -from interface.robot_interface import RobotInterface -from utility.color_text import ColorCodes +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs +from lib.interface.robot_interface import RobotInterface class Drivebase(Node): - SPEED = 1.5 + SPEED = 6.28 * 1.5 def __init__(self) -> None: super().__init__("drivebase") - self.get_logger().info(ColorCodes.BLUE_OK + "Launching drivebase node" + ColorCodes.ENDC) - + self.get_logger().info(colorStr("Launching drivebase node", ColorCodes.BLUE_OK)) self.bot_interface = RobotInterface(self) self.left_subscription = self.create_subscription( @@ -27,15 +27,15 @@ def __init__(self) -> None: def moveLeftSide(self, msg: Float32) -> None: vel = msg.data * self.SPEED - self.bot_interface.frontLeftDriveMotor(-vel) - self.bot_interface.midLeftDriveMotor(-vel) - self.bot_interface.rearLeftDriveMotor(-vel) + self.bot_interface.runMotorSpeed(MotorConfigs.FRONT_LEFT_DRIVE_MOTOR, -vel) + self.bot_interface.runMotorSpeed(MotorConfigs.MID_LEFT_DRIVE_MOTOR, -vel) + self.bot_interface.runMotorSpeed(MotorConfigs.REAR_LEFT_DRIVE_MOTOR, -vel) def moveRightSide(self, msg: Float32) -> None: vel = msg.data * self.SPEED - self.bot_interface.frontRightDriverMotor(vel) - self.bot_interface.midRightDriveMotor(vel) - self.bot_interface.rearRightDriveMotor(vel) + self.bot_interface.runMotorSpeed(MotorConfigs.FRONT_RIGHT_DRIVE_MOTOR, vel) + self.bot_interface.runMotorSpeed(MotorConfigs.MID_RIGHT_DRIVE_MOTOR, vel) + self.bot_interface.runMotorSpeed(MotorConfigs.REAR_RIGHT_DRIVE_MOTOR, vel) def turnLeft(self, msg: Float32) -> None: self.moveLeftSide(msg) @@ -57,9 +57,7 @@ def main(args: list[str] | None = None) -> None: # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) - drivebase.get_logger().info( - ColorCodes.BLUE_OK + "Shutting down drivebase" + ColorCodes.ENDC - ) + drivebase.get_logger().info(colorStr("Shutting down drivebase", ColorCodes.BLUE_OK)) drivebase.destroy_node() sys.exit(0) diff --git a/src/lib/configs.py b/src/lib/configs.py index 77a6dce..b4b1086 100644 --- a/src/lib/configs.py +++ b/src/lib/configs.py @@ -3,7 +3,6 @@ configs. """ -import math from dataclasses import dataclass from typing import Any @@ -19,14 +18,6 @@ class MoteusMotorConfig: The can id of the motor. """ - config: dict[str, float | int] - """ - The config of the motor. See: - https://github.com/mjbots/moteus/blob/main/docs/reference.md#c-configurable-values - - The `id.id` will be ignored. - """ - def getCanTopicName(self) -> str: """ Gets the motor's topic name for data sourced from can. @@ -50,130 +41,20 @@ class MotorConfigs: """ # Drivebase - REAR_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( - can_id=20, - config={ - "servo.pwm_rate_hz": 50000, - "servo.pid_position.kp": 20.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 0.0, - "servo.default_timeout_s": 0.5, - "servo.max_current_A": 10.0, - "servo.max_velocity": 100.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) - MID_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( - can_id=21, - config={ - "servo.pwm_rate_hz": 50000, - "servo.pid_position.kp": 20.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 0.0, - "servo.default_timeout_s": 0.5, - "servo.max_current_A": 10.0, - "servo.max_velocity": 100.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) - FRONT_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( - can_id=22, - config={ - "servo.pid_position.kp": 20.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 0.0, - "servo.default_timeout_s": 0.5, - "servo.max_current_A": 10.0, - "servo.max_velocity": 100.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) + REAR_RIGHT_DRIVE_MOTOR = MoteusMotorConfig(can_id=20) + MID_RIGHT_DRIVE_MOTOR = MoteusMotorConfig(can_id=21) + FRONT_RIGHT_DRIVE_MOTOR = MoteusMotorConfig(can_id=22) - REAR_LEFT_DRIVE_MOTOR = MoteusMotorConfig( - can_id=23, - config={ - "servo.pwm_rate_hz": 50000, - "servo.pid_position.kp": 20.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 0.0, - "servo.default_timeout_s": 0.5, - "servo.max_current_A": 10.0, - "servo.max_velocity": 100.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) - MID_LEFT_DRIVE_MOTOR = MoteusMotorConfig( - can_id=24, - config={ - "servo.pwm_rate_hz": 50000, - "servo.pid_position.kp": 20.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 0.0, - "servo.default_timeout_s": 0.5, - "servo.max_current_A": 10.0, - "servo.max_velocity": 100.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) - FRONT_LEFT_DRIVE_MOTOR = MoteusMotorConfig( - can_id=25, - config={ - "servo.pwm_rate_hz": 50000, - "servo.pid_position.kp": 20.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 0.0, - "servo.default_timeout_s": 0.5, - "servo.max_current_A": 10.0, - "servo.max_velocity": 100.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) + REAR_LEFT_DRIVE_MOTOR = MoteusMotorConfig(can_id=23) + MID_LEFT_DRIVE_MOTOR = MoteusMotorConfig(can_id=24) + FRONT_LEFT_DRIVE_MOTOR = MoteusMotorConfig(can_id=25) # Arm - ARM_SHOULDER_MOTOR = MoteusMotorConfig( - can_id=1, - config={ - "servo.max_voltage": 56.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) - ARM_ELBOW_MOTOR = MoteusMotorConfig( - can_id=2, - config={ - "motor_position.rotor_to_output_ratio": 0.01666, - "servo.pwm_rate_hz": 60000, - "servo.pid_position.kp": 10000.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 0.0, - "servo.default_timeout_s": 1.0, - "servo.max_current_A": 6.0, - "servo.max_velocity": 0.1, - "servopos.position_min": -0.5, - "servopos.position_max": 0.0, - }, - ) - ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3, config={}) - ARM_RIGHT_WRIST_MOTOR = MoteusMotorConfig(can_id=4, config={}) - ARM_TURNTABLE_MOTOR = MoteusMotorConfig( - can_id=5, - config={ - "motor_position.rotor_to_output_ratio": 0.030581, - "servo.pid_position.kp": 16.0, - "servo.pid_position.ki": 0.0, - "servo.pid_position.kd": 1.0, - "servo.max_current_A": 10.0, - "servo.max_velocity": 1.0, - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }, - ) + ARM_SHOULDER_MOTOR = MoteusMotorConfig(can_id=1) + ARM_ELBOW_MOTOR = MoteusMotorConfig(can_id=2) + ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3) + ARM_RIGHT_WRIST_MOTOR = MoteusMotorConfig(can_id=4) + ARM_TURNTABLE_MOTOR = MoteusMotorConfig(can_id=5) # Don't allow anyone to change this class's attributes def __setattr__(self, _: str, __: Any) -> Any: diff --git a/src/mission_control_updater/mission_control_updater/info_to_json_helper.py b/src/mission_control_updater/mission_control_updater/info_to_json_helper.py index a66f16e..b537ac9 100644 --- a/src/mission_control_updater/mission_control_updater/info_to_json_helper.py +++ b/src/mission_control_updater/mission_control_updater/info_to_json_helper.py @@ -1,21 +1,21 @@ import json -from utility.moteus_data_out_json_helper import MoteusDataOutJsonHelper +from lib.moteus_motor_state import MoteusMotorState class InfoToJSONHelper: def __init__(self) -> None: - self.moteus_entries: list[MoteusDataOutJsonHelper] = [] + self.moteus_entries: list[MoteusMotorState] = [] - def addMoteusEntry(self, entry: MoteusDataOutJsonHelper) -> None: + def addMoteusEntry(self, entry: MoteusMotorState) -> None: self.moteus_entries.append(entry) def buildJSONString(self) -> str: moteus_dict_array = [] for moteus_entry in self.moteus_entries: - moteus_dict_array.append(moteus_entry.buildPythonDict()) + moteus_dict_array.append(moteus_entry.toDict()) python_dict = { "moteusMotorLength": len(moteus_dict_array), diff --git a/src/mission_control_updater/mission_control_updater/updater.py b/src/mission_control_updater/mission_control_updater/updater.py index 7564422..2903ec2 100644 --- a/src/mission_control_updater/mission_control_updater/updater.py +++ b/src/mission_control_updater/mission_control_updater/updater.py @@ -8,8 +8,9 @@ from rclpy.node import Node from std_msgs.msg import String -from interface.robot_info import RobotInfo -from utility.color_text import ColorCodes +from lib.color_codes import ColorCodes, colorStr +from lib.configs import MotorConfigs +from lib.interface.robot_info import RobotInfo from . import info_to_json_helper @@ -21,7 +22,7 @@ def __init__(self) -> None: def __init__(self) -> None: super().__init__("mission_control_updater_node") self.get_logger().info( - ColorCodes.BLUE_OK + "Launching mission_control_updater_node" + ColorCodes.ENDC + colorStr("Launching mission_control_updater_node", ColorCodes.BLUE_OK) ) self.publisher_to_mc = self.create_publisher(String, "mission_control_updater", 1) @@ -30,12 +31,10 @@ def __init__(self) -> None: self.robot_info = RobotInfo(self) def sendData(self) -> None: - set_of_can_id = {20, 21, 22, 23, 24, 25, 1, 2, 3, 4, 5} - json_builder = info_to_json_helper.InfoToJSONHelper() - for can_id in set_of_can_id: - json_builder.addMoteusEntry(self.robot_info.getDataFromCanID(can_id)) + for motor in MotorConfigs.getAllMotors(): + json_builder.addMoteusEntry(self.robot_info.getMotorState(motor)) msg = String() msg.data = json_builder.buildJSONString() @@ -65,7 +64,7 @@ def main(args: list[str] | None = None) -> None: except ExternalShutdownException: # This is done when we ctrl-c the progam to shut it down node.get_logger().info( - ColorCodes.BLUE_OK + "Shutting down mission_control_updater_node" + ColorCodes.ENDC + colorStr("Shutting down mission_control_updater_node", ColorCodes.BLUE_OK) ) node.destroy_node() sys.exit(0) diff --git a/src/utility/canbus_mappings.py b/src/utility/canbus_mappings.py deleted file mode 100644 index de61fba..0000000 --- a/src/utility/canbus_mappings.py +++ /dev/null @@ -1,19 +0,0 @@ -class CanBusMappings: - # Drivebase - CANID_REAR_RIGHT_DRIVE_MOTOR = 20 - CANID_MID_RIGHT_DRIVE_MOTOR = 21 - CANID_FRONT_RIGHT_DRIVE_MOTOR = 22 - - CANID_REAR_LEFT_DRIVE_MOTOR = 23 - CANID_MID_LEFT_DRIVE_MOTOR = 24 - CANID_FRONT_LEFT_DRIVE_MOTOR = 25 - - # Arm - CANID_ARM_SHOULDER_MOTOR = 1 - CANID_ARM_ELBOW_MOTOR = 2 - CANID_ARM_LEFT_WRIST_MOTOR = 3 - CANID_ARM_RIGHT_WRIST_MOTOR = 4 - CANID_ARM_TURNTABLE_MOTOR = 5 - - def __init__(self) -> None: - pass diff --git a/src/utility/color_text.py b/src/utility/color_text.py deleted file mode 100644 index 2d8ff65..0000000 --- a/src/utility/color_text.py +++ /dev/null @@ -1,12 +0,0 @@ -# "Borrowed" from here: -# https://stackoverflow.com/questions/287871/how-do-i-print-colored-text-to-the-terminal -class ColorCodes: - PINK = "\033[95m" - BLUE_OK = "\033[94m" - CYAN_OK = "\033[96m" - GREEN_OK = "\033[92m" - WARNING_YELLOW = "\033[93m" - FAIL_RED = "\033[91m" - ENDC = "\033[0m" - BOLD = "\033[1m" - UNDERLINE = "\033[4m" diff --git a/src/utility/moteus_data_in_json_helper.py b/src/utility/moteus_data_in_json_helper.py deleted file mode 100644 index a5d8311..0000000 --- a/src/utility/moteus_data_in_json_helper.py +++ /dev/null @@ -1,63 +0,0 @@ -import json -import math - - -class MoteusDataInJsonHelper: - - def __init__(self) -> None: - self.position: float | None = None - self.velocity: float | None = None - self.feedforward_torque: float | None = None - self.kp_scale: float | None = None - self.kd_scale: float | None = None - self.max_torque: float | None = None - self.watchdog_timeout: float | None = None - self.velocity_limit: float | None = None - self.accel_limit: float | None = None - self.fixed_voltage_override: float | None = None - - self.set_stop = True - - def getPosition(self) -> float: - if self.position is None: - return math.nan - - return self.position - - def getVelocity(self) -> float: - if self.velocity is None: - return math.nan - - return self.velocity - - def buildJSONString(self) -> str: - python_dict = { - "position": self.position, - "velocity": self.velocity, - "feedforward_torque": self.feedforward_torque, - "kp_scale": self.kp_scale, - "kd_scale": self.kd_scale, - "max_torque": self.max_torque, - "watchdog_timeout": self.watchdog_timeout, - "velocity_limit": self.velocity_limit, - "accel_limit": self.accel_limit, - "fixed_voltage_override": self.fixed_voltage_override, - "set_stop": self.set_stop, - } - - return json.dumps(python_dict) - - def buildHelper(self, json_string: str) -> None: - python_dict = json.loads(json_string) - - self.position = python_dict["position"] - self.velocity = python_dict["velocity"] - self.feedforward_torque = python_dict["feedforward_torque"] - self.kp_scale = python_dict["kp_scale"] - self.kd_scale = python_dict["kd_scale"] - self.max_torque = python_dict["max_torque"] - self.watchdog_timeout = python_dict["watchdog_timeout"] - self.velocity_limit = python_dict["velocity_limit"] - self.accel_limit = python_dict["accel_limit"] - self.fixed_voltage_override = python_dict["fixed_voltage_override"] - self.set_stop = python_dict["set_stop"] diff --git a/src/utility/moteus_data_out_json_helper.py b/src/utility/moteus_data_out_json_helper.py deleted file mode 100644 index 5859b29..0000000 --- a/src/utility/moteus_data_out_json_helper.py +++ /dev/null @@ -1,49 +0,0 @@ -import json - - -class MoteusDataOutJsonHelper: - - def __init__(self) -> None: - # take a look at moteus.Register - self.can_id = -1 - self.position: float | None = None - self.velocity: float | None = None - self.torque: float | None = None - self.temperature: float | None = None - self.power: float | None = None - self.input_voltage: float | None = None - self.q_current: float | None = None - self.d_current: float | None = None - - def buildJSONString(self) -> str: - python_dict = self.buildPythonDict() - - return json.dumps(python_dict) - - def buildPythonDict(self) -> dict[str, float | None]: - python_dict = { - "can_id": self.can_id, - "position": self.position, - "velocity": self.velocity, - "torque": self.torque, - "temperature": self.temperature, - "power": self.power, - "input_voltage": self.input_voltage, - "q_current": self.q_current, - "d_current": self.d_current, - } - - return python_dict - - def buildHelper(self, json_string: str) -> None: - python_dict = json.loads(json_string) - - self.can_id = python_dict["can_id"] - self.position = python_dict["position"] - self.velocity = python_dict["velocity"] - self.torque = python_dict["torque"] - self.temperature = python_dict["temperature"] - self.power = python_dict["power"] - self.input_voltage = python_dict["input_voltage"] - self.q_current = python_dict["q_current"] - self.d_current = python_dict["d_current"] From 898940bc32be29898922b909f599b013ee432ae2 Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin <45701631+VladimirKupryukhin@users.noreply.github.com> Date: Mon, 16 Sep 2024 15:30:33 -0700 Subject: [PATCH 35/50] [lib] Add support for setting moteus config values in lib #61 (#62) * [lib] add lib folder and refactor constants into configs, removing motor names only relying on can id * [lib] refactor robot interface and info to take motor configs and new msg types * [lib] make coloring slightly less annoying * [lib] differentiate between disable and stop motor * [lib] set position to `nan` when stopping motor * add typing to moteus command results * [lib] debug in person to make it work * [lib] make robot info take motor configs over can ids * [lib] fix formatting * fix units on robot interface and document some motor state attributes * [lib] implement config setting * [lib] add configs * [lib] remove conf default and fix bugs for config * [lib] skip can id config value --------- Co-authored-by: Kyler Li Co-authored-by: TrickFire Robotics --- .../can_moteus/moteus_thread_manager.py | 31 ++++ src/lib/configs.py | 141 ++++++++++++++++-- 2 files changed, 161 insertions(+), 11 deletions(-) diff --git a/src/can_moteus/can_moteus/moteus_thread_manager.py b/src/can_moteus/can_moteus/moteus_thread_manager.py index dda6d5d..85b202d 100644 --- a/src/can_moteus/can_moteus/moteus_thread_manager.py +++ b/src/can_moteus/can_moteus/moteus_thread_manager.py @@ -262,6 +262,7 @@ async def connectToMoteusControllers(self) -> None: ColorCodes.FAIL_RED, ) ) + continue except RuntimeError as error: self._ros_node.get_logger().info( colorStr( @@ -272,3 +273,33 @@ async def connectToMoteusControllers(self) -> None: self._ros_node.get_logger().info( colorStr(str(error.with_traceback(None)), ColorCodes.FAIL_RED) ) + continue + + stream = moteus.Stream(controller, verbose=True) + try: + await asyncio.wait_for( + stream.command("conf load".encode(encoding="utf-8")), + timeout=self.CONNECTION_TIMEOUT_IN_SECONDS + ) + for key, value in motor.config.config.items(): + if key == "id.id": + continue + await asyncio.wait_for( + stream.command(f"conf set {key} {value}".encode(encoding="utf-8")), + timeout=self.CONNECTION_TIMEOUT_IN_SECONDS + ) + except asyncio.TimeoutError: + self._ros_node.get_logger().info( + colorStr( + "FAILED TO SET CONFIG ON MOTOR: " + + str(motor.config.can_id), + ColorCodes.FAIL_RED, + ) + ) + except RuntimeError as error: + self._ros_node.get_logger().info( + colorStr("ERROR WHEN SETTING CONFIG.", ColorCodes.FAIL_RED) + ) + self._ros_node.get_logger().info( + colorStr(str(error.with_traceback(None)), ColorCodes.FAIL_RED) + ) diff --git a/src/lib/configs.py b/src/lib/configs.py index b4b1086..77a6dce 100644 --- a/src/lib/configs.py +++ b/src/lib/configs.py @@ -3,6 +3,7 @@ configs. """ +import math from dataclasses import dataclass from typing import Any @@ -18,6 +19,14 @@ class MoteusMotorConfig: The can id of the motor. """ + config: dict[str, float | int] + """ + The config of the motor. See: + https://github.com/mjbots/moteus/blob/main/docs/reference.md#c-configurable-values + + The `id.id` will be ignored. + """ + def getCanTopicName(self) -> str: """ Gets the motor's topic name for data sourced from can. @@ -41,20 +50,130 @@ class MotorConfigs: """ # Drivebase - REAR_RIGHT_DRIVE_MOTOR = MoteusMotorConfig(can_id=20) - MID_RIGHT_DRIVE_MOTOR = MoteusMotorConfig(can_id=21) - FRONT_RIGHT_DRIVE_MOTOR = MoteusMotorConfig(can_id=22) + REAR_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=20, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + MID_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=21, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + FRONT_RIGHT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=22, + config={ + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) - REAR_LEFT_DRIVE_MOTOR = MoteusMotorConfig(can_id=23) - MID_LEFT_DRIVE_MOTOR = MoteusMotorConfig(can_id=24) - FRONT_LEFT_DRIVE_MOTOR = MoteusMotorConfig(can_id=25) + REAR_LEFT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=23, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + MID_LEFT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=24, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + FRONT_LEFT_DRIVE_MOTOR = MoteusMotorConfig( + can_id=25, + config={ + "servo.pwm_rate_hz": 50000, + "servo.pid_position.kp": 20.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 0.5, + "servo.max_current_A": 10.0, + "servo.max_velocity": 100.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) # Arm - ARM_SHOULDER_MOTOR = MoteusMotorConfig(can_id=1) - ARM_ELBOW_MOTOR = MoteusMotorConfig(can_id=2) - ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3) - ARM_RIGHT_WRIST_MOTOR = MoteusMotorConfig(can_id=4) - ARM_TURNTABLE_MOTOR = MoteusMotorConfig(can_id=5) + ARM_SHOULDER_MOTOR = MoteusMotorConfig( + can_id=1, + config={ + "servo.max_voltage": 56.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) + ARM_ELBOW_MOTOR = MoteusMotorConfig( + can_id=2, + config={ + "motor_position.rotor_to_output_ratio": 0.01666, + "servo.pwm_rate_hz": 60000, + "servo.pid_position.kp": 10000.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 0.0, + "servo.default_timeout_s": 1.0, + "servo.max_current_A": 6.0, + "servo.max_velocity": 0.1, + "servopos.position_min": -0.5, + "servopos.position_max": 0.0, + }, + ) + ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3, config={}) + ARM_RIGHT_WRIST_MOTOR = MoteusMotorConfig(can_id=4, config={}) + ARM_TURNTABLE_MOTOR = MoteusMotorConfig( + can_id=5, + config={ + "motor_position.rotor_to_output_ratio": 0.030581, + "servo.pid_position.kp": 16.0, + "servo.pid_position.ki": 0.0, + "servo.pid_position.kd": 1.0, + "servo.max_current_A": 10.0, + "servo.max_velocity": 1.0, + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }, + ) # Don't allow anyone to change this class's attributes def __setattr__(self, _: str, __: Any) -> Any: From d38efe618fbc068ba5a181b9fbe0bcf60f54f83c Mon Sep 17 00:00:00 2001 From: Vladimir kupryukhin Date: Wed, 18 Sep 2024 13:48:09 -0700 Subject: [PATCH 36/50] [launch] Make a shell script to launch, run, build, create docker images/containers --- container_launch.sh | 56 ++++++++++---------------------- kill_trickfirerobot_container.sh | 1 + 2 files changed, 19 insertions(+), 38 deletions(-) create mode 100755 kill_trickfirerobot_container.sh diff --git a/container_launch.sh b/container_launch.sh index e85c327..b2a5f5c 100755 --- a/container_launch.sh +++ b/container_launch.sh @@ -1,17 +1,7 @@ # /bin/bash -# A script file `./container_launch.sh` that handles connecting to the `trickfirerobot` Docker container. - -# You can add the following flags to the shell script: -# `-b` -> Force build the `trickfireimage`, even if it exists -# `-n` -> Force the `trickfireimage` image to be built without cache -# `-c` -> Force create the `trickfirerobot` container, even if it exists - text_helper="TRICKFIRE DOCKER LAUNCH" -trickire_container="trickfirerobot" -trickfire_image="trickfireimage" -# Colors bold=$(tput bold) BLUE='\033[0;34m' NC='\033[0m' # No Color @@ -20,7 +10,6 @@ b_flag='' # Force build docker container "-b" no_cache_flag='' # Build docker container without cache "-n" c_flag='' # Force create container "-c" -# Read the flags, if any were passed while getopts 'bnc' flag; do case "${flag}" in b) b_flag='true' ;; @@ -30,51 +19,42 @@ while getopts 'bnc' flag; do esac done -# --- Shutdown the current trickfirerobot container if it is running -if [ "$( docker container inspect -f '{{.State.Running}}' ${trickire_container} )" = "true" ]; then - echo -e "${BLUE}$(tput bold)[${text_helper}] Shutting down current \"${trickire_container}\" container${NC}" - docker container kill ${trickire_container} -fi - # --- Handle the Docker image --- # If the image does NOT exist OR we force the image to be built -if [ -z "$(docker images -q ${trickire_container}:latest 2> /dev/null)" ] || [ "$b_flag" = true ]; then - # Should we build without cache? +if [ -z "$(docker images -q trickfireimage:latest 2> /dev/null)" ] || [ "$b_flag" = true ]; then if [ "$no_cache_flag" = true ]; then - echo -e "${BLUE}$(tput bold)[${text_helper}] Building \"${trickire_container}\" without cache${NC}" - docker build --no-cache -t ${trickire_container} -f .devcontainer/Dockerfile . + echo -e "${BLUE}$(tput bold)[${text_helper}] Building trickfireimage without cache${NC}" + docker build --no-cache -t trickfireimage -f .devcontainer/Dockerfile . else - echo -e "${BLUE}$(tput bold)[${text_helper}] Building \"${trickire_container}\" with cache${NC}" - docker build -t ${trickire_container} -f .devcontainer/Dockerfile . + echo -e "${BLUE}$(tput bold)[${text_helper}] Building trickfireimage with cache${NC}" + docker build -t trickfireimage -f .devcontainer/Dockerfile . fi else - echo -e "${BLUE}$(tput bold)[${text_helper}] Image \"${trickire_container}\" exists. Skipping${NC}" + echo -e "${BLUE}$(tput bold)[${text_helper}] Image trickfireimage exists. Skipping${NC}" fi # Handle the Docker image # If the container does NOT exist OR we force the container to be built -if [ ! "$(docker ps -a -q -f name=${trickire_container})" ]; then - echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"${trickire_container}\" does not exist. Creating${NC}" - docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name ${trickire_container} -it --privileged --network=host --workdir /home/trickfire/urc-2023 ${trickire_container} +if [ ! "$(docker ps -a -q -f name=trickfirerobot)" ]; then + echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfirerobot does not exist. Creating${NC}" + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -i --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage else - echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"${trickire_container}\" does exist${NC}" - # Should we remake the container? + echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"trickfirerobot\" does exist${NC}" if [ "$c_flag" = true ]; then - echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfire exists. Forcing removal and creation of a new \"${trickire_container}\" container${NC}" - docker container rm ${trickire_container} - docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name ${trickire_container} -it --privileged --network=host --workdir /home/trickfire/urc-2023 ${trickire_container} + echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfire exists. Forcing removal and creation of a new trickfirerobot container${NC}" + docker container rm trickfirerobot + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -t --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage fi fi -#Start the container -echo -e "${BLUE}$(tput bold)[${text_helper}] Starting \"${trickire_container}\" container${NC}" -docker container restart ${trickire_container} +#start the container +echo -e "${BLUE}$(tput bold)[${text_helper}] Starting trickfirerobot container${NC}" +docker container restart trickfirerobot -# Have the container take over the shell that executed this script -echo -e "${BLUE}$(tput bold)[${text_helper}] Connecting to \"${trickire_container}\" container${NC}" -docker exec -it ${trickire_container} /bin/bash +echo -e "${BLUE}$(tput bold)[${text_helper}] Connecting to trickfirerobot container${NC}" +docker exec -it trickfirerobot /bin/bash echo "" \ No newline at end of file diff --git a/kill_trickfirerobot_container.sh b/kill_trickfirerobot_container.sh new file mode 100755 index 0000000..bc75e72 --- /dev/null +++ b/kill_trickfirerobot_container.sh @@ -0,0 +1 @@ +docker container kill trickfirerobot \ No newline at end of file From 3a5fb1459411ffaffb2efaa06558b1fcab5cea6c Mon Sep 17 00:00:00 2001 From: Vladimir kupryukhin Date: Wed, 18 Sep 2024 14:19:06 -0700 Subject: [PATCH 37/50] [launch] added -t for tty --- container_launch.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/container_launch.sh b/container_launch.sh index b2a5f5c..051ea14 100755 --- a/container_launch.sh +++ b/container_launch.sh @@ -40,13 +40,13 @@ fi # If the container does NOT exist OR we force the container to be built if [ ! "$(docker ps -a -q -f name=trickfirerobot)" ]; then echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfirerobot does not exist. Creating${NC}" - docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -i --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -it --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage else echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"trickfirerobot\" does exist${NC}" if [ "$c_flag" = true ]; then echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfire exists. Forcing removal and creation of a new trickfirerobot container${NC}" docker container rm trickfirerobot - docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -t --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -it --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage fi fi From 71b11ad13ec73c46339c2783363625177df217e0 Mon Sep 17 00:00:00 2001 From: Vladimir kupryukhin Date: Wed, 18 Sep 2024 14:30:00 -0700 Subject: [PATCH 38/50] [launch] Added some comments to container_launch.sh --- container_launch.sh | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/container_launch.sh b/container_launch.sh index 051ea14..e844ef5 100755 --- a/container_launch.sh +++ b/container_launch.sh @@ -1,7 +1,15 @@ # /bin/bash +# A script file `./container_launch.sh` that handles connecting to the `trickfirerobot` Docker container. + +# You can add the following flags to the shell script: +# `-b` -> Force build the `trickfireimage`, even if it exists +# `-n` -> Force the `trickfireimage` image to be built without cache +# `-c` -> Force create the `trickfirerobot` container, even if it exists + text_helper="TRICKFIRE DOCKER LAUNCH" +# Colors bold=$(tput bold) BLUE='\033[0;34m' NC='\033[0m' # No Color @@ -10,6 +18,7 @@ b_flag='' # Force build docker container "-b" no_cache_flag='' # Build docker container without cache "-n" c_flag='' # Force create container "-c" +# Read the flags, if any were passed while getopts 'bnc' flag; do case "${flag}" in b) b_flag='true' ;; @@ -23,6 +32,7 @@ done # If the image does NOT exist OR we force the image to be built if [ -z "$(docker images -q trickfireimage:latest 2> /dev/null)" ] || [ "$b_flag" = true ]; then + # Should we build without cache? if [ "$no_cache_flag" = true ]; then echo -e "${BLUE}$(tput bold)[${text_helper}] Building trickfireimage without cache${NC}" docker build --no-cache -t trickfireimage -f .devcontainer/Dockerfile . @@ -43,6 +53,7 @@ if [ ! "$(docker ps -a -q -f name=trickfirerobot)" ]; then docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -it --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage else echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"trickfirerobot\" does exist${NC}" + # Should we remake the container? if [ "$c_flag" = true ]; then echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfire exists. Forcing removal and creation of a new trickfirerobot container${NC}" docker container rm trickfirerobot @@ -51,10 +62,11 @@ else fi fi -#start the container +#Start the container echo -e "${BLUE}$(tput bold)[${text_helper}] Starting trickfirerobot container${NC}" docker container restart trickfirerobot +# Have the container take over the shell that executed this script echo -e "${BLUE}$(tput bold)[${text_helper}] Connecting to trickfirerobot container${NC}" docker exec -it trickfirerobot /bin/bash echo "" \ No newline at end of file From e8ede72cb175a9604f3c3345a7ba602838321d58 Mon Sep 17 00:00:00 2001 From: Vladimir kupryukhin Date: Wed, 18 Sep 2024 14:37:48 -0700 Subject: [PATCH 39/50] Automatically stop the old container from running --- container_launch.sh | 42 +++++++++++++++++++------------- kill_trickfirerobot_container.sh | 1 - 2 files changed, 25 insertions(+), 18 deletions(-) delete mode 100755 kill_trickfirerobot_container.sh diff --git a/container_launch.sh b/container_launch.sh index e844ef5..e85c327 100755 --- a/container_launch.sh +++ b/container_launch.sh @@ -8,6 +8,8 @@ # `-c` -> Force create the `trickfirerobot` container, even if it exists text_helper="TRICKFIRE DOCKER LAUNCH" +trickire_container="trickfirerobot" +trickfire_image="trickfireimage" # Colors bold=$(tput bold) @@ -28,45 +30,51 @@ while getopts 'bnc' flag; do esac done +# --- Shutdown the current trickfirerobot container if it is running +if [ "$( docker container inspect -f '{{.State.Running}}' ${trickire_container} )" = "true" ]; then + echo -e "${BLUE}$(tput bold)[${text_helper}] Shutting down current \"${trickire_container}\" container${NC}" + docker container kill ${trickire_container} +fi + # --- Handle the Docker image --- # If the image does NOT exist OR we force the image to be built -if [ -z "$(docker images -q trickfireimage:latest 2> /dev/null)" ] || [ "$b_flag" = true ]; then +if [ -z "$(docker images -q ${trickire_container}:latest 2> /dev/null)" ] || [ "$b_flag" = true ]; then # Should we build without cache? if [ "$no_cache_flag" = true ]; then - echo -e "${BLUE}$(tput bold)[${text_helper}] Building trickfireimage without cache${NC}" - docker build --no-cache -t trickfireimage -f .devcontainer/Dockerfile . + echo -e "${BLUE}$(tput bold)[${text_helper}] Building \"${trickire_container}\" without cache${NC}" + docker build --no-cache -t ${trickire_container} -f .devcontainer/Dockerfile . else - echo -e "${BLUE}$(tput bold)[${text_helper}] Building trickfireimage with cache${NC}" - docker build -t trickfireimage -f .devcontainer/Dockerfile . + echo -e "${BLUE}$(tput bold)[${text_helper}] Building \"${trickire_container}\" with cache${NC}" + docker build -t ${trickire_container} -f .devcontainer/Dockerfile . fi else - echo -e "${BLUE}$(tput bold)[${text_helper}] Image trickfireimage exists. Skipping${NC}" + echo -e "${BLUE}$(tput bold)[${text_helper}] Image \"${trickire_container}\" exists. Skipping${NC}" fi # Handle the Docker image # If the container does NOT exist OR we force the container to be built -if [ ! "$(docker ps -a -q -f name=trickfirerobot)" ]; then - echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfirerobot does not exist. Creating${NC}" - docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -it --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage +if [ ! "$(docker ps -a -q -f name=${trickire_container})" ]; then + echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"${trickire_container}\" does not exist. Creating${NC}" + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name ${trickire_container} -it --privileged --network=host --workdir /home/trickfire/urc-2023 ${trickire_container} else - echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"trickfirerobot\" does exist${NC}" + echo -e "${BLUE}$(tput bold)[${text_helper}] Container \"${trickire_container}\" does exist${NC}" # Should we remake the container? if [ "$c_flag" = true ]; then - echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfire exists. Forcing removal and creation of a new trickfirerobot container${NC}" - docker container rm trickfirerobot - docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name trickfirerobot -it --privileged --network=host --workdir /home/trickfire/urc-2023 trickfireimage + echo -e "${BLUE}$(tput bold)[${text_helper}] Container trickfire exists. Forcing removal and creation of a new \"${trickire_container}\" container${NC}" + docker container rm ${trickire_container} + docker create --mount type=bind,source="$(pwd)",target="/home/trickfire/urc-2023" --name ${trickire_container} -it --privileged --network=host --workdir /home/trickfire/urc-2023 ${trickire_container} fi fi #Start the container -echo -e "${BLUE}$(tput bold)[${text_helper}] Starting trickfirerobot container${NC}" -docker container restart trickfirerobot +echo -e "${BLUE}$(tput bold)[${text_helper}] Starting \"${trickire_container}\" container${NC}" +docker container restart ${trickire_container} # Have the container take over the shell that executed this script -echo -e "${BLUE}$(tput bold)[${text_helper}] Connecting to trickfirerobot container${NC}" -docker exec -it trickfirerobot /bin/bash +echo -e "${BLUE}$(tput bold)[${text_helper}] Connecting to \"${trickire_container}\" container${NC}" +docker exec -it ${trickire_container} /bin/bash echo "" \ No newline at end of file diff --git a/kill_trickfirerobot_container.sh b/kill_trickfirerobot_container.sh deleted file mode 100755 index bc75e72..0000000 --- a/kill_trickfirerobot_container.sh +++ /dev/null @@ -1 +0,0 @@ -docker container kill trickfirerobot \ No newline at end of file From 67610f40035638c56acb8b810904c642d87b1b03 Mon Sep 17 00:00:00 2001 From: Vladimir Kupryukhin <45701631+VladimirKupryukhin@users.noreply.github.com> Date: Wed, 18 Sep 2024 17:19:46 -0700 Subject: [PATCH 40/50] Adds an Example Node as well as Some Additional Documentation (#63) * [example/docs] Remade coder_overview.md * [example/docs] Added basic example node that has hello world in it * Added example node with timer, pub, sub * Spelling fixes for docs * Removed example_node from the node launch array * [example/docs] Small .md formatting changes and sentence restructure * [example/lib] Update main README.md * Formatted the example.py * [example/docs] add building and testing docs --------- Co-authored-by: loukylor --- src/example_node/package.xml | 18 +++++++++++++++++ src/example_node/setup.py | 24 +++++++++++++++++++++++ src/example_node/test/test_copyright.py | 25 ++++++++++++++++++++++++ src/viator_launch/launch/robot.launch.py | 6 +++++- src/viator_launch/package.xml | 1 - 5 files changed, 72 insertions(+), 2 deletions(-) create mode 100644 src/example_node/package.xml create mode 100644 src/example_node/setup.py create mode 100644 src/example_node/test/test_copyright.py diff --git a/src/example_node/package.xml b/src/example_node/package.xml new file mode 100644 index 0000000..ff37b33 --- /dev/null +++ b/src/example_node/package.xml @@ -0,0 +1,18 @@ + + + + example_node + 0.0.0 + TODO: Package description + trickfire + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/example_node/setup.py b/src/example_node/setup.py new file mode 100644 index 0000000..571f53b --- /dev/null +++ b/src/example_node/setup.py @@ -0,0 +1,24 @@ +from setuptools import find_packages, setup + +package_name = 'example_node' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='trickfire', + maintainer_email='vladimirkupryukhin@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': ["myExampleNode = example_node.example:main"], + }, +) diff --git a/src/example_node/test/test_copyright.py b/src/example_node/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/example_node/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 76070c9..28c938b 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -18,8 +18,12 @@ arm_node = Node(package="arm", executable="arm", name="arm_node") +# This is the example node. It will show ROS timers, subscribers, and publishers +# To include it in the startup, add it to the array in the generate_launch_description() method +example_node = Node(package="example_node", executable="myExampleNode", name="my_example_node") + def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name return launch.LaunchDescription( - [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node] + [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node, example_node] ) diff --git a/src/viator_launch/package.xml b/src/viator_launch/package.xml index 7f08692..58a78d9 100644 --- a/src/viator_launch/package.xml +++ b/src/viator_launch/package.xml @@ -11,7 +11,6 @@ ros2launch mission_control_updater arm - camera example_node From 75d032e7e60c31b8e99e553f7fce3ca3b692adff Mon Sep 17 00:00:00 2001 From: Kyler Li <46853114+loukylor@users.noreply.github.com> Date: Wed, 18 Sep 2024 22:25:04 -0700 Subject: [PATCH 41/50] [doc/example] remove example node from viator lauch (#65) --- src/viator_launch/launch/robot.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 28c938b..7bb35d8 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -25,5 +25,5 @@ def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name return launch.LaunchDescription( - [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node, example_node] + [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node] ) From 0b5094f2673aa6cd240542d4237aeff7fb333587 Mon Sep 17 00:00:00 2001 From: dkim03 Date: Tue, 22 Oct 2024 12:33:39 -0700 Subject: [PATCH 42/50] Hong/heartbeat (#70) * heartbeat: finished heartbeat code [untested] * heartbeat: remove unnecessary file * heartbeat: change initialization wait time from 3s to 10s * heartbeat: tested [on 10/1] --- .vscode/settings.json | 19 +++ src/camera/test/test_copyright.py | 25 ++++ src/heartbeat/heartbeat/__init__.py | 0 src/heartbeat/heartbeat/heartbeat.py | 145 +++++++++++++++++++++++ src/heartbeat/resource/heartbeat | 0 src/heartbeat/setup.cfg | 4 + src/heartbeat/test/test_copyright.py | 29 +++++ src/viator_launch/launch/robot.launch.py | 7 +- src/viator_launch/package.xml | 1 + 9 files changed, 229 insertions(+), 1 deletion(-) create mode 100644 src/camera/test/test_copyright.py create mode 100644 src/heartbeat/heartbeat/__init__.py create mode 100644 src/heartbeat/heartbeat/heartbeat.py create mode 100644 src/heartbeat/resource/heartbeat create mode 100644 src/heartbeat/setup.cfg create mode 100644 src/heartbeat/test/test_copyright.py diff --git a/.vscode/settings.json b/.vscode/settings.json index b077611..01093dc 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -4,11 +4,18 @@ "./src", // Add type checking to srv files and msg files "/home/trickfire/urc-2023/install/custom_interfaces/local/lib/python3.10/dist-packages" + "/opt/ros/humble/lib/python3.10/site-packages", + "./src", + // Add type checking to srv files and msg files + "/home/trickfire/urc-2023/install/custom_interfaces/local/lib/python3.10/dist-packages" ], "python.analysis.extraPaths": [ "/opt/ros/humble/lib/python3.10/site-packages", "./src", "/home/trickfire/urc-2023/install/custom_interfaces/local/lib/python3.10/dist-packages" + "/opt/ros/humble/lib/python3.10/site-packages", + "./src", + "/home/trickfire/urc-2023/install/custom_interfaces/local/lib/python3.10/dist-packages" ], "python.defaultInterpreterPath": "python3", "pylint.args": [ @@ -22,6 +29,18 @@ "editor.formatOnSave": true }, "black-formatter.args": ["-l", "100"], + "python.defaultInterpreterPath": "python3", + "pylint.args": [ + "--rcfile=.pylintrc" + ], + "editor.codeActionsOnSave": { + "source.organizeImports": "explicit" + }, + "[python]": { + "editor.defaultFormatter": "ms-python.black-formatter", + "editor.formatOnSave": true + }, + "black-formatter.args": ["-l", "100"], "cmake.configureOnOpen": false, "cmake.sourceDirectory": "${workspaceFolder}/src/hello_world", "files.associations": { diff --git a/src/camera/test/test_copyright.py b/src/camera/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/camera/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/heartbeat/heartbeat/__init__.py b/src/heartbeat/heartbeat/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/heartbeat/heartbeat/heartbeat.py b/src/heartbeat/heartbeat/heartbeat.py new file mode 100644 index 0000000..fec2511 --- /dev/null +++ b/src/heartbeat/heartbeat/heartbeat.py @@ -0,0 +1,145 @@ +#!/usr/bin/env python3 + +import rclpy +from rclpy.node import Node +from std_msgs.msg import Bool +import time + +import sys +sys.path.append("/home/trickfire/urc-2023/src") + +from lib.color_codes import ColorCodes, colorStr + +from lib.interface.robot_interface import RobotInterface +from lib.interface.robot_info import RobotInfo +from lib import configs + +# Credit: Most of this code is credit to Anna. I (Hong) just +# add some finishing code and clean up the class. + +class Heartbeat(Node): + """ + The Heartbeat is responsible to check the connection status + of the rover and shut down all motors if the connection is lost. + + Args: + Node (Node): ROS Node + """ + + def __init__(self): + """ + Initialize the heartbeat node and provides it with a timer + to keep track of the connection status of the rover. + """ + + # initialize heartbeat node + super().__init__("heartbeat_node") + + # print node name [debug purpose] + self.get_logger().info(colorStr("Launching heartbeat_node", ColorCodes.BLUE_OK)) + + # robot interface: send data + # robot info: retrieve data + # self._robot_info = RobotInfo(self) + self._robot_interface = RobotInterface(self) + + # give enough time (10s) for others to initialize + time.sleep(10) + + # flag to store connection status + self._connection_lost = False + + # create subscription to mission control + self._is_alive_subscriber = self.create_subscription( + Bool, # message type (might change later) + "/heartbeat", # topic name + self.heartbeat_callback, # callback function + 10 # Quality of Service (QoS) profile + ) + + # store the most recent hearbeat time + self._last_heartbeat_time = time.time() + + # check connection every 1 second + self._timer = self.create_timer(1.0, self.check_connection) + + + + def heartbeat_callback(self, msg): + """ + A call back method for the heartbeat everytime the + mission control publish a message indicating that the + connection is still active. + + Args: + msg (Bool): a ROS message type retrieved from the + publisher that indicates the connection + status. + """ + + # self.get_logger().info("heartbeat call back") + + # Update the timestamp of the last received heartbeat message + self._last_heartbeat_time = time.time() + + # Log connection active as before + # doesn't matter the data, pub always pub True + # just check to make sure nothing is wrong with pub + if msg.data == True: + self.get_logger().info(colorStr("Connection active", ColorCodes.GREEN_OK)) + self._connection_lost = False + + + def check_connection(self): + """ + A method for checking the connection status. If the heartbeat + does not receive a message within 1s, meaning the connection was + lost, then it will shut down all motors. + """ + + # Check if the last heartbeat was received more than a threshold ago + if time.time() - self._last_heartbeat_time > 2: # threshold = 2 seconds + # if already shut down motor, don't have to do this again + if self._connection_lost: + return + + self.get_logger().warning(colorStr("Connection lost", ColorCodes.WARNING_YELLOW)) + self._connection_lost = True + + # call the robot interface to stop all motors + self._stop_all_motors() + + + # *************** + # Private helper method + # *************** + def _stop_all_motors(self): + """ + Get all motors from the motor configs file and stop all of them. + """ + + # get all the motors from configs.py + all_motors = configs.MotorConfigs.getAllMotors() + + # loop through each motor and stop it via the robot interface + for motor in all_motors: + self._robot_interface.stopMotor(motor) + + # debug message + self.get_logger().info(colorStr("Stop motor can id" + str(motor.can_id), ColorCodes.FAIL_RED)) + + + # finish [debug message] + self.get_logger().info(colorStr("Stop all motors!", ColorCodes.FAIL_RED)) + + +def main(args=None): + rclpy.init(args=args) + heartbeat_node = Heartbeat() + rclpy.spin(heartbeat_node) + + heartbeat_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + Heartbeat.main() \ No newline at end of file diff --git a/src/heartbeat/resource/heartbeat b/src/heartbeat/resource/heartbeat new file mode 100644 index 0000000..e69de29 diff --git a/src/heartbeat/setup.cfg b/src/heartbeat/setup.cfg new file mode 100644 index 0000000..3a78b4d --- /dev/null +++ b/src/heartbeat/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/heartbeat +[install] +install_scripts=$base/lib/heartbeat diff --git a/src/heartbeat/test/test_copyright.py b/src/heartbeat/test/test_copyright.py new file mode 100644 index 0000000..03df111 --- /dev/null +++ b/src/heartbeat/test/test_copyright.py @@ -0,0 +1,29 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +<<<<<<<< HEAD:src/heartbeat/test/test_copyright.py +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +======== +@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.") +>>>>>>>> 0153dc0 (rebase + updated roscamera.py with on, off functionality instead of toggle and added better documentation, fixed formatting):src/mission_control_updater/test/test_copyright.py +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/src/viator_launch/launch/robot.launch.py b/src/viator_launch/launch/robot.launch.py index 7bb35d8..81f9913 100644 --- a/src/viator_launch/launch/robot.launch.py +++ b/src/viator_launch/launch/robot.launch.py @@ -18,6 +18,11 @@ arm_node = Node(package="arm", executable="arm", name="arm_node") +camera_node = Node(package="camera", executable="roscamera", name="camera_node") + +# This is the example node. It will show ROS timers, subscribers, and publishers +# To include it in the startup, add it to the array in the generate_launch_description() method +example_node = Node(package="example_node", executable="myExampleNode", name="my_example_node") # This is the example node. It will show ROS timers, subscribers, and publishers # To include it in the startup, add it to the array in the generate_launch_description() method example_node = Node(package="example_node", executable="myExampleNode", name="my_example_node") @@ -25,5 +30,5 @@ def generate_launch_description() -> launch.LaunchDescription: # pylint: disable=invalid-name return launch.LaunchDescription( - [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node] + [can_moteus_node, drivebase_node, mission_control_updater_node, arm_node, camera_node] ) diff --git a/src/viator_launch/package.xml b/src/viator_launch/package.xml index 58a78d9..7f08692 100644 --- a/src/viator_launch/package.xml +++ b/src/viator_launch/package.xml @@ -11,6 +11,7 @@ ros2launch mission_control_updater arm + camera example_node From 8548751cb469459527de7e8744a8b12b20c02ba8 Mon Sep 17 00:00:00 2001 From: David Kim Date: Fri, 25 Oct 2024 13:16:03 -0700 Subject: [PATCH 43/50] added the missing Docker modules in the Dockerfile for OpenCV and cv_bridge --- .devcontainer/Dockerfile | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 6fe2b1c..0502240 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -15,15 +15,24 @@ RUN apt-get update && apt-get install -y \ can-utils \ iproute2 \ kmod \ + # Used for cv_bridge + python3-numpy \ + libboost-python-dev \ + # OpenCV + libopencv-dev \ + python3-opencv \ # Clean out the apt lists after `apt-get update` && rm -rf /var/lib/apt/lists/* -#Install moteus python library https://github.com/mjbots/moteus/tree/main/lib/python +# Install moteus python library https://github.com/mjbots/moteus/tree/main/lib/python RUN pip3 install moteus RUN pip3 install pyusb +# Install OpenCV for python +RUN pip3 install opencv-python + # Update pydocstyle to remove a deprecation warning when testing for PEP257 RUN pip install --upgrade pydocstyle From 6c78982e53986977f0ceafc8cd4a8b99a331cf47 Mon Sep 17 00:00:00 2001 From: TrickFire Robotics Date: Mon, 25 Nov 2024 15:17:39 -0800 Subject: [PATCH 44/50] Final Luncheon code --- src/arm/arm/individual_control_vel.py | 2 +- src/camera/camera/roscamera.py | 2 +- src/camera/camera/roscamera.py.save | 162 ++++++++++++++++++++++++++ src/lib/configs.py | 8 +- 4 files changed, 170 insertions(+), 4 deletions(-) create mode 100644 src/camera/camera/roscamera.py.save diff --git a/src/arm/arm/individual_control_vel.py b/src/arm/arm/individual_control_vel.py index dfefb52..83c8ce3 100644 --- a/src/arm/arm/individual_control_vel.py +++ b/src/arm/arm/individual_control_vel.py @@ -176,7 +176,7 @@ def turntableCW(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Turntable clock wise") - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, self.VEL) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, self.VEL * 0.5) else: self._ros_node.get_logger().info("Turntable STOP") diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index a6de338..f814d68 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -57,7 +57,7 @@ def __init__(self, topicName: str, camera: int): # We will publish a message every 0.1 seconds # timer_period = 0.1 # seconds - timer_period = 2 # seconds + timer_period = 0.1 # seconds # Create the timer self.timer = self.create_timer(timer_period, self.publishCameraFrame) diff --git a/src/camera/camera/roscamera.py.save b/src/camera/camera/roscamera.py.save new file mode 100644 index 0000000..f82abf4 --- /dev/null +++ b/src/camera/camera/roscamera.py.save @@ -0,0 +1,162 @@ +from pathlib import Path + +import cv2 # OpenCV library +import rclpy # Python Client Library for ROS 2 +from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images +from rclpy.executors import MultiThreadedExecutor +from rclpy.node import Node # Handles the creation of nodes +from sensor_msgs.msg import CompressedImage # Image is the message type +from std_msgs.msg import String + +""" +Function returns a list of working camera IDs to capture every camera connected to the robot +""" + + +def getCameras() -> list[int]: + nonWorkingPorts = 0 + devPort = 0 + workingPorts = [] + + while nonWorkingPorts < 6: + camera = cv2.VideoCapture(devPort) + if not camera.isOpened(): + nonWorkingPorts += 1 + else: + isReading, img = camera.read() + _ = camera.get(3) + _ = camera.get(4) + if isReading: + workingPorts.append(devPort) + + devPort += 1 + + return workingPorts + + +class RosCamera(Node): + + def __init__(self, topicName: str, camera: int): + super().__init__("ros_camera") + self.get_logger().info("Launching ros_camera node") + + # Create the publisher. This publisher will publish an Image + # to the video_frames topic. The queue size is 10 messages. + self._publisher = self.create_publisher(CompressedImage, topicName, 10) + self.get_logger().info("Created Publisher " + topicName) + + # Create a subscription to read 'camera_control' topic from + # mission control. Topic messages are Strings. + # ex. topic message: "0 off", "0 on" + # The topic message should always have the corresponding camera number + # at the first index of each message. + subTopicName = "camera_control" + self.subscription = self.create_subscription(String, subTopicName, self.setCameraState, 10) + self.subscription + self.get_logger().info("Created Subscription to" + subTopicName) + + # We will publish a message every 0.1 seconds + # timer_period = 0.1 # seconds + timer_period = 0.1 + # seconds + + # Create the timer + self.timer = self.create_timer(timer_period, self.publishCameraFrame) + + # Create a VideoCapture object + # The argument '0' gets the default webcam. + self.cap = cv2.VideoCapture(camera) + self.get_logger().info( + "Using video ID: " + str(camera) + ", ON: " + str(self.cap.isOpened()) + ) + + # Used to convert between ROS and OpenCV images + self.br = CvBridge() + + # Declare parameters for each 'ros_camera' node thread + self.declare_parameter("cameraNumber", camera) + self.declare_parameter("isOn", True) + + """ + Callback function publishes a frame captured from a camera to /video_framesX (X is specific + camera ID) every 0.1 seconds + """ + + def publishCameraFrame(self): + # Capture frame-by-frame + # This method returns True/False as well as the video frame. + ret, frame = self.cap.read() + + # Get bool parameter, isOn, and check the state of the camera to publish frame or not + # Value of isOn is controlled by setCameraState() + isOn = bool(self.get_parameter("isOn")._value) + if ret and isOn: + # Publish the image. + self._publisher.publish(self.br.cv2_to_compressed_imgmsg(frame)) + + """ + Function reads str msgs from topic, 'camera_control' (published by mission control), and + turns on/off the periodic publishing of frames by a certain camera + + Function is called whenever a msg is published to 'camera_control' + + Function assumes str msgs sent to 'camera_control' begin with a number and ends with an 'f' + (meaning off) or 'n' (meaning on) + ex. + "0 off" -> to turn off camera with id=0 + "2 on" -> to turn on camera with id=2 + """ + + def setCameraState(self, msg) -> None: + # Check if this specific camera is targeted by mission control, stop the function otherwise + cameraNumber = int(self.get_parameter("cameraNumber")._value) + if int(msg.data[0]) != cameraNumber: + return + + # Check if the desired camera state is already fulfilled, print and stop the function if so + cameraOn = bool(self.get_parameter("isOn")._value) + if str(msg.data[-1]) == "f" and not cameraOn: + self.get_logger().info("camera" + str(cameraNumber) + " is already off!") + return + elif str(msg.data[-1]) == "n" and cameraOn: + self.get_logger().info("camera" + str(cameraNumber) + " is already on!") + return + + # Set isOn bool parameter to either stop or restart the publishing of frames + self.undeclare_parameter("isOn") + if str(msg.data[-1]) == "f": + # self.get_logger().info("turning camera" + str(cameraNumber) + " off!") + self.declare_parameter("isOn", False) + else: + # self.get_logger().info("turning camera" + str(cameraNumber) + " on!") + self.declare_parameter("isOn", True) + + +def main(args=None): + rclpy.init(args=args) + try: + # We need an executor because running .spin() is a blocking function. + # using the MultiThreadedExecutor, we can control multiple nodes + executor = MultiThreadedExecutor() + nodes = [] + cameraNum = 0 + + for cameraID in getCameras(): + node = RosCamera("video_frames" + str(cameraNum), cameraID) + nodes.append(node) + executor.add_node(node) + cameraNum += 1 + + try: + executor.spin() + finally: + executor.shutdown() + for node in nodes: + node.destroy_node() + + finally: + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/src/lib/configs.py b/src/lib/configs.py index 77a6dce..b0a34a3 100644 --- a/src/lib/configs.py +++ b/src/lib/configs.py @@ -142,6 +142,7 @@ class MotorConfigs: "servo.max_voltage": 56.0, "servopos.position_min": math.nan, "servopos.position_max": math.nan, + "servo.default_timeout_s": 0.5, }, ) ARM_ELBOW_MOTOR = MoteusMotorConfig( @@ -159,13 +160,16 @@ class MotorConfigs: "servopos.position_max": 0.0, }, ) - ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3, config={}) + ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3, config={ + "servopos.position_min": math.nan, + "servopos.position_max": math.nan, + }) ARM_RIGHT_WRIST_MOTOR = MoteusMotorConfig(can_id=4, config={}) ARM_TURNTABLE_MOTOR = MoteusMotorConfig( can_id=5, config={ "motor_position.rotor_to_output_ratio": 0.030581, - "servo.pid_position.kp": 16.0, + "servo.pid_position.kp": 1000.0, "servo.pid_position.ki": 0.0, "servo.pid_position.kd": 1.0, "servo.max_current_A": 10.0, From 9cf64e8a37cd2d9d0d8c51822d46dac7e3cdaf33 Mon Sep 17 00:00:00 2001 From: uellenberg Date: Fri, 10 Jan 2025 18:21:41 -0800 Subject: [PATCH 45/50] Cleanup --- .devcontainer/devcontainer.json | 2 +- src/arm/arm/individual_control_vel.py | 2 +- src/camera/camera/roscamera.py.save | 162 -------------------------- src/lib/configs.py | 8 +- 4 files changed, 4 insertions(+), 170 deletions(-) delete mode 100644 src/camera/camera/roscamera.py.save diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 035ae15..f2069ab 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -7,7 +7,7 @@ "workspaceFolder": "/home/trickfire/${localWorkspaceFolderBasename}", "runArgs": [ "--cap-add=SYS_PTRACE", - //"--device=/dev/ttyUSB0", + "--device=/dev/video0", "--security-opt", "seccomp=unconfined" ], "customizations": { diff --git a/src/arm/arm/individual_control_vel.py b/src/arm/arm/individual_control_vel.py index 83c8ce3..dfefb52 100644 --- a/src/arm/arm/individual_control_vel.py +++ b/src/arm/arm/individual_control_vel.py @@ -176,7 +176,7 @@ def turntableCW(self, msg: Float32) -> None: if data > 0: self._ros_node.get_logger().info("Turntable clock wise") - self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, self.VEL * 0.5) + self.bot_interface.runMotorSpeed(MotorConfigs.ARM_TURNTABLE_MOTOR, self.VEL) else: self._ros_node.get_logger().info("Turntable STOP") diff --git a/src/camera/camera/roscamera.py.save b/src/camera/camera/roscamera.py.save deleted file mode 100644 index f82abf4..0000000 --- a/src/camera/camera/roscamera.py.save +++ /dev/null @@ -1,162 +0,0 @@ -from pathlib import Path - -import cv2 # OpenCV library -import rclpy # Python Client Library for ROS 2 -from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images -from rclpy.executors import MultiThreadedExecutor -from rclpy.node import Node # Handles the creation of nodes -from sensor_msgs.msg import CompressedImage # Image is the message type -from std_msgs.msg import String - -""" -Function returns a list of working camera IDs to capture every camera connected to the robot -""" - - -def getCameras() -> list[int]: - nonWorkingPorts = 0 - devPort = 0 - workingPorts = [] - - while nonWorkingPorts < 6: - camera = cv2.VideoCapture(devPort) - if not camera.isOpened(): - nonWorkingPorts += 1 - else: - isReading, img = camera.read() - _ = camera.get(3) - _ = camera.get(4) - if isReading: - workingPorts.append(devPort) - - devPort += 1 - - return workingPorts - - -class RosCamera(Node): - - def __init__(self, topicName: str, camera: int): - super().__init__("ros_camera") - self.get_logger().info("Launching ros_camera node") - - # Create the publisher. This publisher will publish an Image - # to the video_frames topic. The queue size is 10 messages. - self._publisher = self.create_publisher(CompressedImage, topicName, 10) - self.get_logger().info("Created Publisher " + topicName) - - # Create a subscription to read 'camera_control' topic from - # mission control. Topic messages are Strings. - # ex. topic message: "0 off", "0 on" - # The topic message should always have the corresponding camera number - # at the first index of each message. - subTopicName = "camera_control" - self.subscription = self.create_subscription(String, subTopicName, self.setCameraState, 10) - self.subscription - self.get_logger().info("Created Subscription to" + subTopicName) - - # We will publish a message every 0.1 seconds - # timer_period = 0.1 # seconds - timer_period = 0.1 - # seconds - - # Create the timer - self.timer = self.create_timer(timer_period, self.publishCameraFrame) - - # Create a VideoCapture object - # The argument '0' gets the default webcam. - self.cap = cv2.VideoCapture(camera) - self.get_logger().info( - "Using video ID: " + str(camera) + ", ON: " + str(self.cap.isOpened()) - ) - - # Used to convert between ROS and OpenCV images - self.br = CvBridge() - - # Declare parameters for each 'ros_camera' node thread - self.declare_parameter("cameraNumber", camera) - self.declare_parameter("isOn", True) - - """ - Callback function publishes a frame captured from a camera to /video_framesX (X is specific - camera ID) every 0.1 seconds - """ - - def publishCameraFrame(self): - # Capture frame-by-frame - # This method returns True/False as well as the video frame. - ret, frame = self.cap.read() - - # Get bool parameter, isOn, and check the state of the camera to publish frame or not - # Value of isOn is controlled by setCameraState() - isOn = bool(self.get_parameter("isOn")._value) - if ret and isOn: - # Publish the image. - self._publisher.publish(self.br.cv2_to_compressed_imgmsg(frame)) - - """ - Function reads str msgs from topic, 'camera_control' (published by mission control), and - turns on/off the periodic publishing of frames by a certain camera - - Function is called whenever a msg is published to 'camera_control' - - Function assumes str msgs sent to 'camera_control' begin with a number and ends with an 'f' - (meaning off) or 'n' (meaning on) - ex. - "0 off" -> to turn off camera with id=0 - "2 on" -> to turn on camera with id=2 - """ - - def setCameraState(self, msg) -> None: - # Check if this specific camera is targeted by mission control, stop the function otherwise - cameraNumber = int(self.get_parameter("cameraNumber")._value) - if int(msg.data[0]) != cameraNumber: - return - - # Check if the desired camera state is already fulfilled, print and stop the function if so - cameraOn = bool(self.get_parameter("isOn")._value) - if str(msg.data[-1]) == "f" and not cameraOn: - self.get_logger().info("camera" + str(cameraNumber) + " is already off!") - return - elif str(msg.data[-1]) == "n" and cameraOn: - self.get_logger().info("camera" + str(cameraNumber) + " is already on!") - return - - # Set isOn bool parameter to either stop or restart the publishing of frames - self.undeclare_parameter("isOn") - if str(msg.data[-1]) == "f": - # self.get_logger().info("turning camera" + str(cameraNumber) + " off!") - self.declare_parameter("isOn", False) - else: - # self.get_logger().info("turning camera" + str(cameraNumber) + " on!") - self.declare_parameter("isOn", True) - - -def main(args=None): - rclpy.init(args=args) - try: - # We need an executor because running .spin() is a blocking function. - # using the MultiThreadedExecutor, we can control multiple nodes - executor = MultiThreadedExecutor() - nodes = [] - cameraNum = 0 - - for cameraID in getCameras(): - node = RosCamera("video_frames" + str(cameraNum), cameraID) - nodes.append(node) - executor.add_node(node) - cameraNum += 1 - - try: - executor.spin() - finally: - executor.shutdown() - for node in nodes: - node.destroy_node() - - finally: - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/src/lib/configs.py b/src/lib/configs.py index b0a34a3..77a6dce 100644 --- a/src/lib/configs.py +++ b/src/lib/configs.py @@ -142,7 +142,6 @@ class MotorConfigs: "servo.max_voltage": 56.0, "servopos.position_min": math.nan, "servopos.position_max": math.nan, - "servo.default_timeout_s": 0.5, }, ) ARM_ELBOW_MOTOR = MoteusMotorConfig( @@ -160,16 +159,13 @@ class MotorConfigs: "servopos.position_max": 0.0, }, ) - ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3, config={ - "servopos.position_min": math.nan, - "servopos.position_max": math.nan, - }) + ARM_LEFT_WRIST_MOTOR = MoteusMotorConfig(can_id=3, config={}) ARM_RIGHT_WRIST_MOTOR = MoteusMotorConfig(can_id=4, config={}) ARM_TURNTABLE_MOTOR = MoteusMotorConfig( can_id=5, config={ "motor_position.rotor_to_output_ratio": 0.030581, - "servo.pid_position.kp": 1000.0, + "servo.pid_position.kp": 16.0, "servo.pid_position.ki": 0.0, "servo.pid_position.kd": 1.0, "servo.max_current_A": 10.0, From 451bc55d92e3197f23d74f010ca311a6f3c952a5 Mon Sep 17 00:00:00 2001 From: uellenberg Date: Fri, 17 Jan 2025 09:24:40 +0000 Subject: [PATCH 46/50] Further cleanup --- src/camera/camera/roscamera.py | 109 +++++++++++++++++---------------- 1 file changed, 56 insertions(+), 53 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index f814d68..14dd635 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -1,5 +1,3 @@ -from pathlib import Path - import cv2 # OpenCV library import rclpy # Python Client Library for ROS 2 from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images @@ -8,30 +6,30 @@ from sensor_msgs.msg import CompressedImage # Image is the message type from std_msgs.msg import String -""" -Function returns a list of working camera IDs to capture every camera connected to the robot -""" - def getCameras() -> list[int]: - nonWorkingPorts = 0 - devPort = 0 - workingPorts = [] + """ + Function returns a list of working camera IDs to capture every camera connected to the robot + """ - while nonWorkingPorts < 6: - camera = cv2.VideoCapture(devPort) + non_working_ports = 0 + dev_port = 0 + working_ports = [] + + while non_working_ports < 6: + camera = cv2.VideoCapture(dev_port) if not camera.isOpened(): - nonWorkingPorts += 1 + non_working_ports += 1 else: - isReading, img = camera.read() + is_reading, img = camera.read() _ = camera.get(3) _ = camera.get(4) - if isReading: - workingPorts.append(devPort) + if is_reading: + working_ports.append(dev_port) - devPort += 1 + dev_port += 1 - return workingPorts + return working_ports class RosCamera(Node): @@ -50,10 +48,11 @@ def __init__(self, topicName: str, camera: int): # ex. topic message: "0 off", "0 on" # The topic message should always have the corresponding camera number # at the first index of each message. - subTopicName = "camera_control" - self.subscription = self.create_subscription(String, subTopicName, self.setCameraState, 10) - self.subscription - self.get_logger().info("Created Subscription to" + subTopicName) + sub_topic_name = "camera_control" + self.subscription = self.create_subscription( + String, sub_topic_name, self.setCameraState, 10 + ) + self.get_logger().info("Created Subscription to" + sub_topic_name) # We will publish a message every 0.1 seconds # timer_period = 0.1 # seconds @@ -76,49 +75,49 @@ def __init__(self, topicName: str, camera: int): self.declare_parameter("cameraNumber", camera) self.declare_parameter("isOn", True) - """ - Callback function publishes a frame captured from a camera to /video_framesX (X is specific - camera ID) every 0.1 seconds - """ + def publishCameraFrame(self) -> None: + """ + Callback function publishes a frame captured from a camera to /video_framesX (X is specific + camera ID) every 0.1 seconds + """ - def publishCameraFrame(self): # Capture frame-by-frame # This method returns True/False as well as the video frame. ret, frame = self.cap.read() # Get bool parameter, isOn, and check the state of the camera to publish frame or not # Value of isOn is controlled by setCameraState() - isOn = bool(self.get_parameter("isOn")._value) - if ret and isOn: + is_on = bool(self.get_parameter("isOn")._value) + if ret and is_on: # Publish the image. self._publisher.publish(self.br.cv2_to_compressed_imgmsg(frame)) - """ - Function reads str msgs from topic, 'camera_control' (published by mission control), and - turns on/off the periodic publishing of frames by a certain camera - - Function is called whenever a msg is published to 'camera_control' - - Function assumes str msgs sent to 'camera_control' begin with a number and ends with an 'f' - (meaning off) or 'n' (meaning on) - ex. - "0 off" -> to turn off camera with id=0 - "2 on" -> to turn on camera with id=2 - """ + def setCameraState(self, msg: String) -> None: + """ + Function reads str msgs from topic, 'camera_control' (published by mission control), and + turns on/off the periodic publishing of frames by a certain camera + + Function is called whenever a msg is published to 'camera_control' + + Function assumes str msgs sent to 'camera_control' begin with a number and ends with an 'f' + (meaning off) or 'n' (meaning on) + ex. + "0 off" -> to turn off camera with id=0 + "2 on" -> to turn on camera with id=2 + """ - def setCameraState(self, msg) -> None: # Check if this specific camera is targeted by mission control, stop the function otherwise - cameraNumber = int(self.get_parameter("cameraNumber")._value) - if int(msg.data[0]) != cameraNumber: + camera_number = int(self.get_parameter("cameraNumber")._value) + if int(msg.data[0]) != camera_number: return # Check if the desired camera state is already fulfilled, print and stop the function if so - cameraOn = bool(self.get_parameter("isOn")._value) - if str(msg.data[-1]) == "f" and not cameraOn: - self.get_logger().info("camera" + str(cameraNumber) + " is already off!") + camera_on = bool(self.get_parameter("isOn")._value) + if str(msg.data[-1]) == "f" and not camera_on: + self.get_logger().info("camera" + str(camera_number) + " is already off!") return - elif str(msg.data[-1]) == "n" and cameraOn: - self.get_logger().info("camera" + str(cameraNumber) + " is already on!") + elif str(msg.data[-1]) == "n" and camera_on: + self.get_logger().info("camera" + str(camera_number) + " is already on!") return # Set isOn bool parameter to either stop or restart the publishing of frames @@ -131,20 +130,24 @@ def setCameraState(self, msg) -> None: self.declare_parameter("isOn", True) -def main(args=None): +def main(args: list[str] | None = None) -> None: + """ + The entry point of the node. + """ + rclpy.init(args=args) try: # We need an executor because running .spin() is a blocking function. # using the MultiThreadedExecutor, we can control multiple nodes executor = MultiThreadedExecutor() nodes = [] - cameraNum = 0 + camera_num = 0 - for cameraID in getCameras(): - node = RosCamera("video_frames" + str(cameraNum), cameraID) + for camera_id in getCameras(): + node = RosCamera("video_frames" + str(camera_num), camera_id) nodes.append(node) executor.add_node(node) - cameraNum += 1 + camera_num += 1 try: executor.spin() From 946b279161e239b81810ccc201b686d581c8f0d2 Mon Sep 17 00:00:00 2001 From: Jonah Uellenberg Date: Fri, 17 Jan 2025 01:29:01 -0800 Subject: [PATCH 47/50] Update workflow to work with submodules --- .github/workflows/lint.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 32f464b..aa60c2a 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -7,6 +7,8 @@ jobs: runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 + with: + submodules: true # Black has a first-party ci/cd solution doesn't require python or setup, so use that # before running setup. - name: Run Black From f4fe9feb7c5f0ca06f08a9c66ea414adfeb83ecb Mon Sep 17 00:00:00 2001 From: Jonah Uellenberg Date: Fri, 17 Jan 2025 01:35:28 -0800 Subject: [PATCH 48/50] Fix workflow erroring on vision_opencv --- .github/workflows/lint.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index aa60c2a..7c3735c 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -14,7 +14,7 @@ jobs: - name: Run Black uses: psf/black@stable with: - options: "--check --verbose" + options: "--check --verbose --exclude vision_opencv" src: "./src" version: 24.8.0 - name: Setup Python @@ -28,7 +28,7 @@ jobs: - name: Run Pylint # Ignoring ros packages is unideal, but installing them as packages is not trivial run: | - pylint --fail-under=8 --ignored-modules=rclpy,std_msgs,ament_copyright,ament_flake8,pytest,launch ./src + pylint --fail-under=8 --ignored-modules=rclpy,std_msgs,ament_copyright,ament_flake8,pytest,launch,vision_opencv --ignore-paths=vision_opencv ./src - name: Run Mypy run: | - mypy --exclude /test/ --exclude setup\.py ./src + mypy --exclude /test/ --exclude setup\.py --exclude vision_opencv ./src From 849fb875c526ddf9e78dc5c898b7f00aa580f2b3 Mon Sep 17 00:00:00 2001 From: Jonah Uellenberg Date: Fri, 17 Jan 2025 01:39:23 -0800 Subject: [PATCH 49/50] Fix pylint --- .github/workflows/lint.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 7c3735c..7c38a3e 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -28,7 +28,7 @@ jobs: - name: Run Pylint # Ignoring ros packages is unideal, but installing them as packages is not trivial run: | - pylint --fail-under=8 --ignored-modules=rclpy,std_msgs,ament_copyright,ament_flake8,pytest,launch,vision_opencv --ignore-paths=vision_opencv ./src + pylint --fail-under=8 --ignored-modules=rclpy,std_msgs,ament_copyright,ament_flake8,pytest,launch,vision_opencv --ignore-paths=^src/vision_opencv.*$ ./src - name: Run Mypy run: | mypy --exclude /test/ --exclude setup\.py --exclude vision_opencv ./src From 5b1b786f5337a7650feafbf3b5c32e8b2367bbdf Mon Sep 17 00:00:00 2001 From: uellenberg Date: Fri, 17 Jan 2025 23:01:05 +0000 Subject: [PATCH 50/50] Remove old camera on/off functionality --- src/camera/camera/roscamera.py | 55 +--------------------------------- 1 file changed, 1 insertion(+), 54 deletions(-) diff --git a/src/camera/camera/roscamera.py b/src/camera/camera/roscamera.py index 14dd635..ee721a0 100644 --- a/src/camera/camera/roscamera.py +++ b/src/camera/camera/roscamera.py @@ -4,7 +4,6 @@ from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node # Handles the creation of nodes from sensor_msgs.msg import CompressedImage # Image is the message type -from std_msgs.msg import String def getCameras() -> list[int]: @@ -43,17 +42,6 @@ def __init__(self, topicName: str, camera: int): self._publisher = self.create_publisher(CompressedImage, topicName, 10) self.get_logger().info("Created Publisher " + topicName) - # Create a subscription to read 'camera_control' topic from - # mission control. Topic messages are Strings. - # ex. topic message: "0 off", "0 on" - # The topic message should always have the corresponding camera number - # at the first index of each message. - sub_topic_name = "camera_control" - self.subscription = self.create_subscription( - String, sub_topic_name, self.setCameraState, 10 - ) - self.get_logger().info("Created Subscription to" + sub_topic_name) - # We will publish a message every 0.1 seconds # timer_period = 0.1 # seconds timer_period = 0.1 # seconds @@ -73,7 +61,6 @@ def __init__(self, topicName: str, camera: int): # Declare parameters for each 'ros_camera' node thread self.declare_parameter("cameraNumber", camera) - self.declare_parameter("isOn", True) def publishCameraFrame(self) -> None: """ @@ -85,50 +72,10 @@ def publishCameraFrame(self) -> None: # This method returns True/False as well as the video frame. ret, frame = self.cap.read() - # Get bool parameter, isOn, and check the state of the camera to publish frame or not - # Value of isOn is controlled by setCameraState() - is_on = bool(self.get_parameter("isOn")._value) - if ret and is_on: + if ret: # Publish the image. self._publisher.publish(self.br.cv2_to_compressed_imgmsg(frame)) - def setCameraState(self, msg: String) -> None: - """ - Function reads str msgs from topic, 'camera_control' (published by mission control), and - turns on/off the periodic publishing of frames by a certain camera - - Function is called whenever a msg is published to 'camera_control' - - Function assumes str msgs sent to 'camera_control' begin with a number and ends with an 'f' - (meaning off) or 'n' (meaning on) - ex. - "0 off" -> to turn off camera with id=0 - "2 on" -> to turn on camera with id=2 - """ - - # Check if this specific camera is targeted by mission control, stop the function otherwise - camera_number = int(self.get_parameter("cameraNumber")._value) - if int(msg.data[0]) != camera_number: - return - - # Check if the desired camera state is already fulfilled, print and stop the function if so - camera_on = bool(self.get_parameter("isOn")._value) - if str(msg.data[-1]) == "f" and not camera_on: - self.get_logger().info("camera" + str(camera_number) + " is already off!") - return - elif str(msg.data[-1]) == "n" and camera_on: - self.get_logger().info("camera" + str(camera_number) + " is already on!") - return - - # Set isOn bool parameter to either stop or restart the publishing of frames - self.undeclare_parameter("isOn") - if str(msg.data[-1]) == "f": - # self.get_logger().info("turning camera" + str(cameraNumber) + " off!") - self.declare_parameter("isOn", False) - else: - # self.get_logger().info("turning camera" + str(cameraNumber) + " on!") - self.declare_parameter("isOn", True) - def main(args: list[str] | None = None) -> None: """

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