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Ros2 Migration Maanas Kotha #1177

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23 changes: 11 additions & 12 deletions mil_common/drivers/mil_pneumatic_actuator/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,18 +1,17 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.5)
project(mil_pneumatic_actuator)

find_package(catkin REQUIRED COMPONENTS
message_generation
rospy
)
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)

catkin_python_setup()
# Set C++ standard
set(CMAKE_CXX_STANDARD 14)

add_service_files(
FILES
SetValve.srv
# Generate ROS interfaces
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SetValve.srv"
)

generate_messages()

catkin_package(CATKIN_DEPENDS message_runtime)
ament_export_dependencies(rosidl_default_runtime)
ament_package()
94 changes: 43 additions & 51 deletions mil_common/drivers/mil_pneumatic_actuator/launch/example.launch
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Original file line number Diff line number Diff line change
@@ -1,52 +1,44 @@
<launch>
<param name="/is_simulation" value="True" />
<node pkg="mil_pneumatic_actuator" type="pneumatic_actuator_node" name="actuator_driver" output="screen">
<param name="port" value="/dev/serial/by-id/usb-MIL_Data_Merge_Board_Ports_5_to_8_DMBP58-if00-port0"/>
<rosparam param="actuators">
# Stores information about each actuator.
# Each actuator can be up to 2 physical valves (such as an extend/retract for a piston)
# Actuators can be of type 'set' (open / close atomically) or 'pulse' (open for a short time, then close)
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import SetParameter

# Simplest configuration, sets up a 'set' actuator where true opens id 7 and false closes id 7
my_actuator: 7

# Example of a pulse actuator, will open 1 for 1 second then close
torpedo1:
type: 'pulse'
ports:
open_port:
id: 1
default: 0
close_port:
id: -1
default: 0
pulse_time: 1

# Example of a pulse actuator with 2 valves. When pulse, 3 opens and 4 closes, then both switch after 1 second
dropper:
type: 'pulse'
ports:
open_port:
# Drops
id: 3
default: 0
close_port:
# Reloads
id: 4
default: 1
pulse_time: 1

# Example of a 'set 'actuator with 2 valves. When set true, 6 closes and 5 opens. When false, 6 opens and 5 closes.
gripper:
type: 'set'
ports:
open_port:
id: 6
default: 1
close_port:
id: 5
default: 0
pulse_time: 1
</rosparam>
</node>
</launch>
def generate_launch_description():
return LaunchDescription([
SetParameter(name='/is_simulation', value='True'),
Node(
package='mil_pneumatic_actuator',
executable='pneumatic_actuator_node',
name='actuator_driver',
output='screen',
parameters=[{
'port': '/dev/serial/by-id/usb-MIL_Data_Merge_Board_Ports_5_to_8_DMBP58-if00-port0',
'actuators': {
'my_actuator': 7,
'torpedo1': {
'type': 'pulse',
'ports': {
'open_port': {'id': 1, 'default': 0},
'close_port': {'id': -1, 'default': 0}
},
'pulse_time': 1
},
'dropper': {
'type': 'pulse',
'ports': {
'open_port': {'id': 3, 'default': 0},
'close_port': {'id': 4, 'default': 1}
},
'pulse_time': 1
},
'gripper': {
'type': 'set',
'ports': {
'open_port': {'id': 6, 'default': 1},
'close_port': {'id': 5, 'default': 0}
},
'pulse_time': 1
}
}
}]
)
])
36 changes: 33 additions & 3 deletions mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/board.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#!/usr/bin/env python3
import threading
import threading #ros2
from typing import Optional

import serial
Expand All @@ -10,6 +10,8 @@

lock = threading.Lock()

import rclpy
from rclpy.node import Node

class PnuematicActuatorDriverError(Exception):
"""
Expand Down Expand Up @@ -65,7 +67,7 @@ def __init__(self):
super().__init__(message)


class PnuematicActuatorDriver:
class PnuematicActuatorDriver(Node):
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Why is this a node now?

"""
Allows high level ROS code to interface with Daniel's pneumatics board.

Expand All @@ -77,7 +79,6 @@ class PnuematicActuatorDriver:
design documentation.
"""

# TODO: Add a function to try and reconnect to the serial port if we lose connection.

def __init__(self, port: str, baud: int = 9600, simulated: bool = False):
"""
Expand All @@ -87,6 +88,8 @@ def __init__(self, port: str, baud: int = 9600, simulated: bool = False):
simulated (bool): Whether to use a simulated actuator board class
or an interface to the physical board.
"""
super().__init__('pneumatic_actuator_driver')

if simulated:
self.ser = SimulatedPnuematicActuatorBoard()
else:
Expand Down Expand Up @@ -205,6 +208,17 @@ def get_port(self, port: int) -> int:
"""
Reads the data at a specific port.

Args:
port (int): The port to read from.

Raises:
PnuematicActuatorDriverResponseError: The expected response from the board
was not received.
PnuematicActuatorDriverChecksumError: The checksum expected and the checksum
received were not the same def get_port(self, port: int) -> int:
"""
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Quotations are broken

Reads the data at a specific port.

Args:
port (int): The port to read from.

Expand Down Expand Up @@ -236,3 +250,19 @@ def ping(self) -> int:
int: The response from the board.
"""
return self._send_request(Constants.PING_REQUEST, Constants.PING_RESPONSE)

def main(args=None):
rclpy.init(args=args)

node = PnuematicActuatorDriver(port='/dev/ttyUSB0', baud=9600, simulated=False)

try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
finally:
node.destroy_node()
rclpy.shutdown()

if __name__ == '__main__':
main()
20 changes: 11 additions & 9 deletions mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/simulated_board.py
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Original file line number Diff line number Diff line change
@@ -1,17 +1,19 @@
#!/usr/bin/env python3
import rospy
import rclpy
from rclpy.node import Node
from mil_misc_tools.serial_tools import SimulatedSerial

from .constants import Constants


class SimulatedPnuematicActuatorBoard(SimulatedSerial):
class SimulatedPnuematicActuatorBoard(SimulatedSerial, Node):
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Why is this a node now?

"""
A simulation of the pneumatic actuator board's serial protocol
"""

def __init__(self, *args, **kwargs):
super().__init__()
Node.__init__(self, 'simulated_pneumatic_actuator_board')
SimulatedSerial.__init__(self)

def write(self, data: bytes):
"""
Expand All @@ -20,16 +22,16 @@ def write(self, data: bytes):
request = Constants.deserialize_packet(data)
request = request[0]
if request == Constants.PING_REQUEST:
# rospy.loginfo("Ping received")
# self.get_logger().info("Ping received")
byte = Constants.PING_RESPONSE
elif request > 0x20 and request < 0x30:
rospy.loginfo(f"Open port {request - 0x20}")
elif 0x20 < request < 0x30:
self.get_logger().info(f"Open port {request - 0x20}")
byte = Constants.OPEN_RESPONSE
elif request > 0x30 and request < 0x40:
rospy.loginfo(f"Close port {request - 0x30}")
elif 0x30 < request < 0x40:
self.get_logger().info(f"Close port {request - 0x30}")
byte = Constants.CLOSE_RESPONSE
else:
rospy.loginfo("Default")
self.get_logger().info("Default")
byte = 0x00
self.buffer += Constants.serialize_packet(byte)
return len(data)
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