Merge pull request #13 from WHILL/melodic-generation-2

ros_whill 2.0.
ros-melodic is only supported as of June 11.
ros-kinetic support will be followed upon request.

CMakeLists.txt

@@ -13,12 +13,15 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
   tf
+  serial
 )
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
 
+add_subdirectory(./src/whill) 
+
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
@@ -51,16 +54,13 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate messages in the 'msg' folder
  add_message_files(
    FILES
-   msgWhillModelC.msg
-   msgWhillSpeedProfile.msg
- )
+   SpeedPack.msg
+  )
 
 ## Generate services in the 'srv' folder
  add_service_files(
    FILES
-   srvSetSpeedProfile.srv
-   srvSetPower.srv
-   srvSetBatteryVoltageOut.srv
+   SetSpeedProfile.srv
  )
 
 ## Generate actions in the 'action' folder
@@ -74,6 +74,7 @@ find_package(catkin REQUIRED COMPONENTS
  generate_messages(
    DEPENDENCIES
    std_msgs
+   ros_whill
  )
 
 ################################################
@@ -137,8 +138,8 @@ include_directories(
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
 # add_executable(${PROJECT_NAME}_node src/ros_whill_node.cpp)
-add_executable(whill_modelc_publisher src/whill_modelc_publisher.cpp src/whill_modelc/uart.cpp src/whill_modelc/com_whill.cpp src/odom.cpp)
-add_executable(whill_modelc_controller src/whill_modelc_controller.cpp src/whill_modelc/uart.cpp src/whill_modelc/com_whill.cpp)
+add_executable(ros_whill src/ros_whill.cpp src/odom.cpp src/utils/rotation_tools.cpp src/utils/unit_convert.cpp)
+
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -149,15 +150,17 @@ add_executable(whill_modelc_controller src/whill_modelc_controller.cpp src/whill
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(whill_modelc_publisher ${PROJECT_NAME}_generate_messages_cpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(whill_modelc_controller ${PROJECT_NAME}_generate_messages_cpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(whill_modelc_publisher ${PROJECT_NAME}_generate_messages_cpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(whill_modelc_controller ${PROJECT_NAME}_generate_messages_cpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(ros_whill ${PROJECT_NAME}_generate_messages_cpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-target_link_libraries(whill_modelc_publisher ${catkin_LIBRARIES})
-target_link_libraries(whill_modelc_controller ${catkin_LIBRARIES})
+target_link_libraries(ros_whill
+  lib_whill
+  ${catkin_LIBRARIES}
+ )
+
+#target_link_libraries(ros_whill ${catkin_LIBRARIES})
 
 #############
 ## Install ##

README.md

@@ -5,48 +5,77 @@ For general questions and requests, please visit https://whill.zendesk.com/hc/ja
 
 <img src="https://user-images.githubusercontent.com/2618822/45492944-89421c00-b7a8-11e8-9c92-22aa3f28f6e4.png" width=30%>
 
+## Requirements
+- ROS Melodic
+
 ## ROS API
 
 ### Subscribed Topics
 
-#### /whill/controller/joy [(sensor_msgs/Joy)](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html)
+#### ~controller/joy [(sensor_msgs/Joy)](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html)
 - Virtual WHILL joystick input. You can controll WHILL via this topic.
 
 
 ### Published Topics
 
-#### /whill/states/joy [(sensor_msgs/Joy)](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html)
+#### ~states/joy [(sensor_msgs/Joy)](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html)
 - Joystick status
 
-#### /whill/states/jointState [(sensor_msgs/JointState)](http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html)
+#### ~states/jointState [(sensor_msgs/JointState)](http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html)
 - Wheel rotate position(rad) and rotation velocity(rad/s)
 
-#### /whill/states/imu [(sensor_msgs/Imu)](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)
+#### ~states/imu [(sensor_msgs/Imu)](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)
 - IMU measured data.
 
-#### /whill/states/batteryState [(sensor_msgs/BatteryState)](http://docs.ros.org/api/sensor_msgs/html/msg/BatteryState.html)
+#### ~states/batteryState [(sensor_msgs/BatteryState)](http://docs.ros.org/api/sensor_msgs/html/msg/BatteryState.html)
 - Battery information
 
 
-## Requirements
-- Ubuntu 16.04
-- ROS kinetic
+### Services
 
-## Build
-In your shell:
-```sh
-cd ~/catkin_ws
-catkin_make
-rospack profile
+#### ~odom/clear [std_srvs/Empty]
+Clear Odometry
+
+#### ~power [std_srvs/SetBool]
+True to send power on command, false to power off.
+
+#### ~speedProfile/set [ros_whill/SetSpeedProfile]
+You can set WHILL speed profile for `~controller/joy` topic.
 ```
-ros_whill package is sometimes not recognized if you not set "rospack profile". (After executed "rosrun ros_whill", you might see the error message "not found package".)
+ros_whill/SpeedPack forward
+  float32 speed  # m/s
+  float32 acc    # m/ss
+  float32 dec    # m/ss
+ros_whill/SpeedPack backward
+  float32 speed  # m/s
+  float32 acc    # m/ss
+  float32 dec    # m/ss
+ros_whill/SpeedPack turn
+  float32 speed  # rad/s
+  float32 acc    # rad/ss
+  float32 dec    # rad/ss
+---
+bool success
+string status_message
 
-### Build only ros_whill package
-```sh
-catkin_make -DCATKIN_WHITELIST_PACKAGES="ros_whill"
 ```
 
-## SerialPort Settings
+### Parameters
+
+### ~init_speed/*
+See: 
+
+### ~keep_connected (Bool, default:false)
+Set true to try to keep connected by re-opening port and sending power-on command. Though the WHILL automticarry wakes up even you turn off manualy or by power-off command.
+
+### ~publish_tf (Bool, defualt: true)
+False to stop publishing `odom` to `base_link` tf. If other node publishs, set value to false.
+
+### ~serialport (String, default:/dev/ttyUSB0)
+
+
+## SerialPort Setting for ros_whill.launch
+The `ros_whill.launch` is using environmental variable `TTY_WHILL` for specify which serial port to be used.
 
 ### Set
 
@@ -76,17 +105,6 @@ source ~/.zshrc
 echo $TTY_WHILL  # -> Should be /dev/[YOUR SERIAL PORT DEVICE]
 ```
 
-## Launch
-```sh
-roslaunch ros_whill modelc.launch
-```
-
-### Set serial port as an argument of the launch file
-```sh
-roslaunch ros_whill modelc.launch serialport:=/dev/[YOUR SERIAL PORT DEVICE]
-```
-
-
 ### In the case of opening serial port failed
 
 Edit
@@ -99,7 +117,13 @@ And add:
 KERNEL=="ttyUSB[0-9]*", MODE="0666"
 ```
 
-## Change Speed Profile
+
+## Launch with Model
+```sh
+$ roslaunch ros_whill ros_whill.launch
+```
+
+### Set serial port as an argument of the launch file
 ```sh
-rosservice call /set_speed_profile {4, 15, 16, 64, 10, 16, 56, 10, 56, 72}
+roslaunch ros_whill ros_whill.launch serialport:=/dev/[YOUR SERIAL PORT DEVICE]
 ```

launch/ros_whill.launch

@@ -0,0 +1,32 @@
+<launch>
+    <arg name="model" default="$(find ros_whill)/xacro/modelc.xacro" />
+    <arg name="gui" default="true" />
+
+    <param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
+        <remap from="/joint_states" to="/whill/states/jointState" />
+    </node>
+
+    <arg name="serialport" default="$(env TTY_WHILL)"/>
+
+    <node pkg="ros_whill" type="ros_whill" name="whill" output="screen" >
+
+        <!-- Initial Speed Profile -->
+        <rosparam file="$(find ros_whill)/params/initial_speedprofile.yaml" command="load" />
+
+        <!-- Keep Connected: If you specify true,ros_whill try to keep connection by re-opening port and sending power on command.
+             If you'd like to turn WHILL off by command or manually while using ros_whill, set value to false. 
+             Otherwise WHILL automatically turns on.
+         -->
+        <param name="keep_connected" value="true" />
+
+        <!-- Serial Device name -->
+        <param name="serialport" value="$(arg serialport)"/>
+
+        <!-- Output Odometry tf or not. If other node publishes odom->base_link tf, Change value to "false" -->
+        <param name="publish_tf" value="true"/>  
+
+    </node>
+</launch>
+

msg/SpeedPack.msg

@@ -0,0 +1,3 @@
+float32 speed  # m/s   or rad/s
+float32 acc    # m/ss  or rad/ss
+float32 dec    # m/ss  or rad/ss

package.xml

@@ -53,13 +53,14 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_export_depend>roscpp</build_export_depend>
+   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
+  <depend>serial</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

params/initial_speedprofile.yaml

@@ -0,0 +1,12 @@
+#
+#  Initial Speed Profile
+#
+init_speed/forward/speed: 0.567   # [m/s]
+init_speed/forward/acc: 0.23      # [m/ss]
+init_speed/forward/dec: 1.25      # [m/ss]
+init_speed/backward/speed: 0.557  # [m/s]
+init_speed/backward/acc: 0.34     # [m/ss]
+init_speed/backward/dec: 0.89     # [m/ss]
+init_speed/turn/speed: 0.8        # [rad/s]
+init_speed/turn/acc: 0.79         # [rad/ss]
+init_speed/turn/dec: 1.8          # [rad/ss]