services, messages, neopixel driver

CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
+  message_generation
 )
 
 ## System dependencies are found with CMake's conventions
@@ -47,18 +48,17 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  Neopixel.msg
+  Neopixels.msg
+)
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+add_service_files(
+  FILES
+  FillNeopixels.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -68,10 +68,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs  # Or other packages containing msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -107,6 +107,7 @@ catkin_package(
 #  LIBRARIES simple_example
 #  CATKIN_DEPENDS roscpp rospy stdmsgs
 #  DEPENDS system_lib
+  CATKIN_DEPENDS message_runtime
 )
 
 ###########

launch/simple.launch

@@ -0,0 +1,6 @@
+<launch>
+  <group ns="simple_example1">
+    <node pkg="simple_example" name="command_node" type="command_node.py" output="screen"/>
+    <node pkg="simple_example" name="drive_node" type="drive_node.py" output="screen" />
+  </group>
+</launch>

msg/Neopixel.msg

@@ -0,0 +1,4 @@
+uint8 r
+uint8 g
+uint8 b
+uint8 w

msg/Neopixels.msg

@@ -0,0 +1 @@
+Neopixel[] pixels

package.xml

@@ -37,13 +37,13 @@
   <!--   <build_depend>roscpp</build_depend> -->
   <!--   <exec_depend>roscpp</exec_depend> -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
+    <build_depend>message_generation</build_depend>
   <!-- Use build_export_depend for packages you need in order to build against this package: -->
   <!--   <build_export_depend>message_generation</build_export_depend> -->
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
   <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
+    <exec_depend>message_runtime</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <!-- Use doc_depend for packages you need only for building documentation: -->

scripts/NeopixelDriver.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import rospy
+
+from serial import Serial
+
+from simple_example.msg import Neopixel, Neopixels
+from simple_example.srv import FillNeopixels, FillNeopixelsResponse
+
+
+class NeopixelDriverNode:
+    """ROS Node for controllering NeoPixels."""
+
+    def __init__(self):
+        self._msg = Neopixels()
+        self.pixel_count = rospy.get_param('/simple_example/pixel_count', 1)
+        self.port = rospy.get_param('/simple_example/port', "/dev/ttyUSB0")
+        self.serial = Serial(self.port, 115200, timeout=1)
+
+    def listen(self):
+        rospy.init_node("light_ctrl", anonymous=True)
+        rospy.Subscriber("/neopixel", Neopixels, self.neopixel_ctrl_callback)
+        rate = rospy.spin()
+
+    def neopixel_ctrl_callback(self, data):
+        cmds = ""
+        for i, pixel in data.pixels:
+            cmds += f"{i},{pixel.r},{pixel.g},{pixel.b};"
+        cmds += "\n"
+        rospy.logdebug(f"Sending: {cmds}")
+        self.serial.write(cmds.encode("ascii"))
+
+
+if __name__ == "__main__":
+    rospy.loginfo("Firing up neopixel driver.")
+    node = NeopixelDriverNode()
+    node.listen()
+    rospy.loginfo("Neopixel driver is shutting down.")

scripts/command_node.py

@@ -33,7 +33,7 @@ def broadcaster():
     global last_command
 
     pub = rospy.Publisher("/command", String, queue_size=10)
-    rospy.init_node("keyb_commander", anonymous=True)
+    rospy.init_node("keyb_commander", anonymous=True, log_level=rospy.INFO)
     rate = rospy.Rate(10)
 
     print(msg)
@@ -51,7 +51,8 @@ def broadcaster():
         
 
         if command != last_command and command is not None:
-            print("Published command: {}".format(command))
+            # print("Published command: {}".format(command))
+            rospy.loginfo("Published command: {}".format(command))
             last_command = command
         
         if command is not None:

scripts/drive_node.py

@@ -20,7 +20,7 @@ def command_callback(message):
     COMMAND_MAP.get(received_command, unknown_command)()
 
     if received_command != last_received_command:
-        print("Received command: {}".format(received_command))
+        rospy.loginfo("Received command: {}".format(received_command))
         last_received_command = received_command
 
     

srv/FillNeopixels.srv

@@ -0,0 +1,8 @@
+#request constants
+
+#request fields
+Neopixel pixel
+---
+#response constants
+
+#response fields