From 47fd2cad52bfd3f201fd6fe39945a40e7f4b1c08 Mon Sep 17 00:00:00 2001 From: Drew Bednar Date: Mon, 29 Mar 2021 18:01:08 -0700 Subject: [PATCH] simples ros package --- CMakeLists.txt | 206 ++++++++++++++++++++++++++++++++++++++++ README.md | 17 ++++ package.xml | 68 +++++++++++++ scripts/command_node.py | 79 +++++++++++++++ scripts/drive_node.py | 62 ++++++++++++ 5 files changed, 432 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 README.md create mode 100644 package.xml create mode 100755 scripts/command_node.py create mode 100755 scripts/drive_node.py diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..e9bb7e3 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(simple_example) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES simple_example +# CATKIN_DEPENDS roscpp rospy stdmsgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/simple_example.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/simple_example_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_example.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/README.md b/README.md new file mode 100644 index 0000000..08560c7 --- /dev/null +++ b/README.md @@ -0,0 +1,17 @@ +# ROS Hello world + +## Start up +From the ~/workspace/ros directory +``` +roscore +``` + +In a new terminal run the keyboard capture node +``` +rosrun simple_example command_node.py +``` + +In a third window +``` +rosrun simple_example drive_node.py +``` \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..cc15d36 --- /dev/null +++ b/package.xml @@ -0,0 +1,68 @@ + + + simple_example + 0.0.0 + The simple_example package + + + + + toor + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + stdmsgs + roscpp + rospy + stdmsgs + roscpp + rospy + stdmsgs + + + + + + + + diff --git a/scripts/command_node.py b/scripts/command_node.py new file mode 100755 index 0000000..b3bc2a1 --- /dev/null +++ b/scripts/command_node.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python3 +import sys, select, termios, tty + +import rospy +from std_msgs.msg import String + + +COMMAND_MAP = { + "i": "forward", + ",": "stop", + "j": "left", + "l": "right", + "k": "back", + "\x03": "break", +} + +command = "stop" +last_command = "stop" + +msg = """ +Reading from the keyboard and publishing to /command! +----------------------------------------------------- +Moving around: + i +j k l + , +CTRL-C to quit +""" + + +def broadcaster(): + global command + global last_command + + pub = rospy.Publisher("/command", String, queue_size=10) + rospy.init_node("keyb_commander", anonymous=True) + rate = rospy.Rate(10) + + print(msg) + + while not rospy.is_shutdown(): + key_timeout = 0.6 # seconds + k = get_key(key_timeout) + + command = COMMAND_MAP.get(k) + + if command == "break": + # shut it down + break + + + + if command != last_command and command is not None: + print("Published command: {}".format(command)) + last_command = command + + if command is not None: + pub.publish(command) + + rate.sleep() + + +def get_key(key_timeout): + tty.setraw(sys.stdin.fileno()) + rlist, _, _ = select.select([sys.stdin], [], [], key_timeout) + if rlist: + key = sys.stdin.read(1) + else: + key = "" + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + + +if __name__ == "__main__": + settings = termios.tcgetattr(sys.stdin) + try: + broadcaster() + except rospy.ROSInterruptException: + pass diff --git a/scripts/drive_node.py b/scripts/drive_node.py new file mode 100755 index 0000000..69eac5c --- /dev/null +++ b/scripts/drive_node.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python3 +import rospy +from std_msgs.msg import String + + +received_command = "" +last_received_command = "" + +def listener(): + rospy.init_node("motor_driver", anonymous=True) + rospy.Subscriber("/command", String, command_callback) + rate = rospy.spin() + +def command_callback(message): + global received_command + global last_received_command + + received_command = message.data + + COMMAND_MAP.get(received_command, unknown_command)() + + if received_command != last_received_command: + print("Received command: {}".format(received_command)) + last_received_command = received_command + + +def forward(): + pass + + +def back(): + pass + + +def left(): + pass + + +def right(): + pass + + +def stop_motors(): + pass + + +def unknown_command(): + pass + +COMMAND_MAP = { + "forward": forward, + "stop": stop_motors, + "left": left, + "right": right, + "back": back, +} + +if __name__ == "__main__": + print("Ready to recieve commands!") + listener() + print("Node is shutting down. Stopping Motors") + stop_motors()