diff --git a/src/common/common_meta/launch/sim_acceleration_launch.py b/src/common/common_meta/launch/sim_acceleration_launch.py index 40f80bf9..3da8ba6f 100644 --- a/src/common/common_meta/launch/sim_acceleration_launch.py +++ b/src/common/common_meta/launch/sim_acceleration_launch.py @@ -1,38 +1,76 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + modprobe_vcan = ExecuteProcess( + cmd=['sudo', 'modprobe', 'vcan'], + shell=False + ) + create_can0 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"], + shell=False + ) + up_can0 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'], + shell=False + ) + create_can1 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"], + shell=False + ) + up_can1 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'], + shell=False + ) + can_sequence = [ + RegisterEventHandler( + OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can0, on_exit=[up_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=up_can0, on_exit=[create_can1]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can1, on_exit=[up_can1]) + ) + ] return LaunchDescription([ + modprobe_vcan, + *can_sequence, create_node(pkg='acc_planning', - params=[{'target_speed': 15.0, - 'max_acc': 5.0, - 'max_dec': 5.0, + params=[{'target_speed': 50.0, + 'max_acc': 15.0, + 'max_dec': 10.0, 'track_length': 75.0, 'finish_offset': 2.0, 'debug': False}]), create_node(pkg='controller', params=[{'trajectory_topic': "/acc_planning/trajectory", - 'min_cmd': -5.0, - 'max_cmd': 5.0, + 'min_cmd': -15.0, + 'max_cmd': 25.0, 'look_ahead_distance': 8.0, 'debug': False}]), create_node(pkg='visualization'), - create_node(pkg='arussim_interface'), + create_node(pkg='can_interface', + params=[{'simulation': True}]), create_node(pkg='car_state', params=[{'simulation': True, 'mission': 'acceleration', - 'extensometer_topic': '/arussim/extensometer', - 'imu_ax_topic': '/arussim/IMU/ax', - 'imu_ay_topic': '/arussim/IMU/ay', - 'imu_r_topic': '/arussim/IMU/yaw_rate', - 'control_vx_topic': '/arussim/control_vx', - 'control_vy_topic': '/arussim/control_vy', - 'control_r_topic': '/arussim/control_r', + 'extensometer_topic': '/can_interface/extensometer', + 'imu_ax_topic': '/can_interface/IMU/ax', + 'imu_ay_topic': '/can_interface/IMU/ay', + 'imu_r_topic': '/can_interface/IMU/yaw_rate', + 'control_vx_topic': '/can_interface/control_vx', + 'control_vy_topic': '/can_interface/control_vy', + 'control_r_topic': '/can_interface/control_r', 'debug': False}]), create_node(pkg='graph_slam', params=[{'lidar_topic': '/arussim/perception', diff --git a/src/common/common_meta/launch/sim_autocross_launch.py b/src/common/common_meta/launch/sim_autocross_launch.py index 51b3ef7c..f3ab32d0 100644 --- a/src/common/common_meta/launch/sim_autocross_launch.py +++ b/src/common/common_meta/launch/sim_autocross_launch.py @@ -1,13 +1,50 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + modprobe_vcan = ExecuteProcess( + cmd=['sudo', 'modprobe', 'vcan'], + shell=False + ) + create_can0 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"], + shell=False + ) + up_can0 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'], + shell=False + ) + create_can1 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"], + shell=False + ) + up_can1 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'], + shell=False + ) + can_sequence = [ + RegisterEventHandler( + OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can0, on_exit=[up_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=up_can0, on_exit=[create_can1]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can1, on_exit=[up_can1]) + ) + ] return LaunchDescription([ + modprobe_vcan, + *can_sequence, create_node(pkg='path_planning', params=[{'v_max': 7.0, 'ax_max': 5.0, @@ -21,17 +58,18 @@ def generate_launch_description(): 'first_lap_steer_control': "PP", 'debug': False}]), create_node(pkg='visualization'), - create_node(pkg='arussim_interface'), + create_node(pkg='can_interface', + params=[{'simulation': True}]), create_node(pkg='car_state', params=[{'simulation': True, 'mission': 'autocross', - 'extensometer_topic': '/arussim/extensometer', - 'imu_ax_topic': '/arussim/IMU/ax', - 'imu_ay_topic': '/arussim/IMU/ay', - 'imu_r_topic': '/arussim/IMU/yaw_rate', - 'control_vx_topic': '/arussim/control_vx', - 'control_vy_topic': '/arussim/control_vy', - 'control_r_topic': '/arussim/control_r', + 'extensometer_topic': '/can_interface/extensometer', + 'imu_ax_topic': '/can_interface/IMU/ax', + 'imu_ay_topic': '/can_interface/IMU/ay', + 'imu_r_topic': '/can_interface/IMU/yaw_rate', + 'control_vx_topic': '/can_interface/control_vx', + 'control_vy_topic': '/can_interface/control_vy', + 'control_r_topic': '/can_interface/control_r', 'debug': False}]), create_node(pkg='graph_slam', params=[{'lidar_topic': '/arussim/perception', diff --git a/src/common/common_meta/launch/sim_ebs_test.py b/src/common/common_meta/launch/sim_ebs_test.py index 4e1bef06..46d5591b 100644 --- a/src/common/common_meta/launch/sim_ebs_test.py +++ b/src/common/common_meta/launch/sim_ebs_test.py @@ -1,13 +1,50 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + modprobe_vcan = ExecuteProcess( + cmd=['sudo', 'modprobe', 'vcan'], + shell=False + ) + create_can0 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"], + shell=False + ) + up_can0 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'], + shell=False + ) + create_can1 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"], + shell=False + ) + up_can1 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'], + shell=False + ) + can_sequence = [ + RegisterEventHandler( + OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can0, on_exit=[up_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=up_can0, on_exit=[create_can1]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can1, on_exit=[up_can1]) + ) + ] return LaunchDescription([ + modprobe_vcan, + *can_sequence, create_node(pkg='acc_planning', params=[{'target_speed': 12.0, 'max_acc': 4.2, @@ -21,17 +58,18 @@ def generate_launch_description(): 'look_ahead_distance': 8.0, 'debug': True}]), create_node(pkg='visualization'), - create_node(pkg='arussim_interface'), + create_node(pkg='can_interface', + params=[{'simulation': True}]), create_node(pkg='car_state', params=[{'simulation': True, 'mission': 'acceleration', - 'extensometer_topic': '/arussim/extensometer', - 'imu_ax_topic': '/arussim/IMU/ax', - 'imu_ay_topic': '/arussim/IMU/ay', - 'imu_r_topic': '/arussim/IMU/yaw_rate', - 'control_vx_topic': '/arussim/control_vx', - 'control_vy_topic': '/arussim/control_vy', - 'control_r_topic': '/arussim/control_r', + 'extensometer_topic': '/can_interface/extensometer', + 'imu_ax_topic': '/can_interface/IMU/ax', + 'imu_ay_topic': '/can_interface/IMU/ay', + 'imu_r_topic': '/can_interface/IMU/yaw_rate', + 'control_vx_topic': '/can_interface/control_vx', + 'control_vy_topic': '/can_interface/control_vy', + 'control_r_topic': '/can_interface/control_r', 'debug': False}]), create_node(pkg='graph_slam', params=[{'lidar_topic': '/arussim/perception', diff --git a/src/common/common_meta/launch/sim_skidpad_launch.py b/src/common/common_meta/launch/sim_skidpad_launch.py index 83a4d749..1865e147 100644 --- a/src/common/common_meta/launch/sim_skidpad_launch.py +++ b/src/common/common_meta/launch/sim_skidpad_launch.py @@ -1,13 +1,50 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + modprobe_vcan = ExecuteProcess( + cmd=['sudo', 'modprobe', 'vcan'], + shell=False + ) + create_can0 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"], + shell=False + ) + up_can0 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'], + shell=False + ) + create_can1 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"], + shell=False + ) + up_can1 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'], + shell=False + ) + can_sequence = [ + RegisterEventHandler( + OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can0, on_exit=[up_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=up_can0, on_exit=[create_can1]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can1, on_exit=[up_can1]) + ) + ] return LaunchDescription([ + modprobe_vcan, + *can_sequence, create_node(pkg='skidpad_planning', params=[{'target_first_lap': 7.0, 'target_second_lap': 10.0, @@ -25,17 +62,18 @@ def generate_launch_description(): 'look_ahead_distance': 6.0, 'debug': False}]), create_node(pkg='visualization'), - create_node(pkg='arussim_interface'), + create_node(pkg='can_interface', + params=[{'simulation': True}]), create_node(pkg='car_state', params=[{'simulation': True, 'mission': 'skidpad', - 'extensometer_topic': '/arussim/extensometer', - 'imu_ax_topic': '/arussim/IMU/ax', - 'imu_ay_topic': '/arussim/IMU/ay', - 'imu_r_topic': '/arussim/IMU/yaw_rate', - 'control_vx_topic': '/arussim/control_vx', - 'control_vy_topic': '/arussim/control_vy', - 'control_r_topic': '/arussim/control_r', + 'extensometer_topic': '/can_interface/extensometer', + 'imu_ax_topic': '/can_interface/IMU/ax', + 'imu_ay_topic': '/can_interface/IMU/ay', + 'imu_r_topic': '/can_interface/IMU/yaw_rate', + 'control_vx_topic': '/can_interface/control_vx', + 'control_vy_topic': '/can_interface/control_vy', + 'control_r_topic': '/can_interface/control_r', 'debug': False}]), create_node(pkg='graph_slam', params=[{'lidar_topic': '/arussim/perception', diff --git a/src/common/common_meta/launch/sim_trackdrive_launch.py b/src/common/common_meta/launch/sim_trackdrive_launch.py index 5153a4a6..d44851ad 100644 --- a/src/common/common_meta/launch/sim_trackdrive_launch.py +++ b/src/common/common_meta/launch/sim_trackdrive_launch.py @@ -1,13 +1,50 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + modprobe_vcan = ExecuteProcess( + cmd=['sudo', 'modprobe', 'vcan'], + shell=False + ) + create_can0 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"], + shell=False + ) + up_can0 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'], + shell=False + ) + create_can1 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"], + shell=False + ) + up_can1 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'], + shell=False + ) + can_sequence = [ + RegisterEventHandler( + OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can0, on_exit=[up_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=up_can0, on_exit=[create_can1]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can1, on_exit=[up_can1]) + ) + ] - return LaunchDescription([ + return LaunchDescription([ + modprobe_vcan, + *can_sequence, create_node(pkg='path_planning', params=[{'v_max': 7.0, 'ax_max': 5.0, @@ -23,18 +60,19 @@ def generate_launch_description(): 'optimized_steer_control': "MPC", 'debug': False}]), create_node(pkg='visualization'), - create_node(pkg='arussim_interface'), + create_node(pkg='can_interface', + params=[{'simulation': True}]), create_node(pkg='car_state', params=[{'simulation': True, 'mission': 'trackdrive', 'trackdrive_laps': 10, - 'extensometer_topic': '/arussim/extensometer', - 'imu_ax_topic': '/arussim/IMU/ax', - 'imu_ay_topic': '/arussim/IMU/ay', - 'imu_r_topic': '/arussim/IMU/yaw_rate', - 'control_vx_topic': '/arussim/control_vx', - 'control_vy_topic': '/arussim/control_vy', - 'control_r_topic': '/arussim/control_r', + 'extensometer_topic': '/can_interface/extensometer', + 'imu_ax_topic': '/can_interface/IMU/ax', + 'imu_ay_topic': '/can_interface/IMU/ay', + 'imu_r_topic': '/can_interface/IMU/yaw_rate', + 'control_vx_topic': '/can_interface/control_vx', + 'control_vy_topic': '/can_interface/control_vy', + 'control_r_topic': '/can_interface/control_r', 'debug': False}]), create_node(pkg='graph_slam', params=[{'lidar_topic': '/arussim/perception', diff --git a/src/common/common_meta/launch/sim_trackdrive_mapped_launch.py b/src/common/common_meta/launch/sim_trackdrive_mapped_launch.py index 918a9099..bb391da2 100644 --- a/src/common/common_meta/launch/sim_trackdrive_mapped_launch.py +++ b/src/common/common_meta/launch/sim_trackdrive_mapped_launch.py @@ -1,13 +1,50 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + modprobe_vcan = ExecuteProcess( + cmd=['sudo', 'modprobe', 'vcan'], + shell=False + ) + create_can0 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"], + shell=False + ) + up_can0 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'], + shell=False + ) + create_can1 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"], + shell=False + ) + up_can1 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'], + shell=False + ) + can_sequence = [ + RegisterEventHandler( + OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can0, on_exit=[up_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=up_can0, on_exit=[create_can1]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can1, on_exit=[up_can1]) + ) + ] - return LaunchDescription([ + return LaunchDescription([ + modprobe_vcan, + *can_sequence, create_node(pkg='controller', params=[{'min_cmd': -5.0, 'max_cmd': 7.0, @@ -18,18 +55,19 @@ def generate_launch_description(): 'optimized_steer_control': "MPC", 'debug': False}]), create_node(pkg='visualization'), - create_node(pkg='arussim_interface'), + create_node(pkg='can_interface', + params=[{'simulation': True}]), create_node(pkg='car_state', params=[{'simulation': True, 'mission': 'trackdrive', 'trackdrive_laps': 10, - 'extensometer_topic': '/arussim/extensometer', - 'imu_ax_topic': '/arussim/IMU/ax', - 'imu_ay_topic': '/arussim/IMU/ay', - 'imu_r_topic': '/arussim/IMU/yaw_rate', - 'control_vx_topic': '/arussim/control_vx', - 'control_vy_topic': '/arussim/control_vy', - 'control_r_topic': '/arussim/control_r', + 'extensometer_topic': '/can_interface/extensometer', + 'imu_ax_topic': '/can_interface/IMU/ax', + 'imu_ay_topic': '/can_interface/IMU/ay', + 'imu_r_topic': '/can_interface/IMU/yaw_rate', + 'control_vx_topic': '/can_interface/control_vx', + 'control_vy_topic': '/can_interface/control_vy', + 'control_r_topic': '/can_interface/control_r', 'debug': False}]), create_node(pkg='graph_slam', params=[{'lidar_topic': '/arussim/perception', diff --git a/src/common/common_meta/launch/simulation_launch.py b/src/common/common_meta/launch/simulation_launch.py index dca90f53..fe36f4bf 100644 --- a/src/common/common_meta/launch/simulation_launch.py +++ b/src/common/common_meta/launch/simulation_launch.py @@ -1,13 +1,50 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + modprobe_vcan = ExecuteProcess( + cmd=['sudo', 'modprobe', 'vcan'], + shell=False + ) + create_can0 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can0 >/dev/null 2>&1 || sudo ip link add dev can0 type vcan"], + shell=False + ) + up_can0 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can0'], + shell=False + ) + create_can1 = ExecuteProcess( + cmd=['bash', '-c', "ip link show can1 >/dev/null 2>&1 || sudo ip link add dev can1 type vcan"], + shell=False + ) + up_can1 = ExecuteProcess( + cmd=['sudo', 'ip', 'link', 'set', 'up', 'can1'], + shell=False + ) + can_sequence = [ + RegisterEventHandler( + OnProcessExit(target_action=modprobe_vcan, on_exit=[create_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can0, on_exit=[up_can0]) + ), + RegisterEventHandler( + OnProcessExit(target_action=up_can0, on_exit=[create_can1]) + ), + RegisterEventHandler( + OnProcessExit(target_action=create_can1, on_exit=[up_can1]) + ) + ] return LaunchDescription([ + modprobe_vcan, + *can_sequence, create_node(pkg='path_planning', params=[{'v_max': 7.0, 'ax_max': 5.0, @@ -23,18 +60,19 @@ def generate_launch_description(): 'optimized_steer_control': "MPC", 'debug': False}]), create_node(pkg='visualization'), - create_node(pkg='arussim_interface'), + create_node(pkg='can_interface', + params=[{'simulation': True}]), create_node(pkg='car_state', params=[{'simulation': True, 'mission': 'trackdrive', 'trackdrive_laps': 1000, - 'extensometer_topic': '/arussim/extensometer', - 'imu_ax_topic': '/arussim/IMU/ax', - 'imu_ay_topic': '/arussim/IMU/ay', - 'imu_r_topic': '/arussim/IMU/yaw_rate', - 'control_vx_topic': '/arussim/control_vx', - 'control_vy_topic': '/arussim/control_vy', - 'control_r_topic': '/arussim/control_r', + 'extensometer_topic': '/can_interface/extensometer', + 'imu_ax_topic': '/can_interface/IMU/ax', + 'imu_ay_topic': '/can_interface/IMU/ay', + 'imu_r_topic': '/can_interface/IMU/yaw_rate', + 'control_vx_topic': '/can_interface/control_vx', + 'control_vy_topic': '/can_interface/control_vy', + 'control_r_topic': '/can_interface/control_r', 'debug': False}]), create_node(pkg='graph_slam', params=[{'lidar_topic': '/arussim/perception', diff --git a/src/interfaces/arussim_interface/CMakeLists.txt b/src/interfaces/arussim_interface/CMakeLists.txt deleted file mode 100644 index 17201c16..00000000 --- a/src/interfaces/arussim_interface/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(arussim_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) -find_package(rclcpp REQUIRED) -find_package(common_msgs REQUIRED) -find_package(arussim_msgs REQUIRED) - -include_directories( - include -) - -add_executable(arussim_interface_exec src/arussim_interface_node.cpp) -ament_target_dependencies(arussim_interface_exec rclcpp - common_msgs - arussim_msgs) - - -install(TARGETS - arussim_interface_exec - DESTINATION lib/${PROJECT_NAME}) - -install(DIRECTORY launch - DESTINATION share/${PROJECT_NAME}) - -install(DIRECTORY config - DESTINATION share/${PROJECT_NAME}) - -ament_package() diff --git a/src/interfaces/arussim_interface/README.md b/src/interfaces/arussim_interface/README.md deleted file mode 100644 index 0147c26a..00000000 --- a/src/interfaces/arussim_interface/README.md +++ /dev/null @@ -1,25 +0,0 @@ -# ARUSSim Interface - -The `arussim_interface` node is part of the DRIVERLESS2 project and is responsible for translating custom messages between the simulator and the pipeline. - - -## Usage -To run the `arussim_interface` node, use the following command: -```bash -ros2 launch arussim_interface arussim_interface_launch.py -``` - -## Connections -### Subscribed Topics -- `/controller/cmd` (type: `common_msgs/Cmd`): Receives command pipeline data. -- `/arussim/cmd4wd` (type: `common_msgs/Cmd4WD`): Receives 4WD command pipeline data. -- `/arussim/wheel_speeds` (type: `arussim_msgs/FourWheelDrive`): Receives each wheel speed from ARUSSim. -- `/arussim/fixed_trajectory` (type: `arussim_msgs/Trajectory`): Receives central trajectory of the circuit from ARUSSim. -- `/arussim/state` (type: `arussim_msgs/State`): Receives ground truth of the car from ARUSSim. - -### Published Topics -- `/arussim/cmd` (type: `arussim_msgs/Cmd`): Publishes command pipeline data for ARUSSim. -- `/arussim/cmd4wd` (type: `arussim_msgs/Cmd4WD`): Publishes 4WD command pipeline data for ARUSSim. -- `/arussim_interface/wheel_speeds` (type: `common_msgs/FourWheelDrive`): Publishes each wheel speed from ARUSSim. -- `/arussim_interface/fixed_trajectory` (type: `common_msgs/Trajectory`): Publishes central trajectory of the circuit from ARUSSim. -- `/arussim_interface/arussim_ground_truth` (type: `common_msgs/State`): Publishes ground truth of the car from ARUSSim. \ No newline at end of file diff --git a/src/interfaces/arussim_interface/config/arussim_interface_config.yaml b/src/interfaces/arussim_interface/config/arussim_interface_config.yaml deleted file mode 100644 index 9f183989..00000000 --- a/src/interfaces/arussim_interface/config/arussim_interface_config.yaml +++ /dev/null @@ -1,18 +0,0 @@ -arussim_interface: - ros__parameters: - # Simulator topics - sim_cmd_topic: '/arussim/cmd' - sim_cmd4wd_topic: '/arussim/cmd4wd' - sim_wheel_speeds_topic: '/arussim/wheel_speeds' - sim_trajectory_topic: '/arussim/fixed_trajectory' - sim_state_topic: '/arussim/state' - sim_ebs_topic: '/arussim_interface/EBS' - - # Pipeline topics - pipeline_cmd_topic: '/controller/cmd' - pipeline_cmd4wd_topic: '/controller/cmd4wd' - pipeline_wheel_speeds_topic: '/arussim_interface/wheel_speeds' - pipeline_trajectory_topic: '/arussim_interface/fixed_trajectory' - pipeline_ground_truth_topic: '/arussim_interface/arussim_ground_truth' - pipeline_car_info_topic: '/car_state/car_info' - diff --git a/src/interfaces/arussim_interface/include/arussim_interface/arussim_interface_node.hpp b/src/interfaces/arussim_interface/include/arussim_interface/arussim_interface_node.hpp deleted file mode 100644 index c6167b81..00000000 --- a/src/interfaces/arussim_interface/include/arussim_interface/arussim_interface_node.hpp +++ /dev/null @@ -1,105 +0,0 @@ -/** - * @file arussim_interface_node.hpp - * @author Rafael Guil Valero (rafaguilvalero@gmail.com) - * @brief ARUSSim Interface node header for ARUS Team Driverless pipeline - */ - -#include -#include -#include "common_msgs/msg/cmd.hpp" -#include "common_msgs/msg/cmd4_wd.hpp" -#include "common_msgs/msg/four_wheel_drive.hpp" -#include "common_msgs/msg/point_xy.hpp" -#include "common_msgs/msg/trajectory.hpp" -#include "common_msgs/msg/state.hpp" -#include "common_msgs/msg/car_info.hpp" -#include "arussim_msgs/msg/cmd.hpp" -#include "arussim_msgs/msg/cmd4_wd.hpp" -#include "arussim_msgs/msg/four_wheel_drive.hpp" -#include "arussim_msgs/msg/trajectory.hpp" -#include "arussim_msgs/msg/state.hpp" - -/** - * @class ARUSSimInterface - * @brief ARUSSimInterface class - * - * This class translates the custom messages between the simulator and the pipeline - */ -class ARUSSimInterface : public rclcpp::Node -{ - public: - /** - * @brief Constructor for the ARUSSimInterface class. - */ - ARUSSimInterface(); - - private: - // Topics names - std::string kSimCmdTopic; - std::string kSimCmd4WDTopic; - std::string kSimWheelSpeedsTopic; - std::string kSimTrajectoryTopic; - std::string kSimStateTopic; - std::string kSimEBSTopic; - std::string kPipelineCmdTopic; - std::string kPipelineCmd4WDTopic; - std::string kPipelineWheelSpeedsTopic; - std::string kPipelineTrajectoryTopic; - std::string kPipelineGroundTruthTopic; - std::string kPipelineCarInfoTopic; - - // Subscribers - rclcpp::Subscription::SharedPtr cmd_sub_; - rclcpp::Subscription::SharedPtr cmd4wd_sub_; - rclcpp::Subscription::SharedPtr car_info_sub_; - rclcpp::Subscription::SharedPtr sim_wheel_speeds_sub_; - rclcpp::Subscription::SharedPtr sim_trajectory_sub_; - rclcpp::Subscription::SharedPtr sim_state_sub_; - - // Publishers - rclcpp::Publisher::SharedPtr cmd_pub_; - rclcpp::Publisher::SharedPtr cmd4wd_pub_; - rclcpp::Publisher::SharedPtr wheel_speeds_pub_; - rclcpp::Publisher::SharedPtr trajectory_pub_; - rclcpp::Publisher::SharedPtr ground_truth_pub_; - rclcpp::Publisher::SharedPtr ebs_pub_; - - //Callbacks - void cmd_callback(const common_msgs::msg::Cmd::SharedPtr msg); - void cmd4wd_callback(const common_msgs::msg::Cmd4WD::SharedPtr msg); - void car_info_callback(const common_msgs::msg::CarInfo::SharedPtr msg); - void sim_wheel_speeds_callback(const arussim_msgs::msg::FourWheelDrive::SharedPtr msg); - void sim_trajectory_callback(const arussim_msgs::msg::Trajectory::SharedPtr msg); - void sim_state_callback(const arussim_msgs::msg::State::SharedPtr msg); - - /** - * @brief Declarations of the parameters for the node. - */ - void get_config_parameters(){ - this->declare_parameter("sim_cmd_topic", "/arussim/cmd"); - this->declare_parameter("sim_cmd4wd_topic", "/arussim/cmd4wd"); - this->declare_parameter("sim_wheel_speeds_topic", "/arussim/wheel_speeds"); - this->declare_parameter("sim_trajectory_topic", "/arussim/fixed_trajectory"); - this->declare_parameter("sim_state_topic", "/arussim/state"); - this->declare_parameter("sim_ebs_topic", "/arussim_interface/EBS"); - this->declare_parameter("pipeline_cmd_topic", "/controller/cmd"); - this->declare_parameter("pipeline_cmd4wd_topic", "/controller/cmd4wd"); - this->declare_parameter("pipeline_car_info_topic", "/car_state/car_info"); - this->declare_parameter("pipeline_wheel_speeds_topic", "/arussim_interface/wheel_speeds"); - this->declare_parameter("pipeline_trajectory_topic", "/arussim_interface/fixed_trajectory"); - this->declare_parameter("pipeline_ground_truth_topic", "/arussim_interface/arussim_ground_truth"); - - this->get_parameter("sim_cmd_topic", kSimCmdTopic); - this->get_parameter("sim_cmd4wd_topic", kSimCmd4WDTopic); - this->get_parameter("sim_wheel_speeds_topic", kSimWheelSpeedsTopic); - this->get_parameter("sim_trajectory_topic", kSimTrajectoryTopic); - this->get_parameter("sim_state_topic", kSimStateTopic); - this->get_parameter("sim_ebs_topic", kSimEBSTopic); - this->get_parameter("pipeline_cmd_topic", kPipelineCmdTopic); - this->get_parameter("pipeline_cmd4wd_topic", kPipelineCmd4WDTopic); - this->get_parameter("pipeline_car_info_topic", kPipelineCarInfoTopic); - this->get_parameter("pipeline_wheel_speeds_topic", kPipelineWheelSpeedsTopic); - this->get_parameter("pipeline_trajectory_topic", kPipelineTrajectoryTopic); - this->get_parameter("pipeline_ground_truth_topic", kPipelineGroundTruthTopic); - } -}; \ No newline at end of file diff --git a/src/interfaces/arussim_interface/launch/arussim_interface_launch.py b/src/interfaces/arussim_interface/launch/arussim_interface_launch.py deleted file mode 100644 index 0107328f..00000000 --- a/src/interfaces/arussim_interface/launch/arussim_interface_launch.py +++ /dev/null @@ -1,22 +0,0 @@ -import os -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - - -def generate_launch_description(): - package_name = "arussim_interface" - package_share_directory = get_package_share_directory(package_name) - config_file = os.path.join(package_share_directory, "config", "arussim_interface_config.yaml") - - return LaunchDescription([ - Node( - package=package_name, - executable="arussim_interface_exec", - name="arussim_interface", - output="screen", - parameters=[config_file] - ) - ]) \ No newline at end of file diff --git a/src/interfaces/arussim_interface/package.xml b/src/interfaces/arussim_interface/package.xml deleted file mode 100644 index fc205c7a..00000000 --- a/src/interfaces/arussim_interface/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - arussim_interface - 0.0.0 - TODO: Package description - alvaro - TODO: License declaration - - ament_cmake - - rclcpp - common_msgs - arussim_msgs - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/interfaces/arussim_interface/src/arussim_interface_node.cpp b/src/interfaces/arussim_interface/src/arussim_interface_node.cpp deleted file mode 100644 index 2c891ae3..00000000 --- a/src/interfaces/arussim_interface/src/arussim_interface_node.cpp +++ /dev/null @@ -1,124 +0,0 @@ -/** - * @file arussim_interface_node.cpp - * @author Rafael Guil Valero (rafaguilvalero@gmail.com) - * @brief ARUSSimInterface node implementaion for ARUS Team Driverless pipeline - */ - -#include "arussim_interface/arussim_interface_node.hpp" - - -ARUSSimInterface::ARUSSimInterface() : Node("arussim_interface") -{ - this->get_config_parameters(); - - cmd_pub_ = this->create_publisher( - kSimCmdTopic, 10); - cmd4wd_pub_ = this->create_publisher( - kSimCmd4WDTopic, 10); - wheel_speeds_pub_ = this->create_publisher( - kPipelineWheelSpeedsTopic, 10); - trajectory_pub_ = this->create_publisher( - kPipelineTrajectoryTopic, 10); - ground_truth_pub_ = this->create_publisher( - kPipelineGroundTruthTopic, 10); - ebs_pub_ = this->create_publisher( - kSimEBSTopic, 10); - - cmd_sub_ = this->create_subscription( - kPipelineCmdTopic, 10, - std::bind(&ARUSSimInterface::cmd_callback, this, std::placeholders::_1)); - cmd4wd_sub_ = this->create_subscription( - kPipelineCmd4WDTopic, 10, - std::bind(&ARUSSimInterface::cmd4wd_callback, this, std::placeholders::_1)); - car_info_sub_ = this->create_subscription( - kPipelineCarInfoTopic, 10, - std::bind(&ARUSSimInterface::car_info_callback, this, std::placeholders::_1)); - sim_wheel_speeds_sub_ = this->create_subscription( - kSimWheelSpeedsTopic, 10, - std::bind(&ARUSSimInterface::sim_wheel_speeds_callback, this, std::placeholders::_1)); - sim_trajectory_sub_ = this->create_subscription( - kSimTrajectoryTopic, 10, - std::bind(&ARUSSimInterface::sim_trajectory_callback, this, std::placeholders::_1)); - sim_state_sub_ = this->create_subscription( - kSimStateTopic, 10, - std::bind(&ARUSSimInterface::sim_state_callback, this, std::placeholders::_1)); - -} - -void ARUSSimInterface::cmd_callback(const common_msgs::msg::Cmd::SharedPtr msg) -{ - arussim_msgs::msg::Cmd cmd_msg; - cmd_msg.header = msg->header; - cmd_msg.acc = msg->acc; - cmd_msg.delta = msg->delta; - cmd_msg.target_r = msg->target_r; - cmd_pub_->publish(cmd_msg); -} - -void ARUSSimInterface::cmd4wd_callback(const common_msgs::msg::Cmd4WD::SharedPtr msg) -{ - arussim_msgs::msg::Cmd4WD cmd4wd_msg; - cmd4wd_msg.header = msg->header; - cmd4wd_msg.acc.front_right = msg->acc.front_right; - cmd4wd_msg.acc.front_left = msg->acc.front_left; - cmd4wd_msg.acc.rear_right = msg->acc.rear_right; - cmd4wd_msg.acc.rear_left = msg->acc.rear_left; - cmd4wd_pub_->publish(cmd4wd_msg); -} - -void ARUSSimInterface::car_info_callback(const common_msgs::msg::CarInfo::SharedPtr msg) -{ - std_msgs::msg::Bool ebs_msg; - ebs_msg.data = msg->as_status == 4 || msg->as_status == 5; - ebs_pub_->publish(ebs_msg); -} - -void ARUSSimInterface::sim_wheel_speeds_callback(const arussim_msgs::msg::FourWheelDrive::SharedPtr msg) -{ - common_msgs::msg::FourWheelDrive wheel_speeds_msg; - wheel_speeds_msg.front_right = msg->front_right; - wheel_speeds_msg.front_left = msg->front_left; - wheel_speeds_msg.rear_right = msg->rear_right; - wheel_speeds_msg.rear_left = msg->rear_left; - wheel_speeds_pub_->publish(wheel_speeds_msg); -} - -void ARUSSimInterface::sim_trajectory_callback(const arussim_msgs::msg::Trajectory::SharedPtr msg) -{ - common_msgs::msg::Trajectory trajectory_msg; - trajectory_msg.header = msg->header; - for (int i = 0; i < msg->points.size(); i++){ - common_msgs::msg::PointXY point; - point.x = msg->points[i].x; - point.y = msg->points[i].y; - trajectory_msg.points.push_back(point); - } - trajectory_msg.speed_profile = msg->speed_profile; - trajectory_msg.acc_profile = msg->acc_profile; - trajectory_msg.s = msg->s; - trajectory_pub_->publish(trajectory_msg); -} - -void ARUSSimInterface::sim_state_callback(const arussim_msgs::msg::State::SharedPtr msg) -{ - common_msgs::msg::State state_msg; - state_msg.header = msg->header; - state_msg.x = msg->x; - state_msg.y = msg->y; - state_msg.yaw = msg->yaw; - state_msg.vx = msg->vx; - state_msg.vy = msg->vy; - state_msg.r = msg->r; - state_msg.ax = msg->ax; - state_msg.ay = msg->ay; - state_msg.delta = msg->delta; - ground_truth_pub_->publish(state_msg); -} - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/src/interfaces/can_interface/config/can_interface_config.yaml b/src/interfaces/can_interface/config/can_interface_config.yaml index bc6e0493..ad85eadb 100644 --- a/src/interfaces/can_interface/config/can_interface_config.yaml +++ b/src/interfaces/can_interface/config/can_interface_config.yaml @@ -32,3 +32,6 @@ can_interface: # Debug debug: true + + # Simulation mode + simulation: false diff --git a/src/interfaces/can_interface/include/can_interface/can.csv b/src/interfaces/can_interface/include/can_interface/can.csv index 829ba246..73e656f9 100644 --- a/src/interfaces/can_interface/include/can_interface/can.csv +++ b/src/interfaces/can_interface/include/can_interface/can.csv @@ -11,16 +11,16 @@ ID,bitIn,bitFin,Signed,Power,Scale,Offset,Publisher 0x18b,6,6,yes,1,1,0,/can_interface/RES_range 0x134,0,1,yes,1,-0.000031688042484,0.476959989071,/can_interface/extensometer 0x100,0,1,yes,1,1,0,/can_interface/fl_inv_status -0x1021,0,3,yes,1,0.00000018879763543,0,/can_interface/fl_inv_speed +0x1021,0,3,yes,1,0.0001047197551196,0,/can_interface/fl_inv_speed 0x1022,4,5,yes,1,0.0098,0,/can_interface/fl_inv_torque 0x104,0,1,yes,1,1,0,/can_interface/fr_inv_status -0x1061,0,3,yes,1,0.00000018879763543,0,/can_interface/fr_inv_speed +0x1061,0,3,yes,1,0.0001047197551196,0,/can_interface/fr_inv_speed 0x1062,4,5,yes,1,0.0098,0,/can_interface/fr_inv_torque 0x108,0,1,yes,1,1,0,/can_interface/rl_inv_status -0x1101,0,3,yes,1,0.00000018879763543,0,/can_interface/rl_inv_speed +0x1101,0,3,yes,1,0.0001047197551196,0,/can_interface/rl_inv_speed 0x1102,4,5,yes,1,0.0098,0,/can_interface/rl_inv_torque 0x112,0,1,yes,1,1,0,/can_interface/rr_inv_status -0x1141,0,3,yes,1,0.00000018879763543,0,/can_interface/rr_inv_speed +0x1141,0,3,yes,1,0.0001047197551196,0,/can_interface/rr_inv_speed 0x1142,4,5,yes,1,0.0098,0,/can_interface/rr_inv_torque 0x1221,0,1,yes,1,0.01,0,/can_interface/control_vx 0x1222,2,3,yes,1,0.01,0,/can_interface/control_vy diff --git a/src/interfaces/can_interface/include/can_interface/can_interface_node.hpp b/src/interfaces/can_interface/include/can_interface/can_interface_node.hpp index 764e0a1a..67acccb8 100644 --- a/src/interfaces/can_interface/include/can_interface/can_interface_node.hpp +++ b/src/interfaces/can_interface/include/can_interface/can_interface_node.hpp @@ -162,6 +162,8 @@ class CanInterface : public rclcpp::Node // Debug bool kDebug; + //Simulation mode + bool kSimulation; // Timers rclcpp::TimerBase::SharedPtr heart_beat_timer_; diff --git a/src/interfaces/can_interface/src/can_interface_node.cpp b/src/interfaces/can_interface/src/can_interface_node.cpp index f16e6958..092d45dd 100644 --- a/src/interfaces/can_interface/src/can_interface_node.cpp +++ b/src/interfaces/can_interface/src/can_interface_node.cpp @@ -66,6 +66,9 @@ CanInterface::CanInterface() : Node("can_interface"){ this->get_parameter("debug", kDebug); + // Simulation mode + this->declare_parameter("simulation", false); + this->get_parameter("simulation", kSimulation); // Read the csv files std::string package_share_directory = ament_index_cpp::get_package_share_directory("can_interface"); @@ -495,14 +498,17 @@ void CanInterface::control_callback(common_msgs::msg::Cmd msg) int16_t acc_scaled = static_cast(msg.acc * 100.0f); int16_t yaw_rate_target_scaled = static_cast(msg.target_r * 1000.0f); + int16_t delta_scaled = static_cast(msg.delta * 100); struct can_frame frame; frame.can_id = 0x222; - frame.can_dlc = 4; + frame.can_dlc = 6; frame.data[0] = acc_scaled & 0xFF; frame.data[1] = (acc_scaled >> 8) & 0xFF; frame.data[2] = yaw_rate_target_scaled & 0xFF; frame.data[3] = (yaw_rate_target_scaled >> 8) & 0xFF; + frame.data[4] = delta_scaled; + frame.data[5] = (delta_scaled >> 8) & 0xFF; // Enviar por CAN write(socket_can0_, &frame, sizeof(struct can_frame)); @@ -567,9 +573,11 @@ void CanInterface::car_info_callback(const common_msgs::msg::CarInfo msg) write(socket_can1_, &frame, sizeof(struct can_frame)); // Define the killer command - std::string package_path = ament_index_cpp::get_package_share_directory("common_meta"); - std::string kill_command = "bash " + package_path + kKillerScriptFile; - if (KILL) int ret1 = system(kill_command.c_str()); + if(!kSimulation){ + std::string package_path = ament_index_cpp::get_package_share_directory("common_meta"); + std::string kill_command = "bash " + package_path + kKillerScriptFile; + if (KILL) int ret1 = system(kill_command.c_str()); + } }else if(as_status_ == 4){ // Emergency struct can_frame frame; diff --git a/src/slam/graph_slam/maps/prev_map.pcd b/src/slam/graph_slam/maps/prev_map.pcd index 83d9f92e..316da32d 100644 --- a/src/slam/graph_slam/maps/prev_map.pcd +++ b/src/slam/graph_slam/maps/prev_map.pcd @@ -4,205 +4,189 @@ FIELDS x y z color score SIZE 4 4 4 4 4 TYPE F F F I F COUNT 1 1 1 1 1 -WIDTH 197 +WIDTH 181 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 -POINTS 197 +POINTS 181 DATA ascii -2.1589599 -1.5159398 0 1 1 -5.2523899 -1.6644515 0 1 1 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