diff --git a/src/ezbot_command_module/CMakeLists.txt b/src/ezbot_command_module/CMakeLists.txt index 5d1ff0f..7981943 100644 --- a/src/ezbot_command_module/CMakeLists.txt +++ b/src/ezbot_command_module/CMakeLists.txt @@ -40,6 +40,8 @@ include_directories(include) add_executable(tirette_node src/tirette_node.cpp) ament_target_dependencies(tirette_node rclcpp std_msgs) + + target_link_libraries(tirette_node gpiod) install(TARGETS diff --git a/src/ezbot_command_module/include/Switch_color_node.hpp b/src/ezbot_command_module/include/Switch_color_node.hpp new file mode 100644 index 0000000..c9e7562 --- /dev/null +++ b/src/ezbot_command_module/include/Switch_color_node.hpp @@ -0,0 +1,59 @@ +#ifndef TIRETTE_HPP +#define TIRETTE_HPP + +#include +#include +#include + + +class TiretteNode : public rclcpp::Node +{ +public: + TiretteNode(); + +private: + + int gpioTirette = 22; + rclcpp::Publisher::SharedPtr tirette_pub_; + rclcpp::TimerBase::SharedPtr timer_; + bool init_gpiod(void); + void readGPIO(); + + struct gpiod_chip *gpiochip; + struct gpiod_line *gpioline; +}; + + + + +bool TiretteNode::init_gpiod(void) +{ + gpiochip = gpiod_chip_open_by_name("gpiochip4"); + if(gpiochip == NULL) + gpiochip = gpiod_chip_open_by_name("gpiochip0"); + if(gpiochip == NULL) + { + printf("unable to open GPIO\n"); + return false; + } + printf("gpiochip successful = %d\n",gpiochip); + + gpioline = gpiod_chip_get_line(gpiochip,gpioTirette); + if (gpioline == NULL) + { + printf("unable to get GPIO line\n"); + return false; + } + printf("gpioTirette successful = %d\n",gpioTirette); + + int temp; + // temp = gpiod_line_request_input_flags(gpioline,"Tirette", GPIOD_LINE_BIAS_PULL_UP); + + temp = gpiod_line_request_input(gpioline,"Tirette"); + printf("gpiod_line_request_input_flags = %d\n",temp); + return true; + +} + + +#endif // TIRETTE_HPP \ No newline at end of file diff --git a/src/ezbot_command_module/src/switch_color_node.cpp b/src/ezbot_command_module/src/switch_color_node.cpp new file mode 100644 index 0000000..39fa289 --- /dev/null +++ b/src/ezbot_command_module/src/switch_color_node.cpp @@ -0,0 +1,39 @@ +#include "Switch_color.hpp" + + + +void TiretteNode::readGPIO() +{ + auto message = std_msgs::msg::Bool(); + + int value; + + + value = gpiod_line_get_value(gpioline); + printf("value = %d\n",value); + + message.data = value ? true : false; + + tirette_pub_->publish(message); + + } +TiretteNode::TiretteNode() : Node("tirette_node") +{ + + init_gpiod(); + tirette_pub_ = this->create_publisher("tirette_status", 10); + timer_ = this->create_wall_timer( + std::chrono::seconds(1), + std::bind(&TiretteNode::readGPIO, this)); + + +} + + +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/homologation/LICENSE.md b/src/homologation/LICENSE.md new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/src/homologation/LICENSE.md @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/src/homologation/README.md b/src/homologation/README.md new file mode 100644 index 0000000..d2f2f88 --- /dev/null +++ b/src/homologation/README.md @@ -0,0 +1,7 @@ +## Robot Package Template + +This is a GitHub template. You can make your own copy by clicking the green "Use this template" button. + +It is recommended that you keep the repo/package name the same, but if you do change it, ensure you do a "Find all" using your IDE (or the built-in GitHub IDE by hitting the `.` key) and rename all instances of `my_bot` to whatever your project's name is. + +Note that each directory currently has at least one file in it to ensure that git tracks the files (and, consequently, that a fresh clone has direcctories present for CMake to find). These example files can be removed if required (and the directories can be removed if `CMakeLists.txt` is adjusted accordingly). \ No newline at end of file diff --git a/src/homologation/config/.gitignore b/src/homologation/config/.gitignore new file mode 100644 index 0000000..e69de29 diff --git a/src/homologation/include/Switch_color_node.hpp b/src/homologation/include/Switch_color_node.hpp new file mode 100644 index 0000000..c9e7562 --- /dev/null +++ b/src/homologation/include/Switch_color_node.hpp @@ -0,0 +1,59 @@ +#ifndef TIRETTE_HPP +#define TIRETTE_HPP + +#include +#include +#include + + +class TiretteNode : public rclcpp::Node +{ +public: + TiretteNode(); + +private: + + int gpioTirette = 22; + rclcpp::Publisher::SharedPtr tirette_pub_; + rclcpp::TimerBase::SharedPtr timer_; + bool init_gpiod(void); + void readGPIO(); + + struct gpiod_chip *gpiochip; + struct gpiod_line *gpioline; +}; + + + + +bool TiretteNode::init_gpiod(void) +{ + gpiochip = gpiod_chip_open_by_name("gpiochip4"); + if(gpiochip == NULL) + gpiochip = gpiod_chip_open_by_name("gpiochip0"); + if(gpiochip == NULL) + { + printf("unable to open GPIO\n"); + return false; + } + printf("gpiochip successful = %d\n",gpiochip); + + gpioline = gpiod_chip_get_line(gpiochip,gpioTirette); + if (gpioline == NULL) + { + printf("unable to get GPIO line\n"); + return false; + } + printf("gpioTirette successful = %d\n",gpioTirette); + + int temp; + // temp = gpiod_line_request_input_flags(gpioline,"Tirette", GPIOD_LINE_BIAS_PULL_UP); + + temp = gpiod_line_request_input(gpioline,"Tirette"); + printf("gpiod_line_request_input_flags = %d\n",temp); + return true; + +} + + +#endif // TIRETTE_HPP \ No newline at end of file diff --git a/src/homologation/include/tirette.hpp b/src/homologation/include/tirette.hpp new file mode 100644 index 0000000..c9e7562 --- /dev/null +++ b/src/homologation/include/tirette.hpp @@ -0,0 +1,59 @@ +#ifndef TIRETTE_HPP +#define TIRETTE_HPP + +#include +#include +#include + + +class TiretteNode : public rclcpp::Node +{ +public: + TiretteNode(); + +private: + + int gpioTirette = 22; + rclcpp::Publisher::SharedPtr tirette_pub_; + rclcpp::TimerBase::SharedPtr timer_; + bool init_gpiod(void); + void readGPIO(); + + struct gpiod_chip *gpiochip; + struct gpiod_line *gpioline; +}; + + + + +bool TiretteNode::init_gpiod(void) +{ + gpiochip = gpiod_chip_open_by_name("gpiochip4"); + if(gpiochip == NULL) + gpiochip = gpiod_chip_open_by_name("gpiochip0"); + if(gpiochip == NULL) + { + printf("unable to open GPIO\n"); + return false; + } + printf("gpiochip successful = %d\n",gpiochip); + + gpioline = gpiod_chip_get_line(gpiochip,gpioTirette); + if (gpioline == NULL) + { + printf("unable to get GPIO line\n"); + return false; + } + printf("gpioTirette successful = %d\n",gpioTirette); + + int temp; + // temp = gpiod_line_request_input_flags(gpioline,"Tirette", GPIOD_LINE_BIAS_PULL_UP); + + temp = gpiod_line_request_input(gpioline,"Tirette"); + printf("gpiod_line_request_input_flags = %d\n",temp); + return true; + +} + + +#endif // TIRETTE_HPP \ No newline at end of file diff --git a/src/homologation/launch/.gitignore b/src/homologation/launch/.gitignore new file mode 100644 index 0000000..e69de29 diff --git a/src/homologation/launch/homologation.launch.py b/src/homologation/launch/homologation.launch.py new file mode 100644 index 0000000..e69de29 diff --git a/src/homologation/package.xml b/src/homologation/package.xml new file mode 100644 index 0000000..fa6babb --- /dev/null +++ b/src/homologation/package.xml @@ -0,0 +1,23 @@ + + + + homologation + 0.0.0 + todo le loup + MY NAME + TODO: License declaration + + ament_cmake + ament_cmake_python + + rclcpp + std_msgs + rclpy + + ament_lint_auto + ament_lint_common + + + ament_python + + diff --git a/src/homologation/resource/homologation b/src/homologation/resource/homologation new file mode 100644 index 0000000..e69de29 diff --git a/src/homologation/setup.cfg b/src/homologation/setup.cfg new file mode 100644 index 0000000..acff1e5 --- /dev/null +++ b/src/homologation/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/homologation +[install] +install_scripts=$base/lib/homologation diff --git a/src/homologation/setup.py b/src/homologation/setup.py new file mode 100644 index 0000000..6450629 --- /dev/null +++ b/src/homologation/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'homologation' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='hugo', + maintainer_email='hugo@todo.todo', + description='TODO: Package description', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'homologation = src.sequenceur_homologation:main' + ], + }, +) diff --git a/src/homologation/src/__init__.py b/src/homologation/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/homologation/src/__pycache__/__init__.cpython-310.pyc b/src/homologation/src/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000..b07f8d2 Binary files /dev/null and b/src/homologation/src/__pycache__/__init__.cpython-310.pyc differ diff --git a/src/homologation/src/__pycache__/sequenceur_homologation.cpython-310.pyc b/src/homologation/src/__pycache__/sequenceur_homologation.cpython-310.pyc new file mode 100644 index 0000000..ec0aedd Binary files /dev/null and b/src/homologation/src/__pycache__/sequenceur_homologation.cpython-310.pyc differ diff --git a/src/homologation/src/sequenceur_homologation.py b/src/homologation/src/sequenceur_homologation.py new file mode 100644 index 0000000..1743049 --- /dev/null +++ b/src/homologation/src/sequenceur_homologation.py @@ -0,0 +1,64 @@ +## things to do: +# - listen to the (ros2) topic tirette (bool) status, once it goes from zero to 1 make the robot move with cmd_vel (0.2m.s-1) for 6 seconds (cumulated) +# - listen to the topic detected object (string), if there is anything and we are moving send cmd_vel (0.0m.s-1) to avoid it + +import rclpy +from rclpy.node import Node +from std_msgs.msg import String, Bool +from geometry_msgs.msg import Twist +import time + +class SequenceurHomologation(Node): + def __init__(self): + super().__init__('sequenceur_homologation') + self.subscription_tirette = self.create_subscription(Bool, 'tirette_status', self.tirette_callback, 10) + self.subscription_detected_object = self.create_subscription(String, 'object_detected', self.detected_object_callback, 10) + self.publisher_cmd_vel = self.create_publisher(Twist, '/omnidirectional_controller/cmd_vel_unstamped', 10) + self.timer = self.create_timer(0.1, self.timer_callback) + self.tirette = False + self.detected_object = False + self.cmd_vel = Twist() + self.cmd_vel.linear.x = 0.2 + self.cmd_vel.angular.z = 0.0 + self.start_time = 0 + self.cumulated_time = 0 + self.start_moving = False + self.time_since_detection = 0 + + def tirette_callback(self, msg): + self.tirette = msg.data + + def detected_object_callback(self, msg): + self.time_since_detection = 0 + + def timer_callback(self): + + if self.tirette: + self.time_since_detection = self.time_since_detection + 0.1 + + if not self.start_moving: + self.start_time = time.time() + self.start_moving = True + self.cumulated_time = time.time() - self.start_time + if self.cumulated_time < 6 and self.time_since_detection > 0.5: + self.publisher_cmd_vel.publish(self.cmd_vel) + else: + self.publisher_cmd_vel.publish(Twist()) + else: + self.cumulated_time = 0 + self.start_moving = False + if self.time_since_detection<0.5 and self.start_moving: + self.publisher_cmd_vel.publish(Twist()) + +def main(args=None): + rclpy.init(args=args) + + sequenceur = SequenceurHomologation() + + rclpy.spin(sequenceur) + + sequenceur.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/homologation/src/switch_color_node.cpp b/src/homologation/src/switch_color_node.cpp new file mode 100644 index 0000000..39fa289 --- /dev/null +++ b/src/homologation/src/switch_color_node.cpp @@ -0,0 +1,39 @@ +#include "Switch_color.hpp" + + + +void TiretteNode::readGPIO() +{ + auto message = std_msgs::msg::Bool(); + + int value; + + + value = gpiod_line_get_value(gpioline); + printf("value = %d\n",value); + + message.data = value ? true : false; + + tirette_pub_->publish(message); + + } +TiretteNode::TiretteNode() : Node("tirette_node") +{ + + init_gpiod(); + tirette_pub_ = this->create_publisher("tirette_status", 10); + timer_ = this->create_wall_timer( + std::chrono::seconds(1), + std::bind(&TiretteNode::readGPIO, this)); + + +} + + +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/homologation/src/tirette_node.cpp b/src/homologation/src/tirette_node.cpp new file mode 100644 index 0000000..323688d --- /dev/null +++ b/src/homologation/src/tirette_node.cpp @@ -0,0 +1,39 @@ +#include "tirette.hpp" + + + +void TiretteNode::readGPIO() +{ + auto message = std_msgs::msg::Bool(); + + int value; + + + value = gpiod_line_get_value(gpioline); + printf("value = %d\n",value); + + message.data = value ? true : false; + + tirette_pub_->publish(message); + + } +TiretteNode::TiretteNode() : Node("tirette_node") +{ + + init_gpiod(); + tirette_pub_ = this->create_publisher("tirette_status", 10); + timer_ = this->create_wall_timer( + std::chrono::seconds(1), + std::bind(&TiretteNode::readGPIO, this)); + + +} + + +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/listen_package/LICENSE b/src/listen_package/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/src/listen_package/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/src/listen_package/listen_package/__init__.py b/src/listen_package/listen_package/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/listen_package/listen_package/ecoute.py b/src/listen_package/listen_package/ecoute.py new file mode 100644 index 0000000..61848c0 --- /dev/null +++ b/src/listen_package/listen_package/ecoute.py @@ -0,0 +1,44 @@ +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import LaserScan +from std_msgs.msg import String + +class MinimalSubscriber(Node): + + def __init__(self): + super().__init__('minimal_subscriber') + qos_profile = rclpy.qos.QoSProfile(depth=10, reliability=rclpy.qos.QoSReliabilityPolicy.BEST_EFFORT) + self.subscription = self.create_subscription( + LaserScan, + 'ldlidar_node/scan', + self.listener_callback, + qos_profile) + self.subscription # prevent unused variable warning + + self.publisher = self.create_publisher(String, 'object_detected', 10) + + def listener_callback(self, msg): + # Define the range in which you want to detect objects + min_distance = 0.01 # meters + max_distance = 0.45 # meters + + # Check if any of the range values are within the specified distance + for range_value in msg.ranges: + if min_distance < range_value < max_distance: + # If an object is detected within the specified range, publish a message + print("y a un truc") + self.publisher.publish(String(data='Object detected')) + break + +def main(args=None): + rclpy.init(args=args) + + minimal_subscriber = MinimalSubscriber() + + rclpy.spin(minimal_subscriber) + + minimal_subscriber.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/listen_package/package.xml b/src/listen_package/package.xml new file mode 100644 index 0000000..150fb77 --- /dev/null +++ b/src/listen_package/package.xml @@ -0,0 +1,18 @@ + + + + listen_package + 0.0.0 + TODO: Package description + hugo + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/listen_package/resource/listen_package b/src/listen_package/resource/listen_package new file mode 100644 index 0000000..e69de29 diff --git a/src/listen_package/setup.cfg b/src/listen_package/setup.cfg new file mode 100644 index 0000000..1d71fdd --- /dev/null +++ b/src/listen_package/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/listen_package +[install] +install_scripts=$base/lib/listen_package diff --git a/src/listen_package/setup.py b/src/listen_package/setup.py new file mode 100644 index 0000000..6c23a37 --- /dev/null +++ b/src/listen_package/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'listen_package' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='hugo', + maintainer_email='hugo@todo.todo', + description='TODO: Package description', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'ecoute = listen_package.ecoute:main' + ], + }, +) diff --git a/src/listen_package/test/test_copyright.py b/src/listen_package/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/src/listen_package/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/listen_package/test/test_flake8.py b/src/listen_package/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/src/listen_package/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/src/listen_package/test/test_pep257.py b/src/listen_package/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/src/listen_package/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings'