Added homemade controller to not user ros2control

src/homemade_controller/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.8)
+project(homemade_controller)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  geometry_msgs
+  rclcpp
+)
+
+
+
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+include_directories(include)
+
+
+# install
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+
+add_executable(homemade_controller src/homemade_controller.cpp)
+ament_target_dependencies(homemade_controller 
+  rclcpp
+  geometry_msgs
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+target_link_libraries(homemade_controller serial)
+
+install(TARGETS
+  homemade_controller
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+
+ament_package()

src/homemade_controller/include/homemade_controller/forward_kinematics.hpp

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+#ifndef FORWARD_KINEMATICS_HPP
+#define FORWARD_KINEMATICS_HPP
+
+/*
+forward kinematics of our robot
+*/
+
+
+
+
+
+#endif // FORWARD_KINEMATICS_HPP

src/homemade_controller/include/homemade_controller/rppico_comms.hpp

@@ -0,0 +1,121 @@
+#ifndef OMNIDRIVE_RPPICO__OMNIBOT_COMMS_HPP_
+#define OMNIDRIVE_RPPICO__OMNIBOT_COMMS_HPP_
+
+#include <sstream>
+#include <libserial/SerialPort.h>
+#include <iostream>
+
+
+LibSerial::BaudRate convert_baud_rate(int baud_rate)
+{
+  // Just handle some common baud rates
+  switch (baud_rate)
+  {
+    case 1200: return LibSerial::BaudRate::BAUD_1200;
+    case 1800: return LibSerial::BaudRate::BAUD_1800;
+    case 2400: return LibSerial::BaudRate::BAUD_2400;
+    case 4800: return LibSerial::BaudRate::BAUD_4800;
+    case 9600: return LibSerial::BaudRate::BAUD_9600;
+    case 19200: return LibSerial::BaudRate::BAUD_19200;
+    case 38400: return LibSerial::BaudRate::BAUD_38400;
+    case 57600: return LibSerial::BaudRate::BAUD_57600;
+    case 115200: return LibSerial::BaudRate::BAUD_115200;
+    case 230400: return LibSerial::BaudRate::BAUD_230400;
+    default:
+      std::cout << "Error! Baud rate " << baud_rate << " not supported! Default to 57600" << std::endl;
+      return LibSerial::BaudRate::BAUD_57600;
+  }
+}
+
+class RpPicoComs
+{
+
+public:
+
+  RpPicoComs() = default;
+
+  void connect(const std::string &serial_device, int32_t baud_rate, int32_t timeout_ms)
+  {  
+    timeout_ms_ = timeout_ms;
+    serial_conn_.Open(serial_device);
+    serial_conn_.SetBaudRate(convert_baud_rate(baud_rate));
+  }
+
+  void disconnect()
+  {
+    serial_conn_.Close();
+  }
+
+  bool connected() const
+  {
+    return serial_conn_.IsOpen();
+  }
+
+
+  std::string send_msg(const std::string &msg_to_send, bool print_output = false)
+  {
+    serial_conn_.FlushIOBuffers(); // Just in case
+    serial_conn_.Write(msg_to_send);
+
+    std::string response = "";
+    try
+    {
+      // Responses end with \r\n so we will read up to (and including) the \n.
+      serial_conn_.ReadLine(response, '\n', timeout_ms_);
+    }
+    catch (const LibSerial::ReadTimeout&)
+    {
+        std::cerr << "The ReadByte() call has timed out." << std::endl ;
+    }
+
+    if (print_output)
+    {
+      std::cout << "Sent: " << msg_to_send << " Recv: " << response << std::endl;
+    }
+
+    return response;
+  }
+
+
+  void send_empty_msg()
+  {
+    std::string response = send_msg("\r");
+  }
+
+  void read_encoder_values(int &val_1, int &val_2,int &val_3, int &val_4)
+  {
+    std::string response = send_msg("e\r");
+
+    std::string delimiter = " ";
+    size_t del_pos = response.find(delimiter);
+    std::string token_1 = response.substr(0, del_pos);
+    std::string token_2 = response.substr(del_pos + delimiter.length());
+    std::string token_3 = response.substr(del_pos + delimiter.length());
+    std::string token_4 = response.substr(del_pos + delimiter.length());
+
+    val_1 = std::atoi(token_1.c_str());
+    val_2 = std::atoi(token_2.c_str());
+    val_3 = std::atoi(token_3.c_str());
+    val_4 = std::atoi(token_4.c_str());
+
+  }
+  void set_motor_values(int val_1, int val_2, int val_3, int val_4)
+  {
+    std::stringstream ss;
+    ss << "m " << val_1 << " " << val_2 << " " << val_3 << " " << val_4 << "\r";
+    send_msg(ss.str());
+  }
+
+  void set_pid_values(int k_p, int k_d, int k_i, int k_o)
+  {
+    std::stringstream ss;
+    ss << "u " << k_p << ":" << k_d << ":" << k_i << ":" << k_o << "\r";
+    send_msg(ss.str());
+  }
+
+private:
+    LibSerial::SerialPort serial_conn_;
+    int timeout_ms_;
+};
+
+#endif // OMNIDRIVE_RPPICO__OMNIBOT_SYSTEM_HPP_

src/homemade_controller/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>homemade_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">vincent</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>libserial-dev</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/homemade_controller/src/homemade_controller.cpp

@@ -0,0 +1,84 @@
+
+// rasperry pi pico communications
+#include "homemade_controller/rppico_comms.hpp"
+
+// ros2
+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+
+
+using namespace std::chrono_literals;
+
+/*
+This node is responsible for getting the cmd_vel (from any source) and converting it to speed orders for the rasoerry pi pico
+and then sending it to the pico via serial.
+Parameters (wheel radius, wheel base, max speed, max acceleration, max deceleration, max angular speed, max angular acceleration, max angular deceleration,
+update rate)
+ are stored in a yaml file. It is given in the launch file.
+
+*/
+
+
+
+class HomemadeController : public rclcpp::Node
+{
+    public:
+        HomemadeController()
+        : Node("HomemadeController"){
+            // get parameters from the command line arguments or the yaml file
+            this->declare_parameter("wheel_diameter", 0.06);
+            this->declare_parameter("wheel_base", 0.25);
+            this->declare_parameter("max_speed", 1.0);
+            this->declare_parameter("max_acceleration", 1.0);
+            this->declare_parameter("max_deceleration", 1.0);
+            this->declare_parameter("max_angular_speed", 1.0); // rad.s-1
+            this->declare_parameter("max_angular_acceleration", 1.0);
+            this->declare_parameter("max_angular_deceleration", 1.0);
+            this->declare_parameter("update_rate", 50); //Hz
+            this->declare_parameter("serial_port", "/dev/ttyACM0");
+            this->declare_parameter("serial_baudrate", "115200");
+
+
+            timer_ = this->create_wall_timer(
+                1000ms, std::bind(&HomemadeController::timer_callback, this));   
+
+            subscription_ = this->create_subscription<geometry_msgs::msg::Twist>(
+                "cmd_vel", 10, std::bind(&HomemadeController::cmd_vel_callback, this, std::placeholders::_1));
+
+            }
+
+    void timer_callback(){
+        //print the latests /cmd_vel topic values in the console for now
+        RCLCPP_INFO(this->get_logger(), "Latest heard: '%f'", linear_x);
+    }   
+
+    void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg){
+        // convert the twist message to speed orders for the pico
+        // send the speed orders to the pico
+        // print the speed orders in the console for now
+        RCLCPP_INFO(this->get_logger(), "I heard: '%f'", msg->linear.x);
+        RCLCPP_INFO(this->get_logger(), "I heard: '%f'", msg->angular.z);
+        linear_x = msg->linear.x;
+
+
+
+    }
+
+    private:
+        rclcpp::TimerBase::SharedPtr timer_;
+        size_t count_;
+        RpPicoComs rppico_comms_;
+        rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr subscription_;
+        double linear_x;
+
+
+};
+
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<HomemadeController>());
+    rclcpp::shutdown();
+    return 0;
+}