sirius_driver

About sirius_driver

sirius_driver is firmware for a robot, name sirius.
sirius is Differential wheeled robot.

How to Build?

We developed using mros2-mbed.
If you want to build the program, please following a document written in mros2-mbed.

Building program in Our Environment

Use the bellow command.
./build.bash all NUCLEO_F767ZI sirius_driver

If you haven't setup environment

1. setup from here.
   
2. git clone this repository, under mros2-mbed/workspace.
   mv sirius_driver mros2-mbed/workspace
   1.add under code to mbed_app.json target_overrides '*' for print float.

{
    "target_overrides": {
        "*": {
            "target.printf_lib"        : "std",
            "platform.stdio-baud-rate" : 115200,
            "platform.stdio-convert-newlines"   : true,
            "platform.stdio-buffered-serial"    : true,
            "platform.stdio-flush-at-exit"      : true
        }
    }
}

1. Copy under code to mros2-mbed/CMakeLists.txt
   

# Copyright (c) 2021 smorita_emb
# SPDX-License-Identifier: Apache-2.0

cmake_minimum_required(VERSION 3.19.0)

set(MBED_PATH
    ${CMAKE_CURRENT_SOURCE_DIR}/mbed-os
    CACHE INTERNAL "")
set(MBED_CONFIG_PATH
    ${CMAKE_CURRENT_BINARY_DIR}
    CACHE INTERNAL "")
set(APP_TARGET mros2-mbed)

include(${MBED_PATH}/tools/cmake/app.cmake)

project(${APP_TARGET})

add_subdirectory(${MBED_PATH})
set(INCLUDE_DIR workspace/${PROJECT_NAME}/include)

if(DEFINED ENV{APPNAME})
  set(APP_NAME $ENV{APPNAME})
else()
  set(APP_NAME "echoback_string")
endif()
message(STATUS "APP_NAME=${APP_NAME}")
add_executable(${APP_TARGET} workspace/${APP_NAME}/app.cpp)

target_link_libraries(${APP_TARGET} mbed-os mbed-lwipstack mros2)
target_include_directories(${APP_TARGET} PUBLIC ${INCLUDE_DIR})

execute_process(COMMAND git submodule update --init --recursive
                WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/mros2)
add_library(mros2 INTERFACE)
add_subdirectory(mros2)

set(RTPS_CONFIG_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include")

target_include_directories(
  mros2-mbed
  PRIVATE workspace/${APP_NAME}
  PRIVATE workspace/custom_msgs
  PRIVATE ${RTPS_CONFIG_INCLUDE_DIR}
)

mbed_set_post_build(${APP_TARGET})

option(VERBOSE_BUILD "Have a verbose build process")
if(VERBOSE_BUILD)
  set(CMAKE_VERBOSE_MAKEFILE ON)
endif()

flowchart

graph TD
    A([START])
    %% main関数の処理
    --> B[[main関数]]

    B0[[main関数]]
    --> B1[いろいろ初期化]
    --> B2[mros2の初期化]
    --> B2.1[mros2_nodeの作成]
    --> B2.2["publisherの作成 (wheel_odom)"]
    --> B2.3["subscriberの作成 (cmd_vel)"]
    --> B3[メインループ]
    --> B4[オドメトリのメッセージを作成]
    --> B5[オドメトリをパブリッシュ]
    --> B6[シリアル通信でデバッグ]
    -- 100ms待つ --> B3

    %% callback関数の処理
    C0[[callback関数]]
    -- cmd_velを受信 
    --> C1[回転半径 radiusを計算]
    --> C2{radiusが100以上，または-100以下のとき}
    -- yes --> C3[直進]
    C2 -- no --> C4{radiusが0+EPSILON以下, かつ0-EPSILON以上のとき}
    C4 -- yes --> C5[回転]
    C4 -- no --> C6[直進＋回転]

    %% その他の処理
    D0[[flip関数]]
    --> D1["エンコーダの値から，左右の車輪の速度を計算[m/s]"]
    --> D2["エンコーダの値から，ROS2用の車体の速度，角速度，回転半径，odomを計算"]

    E0[[counter_l, counter_r関数]]
    --> E1["エンコーダの値を取得して，カウンターを増やす，または減らす"]

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