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Pr/develop fetch/change esp now ros to smart device protocol #1904

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merged 4 commits into from
Jan 11, 2024
Merged

Pr/develop fetch/change esp now ros to smart device protocol #1904

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b9ee2d8
[jsk_fetch_robot] use smart_device_protocol instead of esp_now_ros
sktometometo Jan 9, 2024
0fdc365
[jsk_fetch_startup] add smart_devicE_protocol udev
Jan 9, 2024
d841173
[jsk_fetch_startup] add tag_id for sdp
sktometometo Jan 9, 2024
9791a5c
Merge branch 'PR/develop_fetch/change-esp-now-ros-to-smart-device-pro…
sktometometo Jan 9, 2024
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6 changes: 3 additions & 3 deletions jsk_fetch_robot/jsk_fetch.rosinstall.melodic
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Expand Up @@ -189,9 +189,9 @@
version: master
# we need this for smart device ros system
- git:
local-name: sktometometo/esp_now_ros
uri: https://github.com/sktometometo/esp_now_ros.git
version: v0.4.0
local-name: sktometometo/smart_device_protocol
uri: https://github.com/sktometometo/smart_device_protocol.git
version: v0.5.1
# melodic version of robot_localization causes TF_REPEATED_DATA Errors to noetic client
# So we have to adopt https://github.com/cra-ros-pkg/robot_localization/pull/595 (Using noetic-devel causes some localization trouble)
# After https://github.com/cra-ros-pkg/robot_localization/pull/840 has been merged, we can use upstream melodic-devel branch
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10 changes: 5 additions & 5 deletions jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
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Expand Up @@ -8,8 +8,8 @@
(ros::load-ros-manifest "jsk_recognition_msgs")
(ros::load-ros-manifest "power_msgs")
(ros::load-ros-manifest "sensor_msgs")
(if (ros::rospack-find "esp_now_ros")
(ros::load-ros-manifest "esp_now_ros"))
(if (ros::rospack-find "smart_device_protocol")
(ros::load-ros-manifest "smart_device_protocol"))

(defparameter *dock-action* nil)
(defparameter *undock-action* nil)
Expand Down Expand Up @@ -694,12 +694,12 @@ Args:
))
(message-array (padding-byte-array (coerce message cons) 64))
(byte-data (concatenate cons packet-type-array source-name-array timeout-duration-array message-array))
(msg (instance esp_now_ros::Packet :init
(msg (instance smart_device_protocol::Packet :init
:mac_address (coerce target-addr string)
:data (coerce byte-data string)))
)
(ros::advertise "/esp_now_ros/send" esp_now_ros::Packet 1)
(ros::publish "/esp_now_ros/send" msg)
(ros::advertise "/smart_device_protocol/send" smart_device_protocol::Packet 1)
(ros::publish "/smart_device_protocol/send" msg)
(ros::ros-info "Write message ~A to board ~A" message target-addr)
)
)
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3 changes: 2 additions & 1 deletion jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
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Expand Up @@ -425,8 +425,9 @@

<!-- smart device ros -->
<group if="$(eval arg('smart_device_port') != '')">
<include file="$(find esp_now_ros)/launch/demo.launch">
<include file="$(find smart_device_protocol)/launch/demo.launch">
<arg name="port" value="$(arg smart_device_port)"/>
<arg name="tag_id" value="$(optenv SDP_TAG_ID 11)"/>
</include>
</group>

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3 changes: 3 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules
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Expand Up @@ -5,3 +5,6 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="a
# The following device is for arduino nano every in nakane hand version 1
# Please update idVendor and idProduct if you use a different microcontroller
SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0058", SYMLINK+="nakane_hand", MODE="0666"

# The following device is for M5Atom S3 for smart device protocol interface by k-shinjo 2024/1/9
SUBSYSTEM=="tty", ATTRS{idVendor}=="303A", ATTRS{idProduct}=="1001", SYMLINK+="smart_device_protocol_interface", MODE="0666"
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