Merge pull request #7 from chargerKong/dashing-to-upstream

Port tianracer_bringup to ROS2
tianbot · Nov 11, 2021 · 8aec398 · 8aec398
2 parents a33450b + 9cb9dc7
commit 8aec398
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diff --git a/tianracer_bringup/CMakeLists.txt b/tianracer_bringup/CMakeLists.txt
@@ -1,207 +1,31 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(tianracer_bringup)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES tianracer_bringup
-#  CATKIN_DEPENDS roscpp rospy std_msgs
-#  DEPENDS system_lib
-)
+## Find dependencies
+find_package(ament_cmake REQUIRED)
 
 string(ASCII 27 Esc)
-if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.my_tianracer.sh.em")
-  catkin_add_env_hooks(99.my_tianracer SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.my_tianracer.sh.in")
+  ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.my_tianracer.sh.in")
   message("--${Esc}[1;34m *** Add Customized Tianbot Environment Variables *** ${Esc}[0m")
 else()
-  catkin_add_env_hooks(99.default_tianracer SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
+  ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.default_tianracer.sh.in")
   message("--${Esc}[1;33m *** Attention! Using default Tianbot Environment Variables *** ${Esc}[0m")
 endif()
-###########
-## Build ##
-###########
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
+install(DIRECTORY launch param
+  DESTINATION share/${PROJECT_NAME}
 )
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/tianracer_bringup.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/tianracer_bringup_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_racecar_bringup.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
diff --git a/tianracer_bringup/env-hooks/99.default_tianracer.sh.em b/tianracer_bringup/env-hooks/99.default_tianracer.sh.em
diff --git a/tianracer_bringup/env-hooks/99.default_tianracer.sh.in b/tianracer_bringup/env-hooks/99.default_tianracer.sh.in
@@ -0,0 +1,13 @@
+# generated from ros_environment/env-hooks/1.ros_version.sh.in
+
+export TIANRACER_BASE=compact                   # compact, standard, fullsize, customized.
+export TIANRACER_BASE_PORT=/dev/tianbot_racecar # /dev/ttyUSB1
+export TIANRACER_STEERING_DIRECTION=normal      # compact, standard, fullsize, customized.
+export TIANRACER_THROTTLE_DIRECTION=normal      # compact, standard, fullsize, customized.
+export TIANRACER_BRIDGE=disabled                # enabled,disabled
+export TIANRACER_RGBD_CAMERA=none               # realsense_d415, realsense_d435, astra, astra_pro, xtion, none
+export TIANRACER_VIDEO_DEVICE=none              # /dev/video0 for most of the usb_cams.If you want init usb_cam in jet_cam, this should be set to none.
+export TIANRACER_LIDAR=rplidar_a1               # rplidar, velodyne_vlp16, osight, rslidar, hokuyo, sick, etc..
+export TIANRACER_LIDAR_MODEL=a1               # a1, a2, a3, iexxx, vlp16, etc...
+export TIANRACER_LIDAR_PORT=/dev/tianbot_rplidar # /dev/ttyUSB0
+export TIANRACER_GPS=none                       # none, nmea0183
diff --git a/tianracer_bringup/install/_bin_/tianracer_bringup.sh b/tianracer_bringup/install/_bin_/tianracer_bringup.sh
@@ -2,10 +2,10 @@
 
 #IP=$(ip addr show eth0 | grep -w inet | awk '{print $2}' | awk -F / '{print $1}')
 
-source /home/tianbot/tianbot_ws/devel/setup.bash
+source /home/tianbot/tianbot_ws/install/local_setup.bash
 
-export ROS_MASTER_URI=http://localhost:11311
+# export ROS_MASTER_URI=http://localhost:11311
 
 #export ROS_IP=${IP}
 
-roslaunch tianracer_bringup tianracer_bringup.launch
+ros2 launch tianracer_bringup tianracer_bringup.launch.py
diff --git a/tianracer_bringup/launch/includes/lidar/rplidar.launch.py b/tianracer_bringup/launch/includes/lidar/rplidar.launch.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import OpaqueFunction
+
+def launch_setup(context, *args, **kwargs):
+    serial_port = LaunchConfiguration('serial_port', default=\
+        os.environ.get("TIANRACER_LIDAR_PORT", "/dev/ttyUSB0"))
+    # serial_baudrate = LaunchConfiguration('serial_baudrate', default='115200') #for A1/A2 is 115200
+    frame_id = LaunchConfiguration('frame_id', default='laser')
+    inverted = LaunchConfiguration('inverted', default='false')
+    angle_compensate = LaunchConfiguration('angle_compensate', default='true')
+    model_env = LaunchConfiguration('model', default=\
+         os.environ.get("TIANRACER_LIDAR_MODEL", "a1")).perform(context) # for compatibility
+    serial_baudrate = 256000 if "a3" in model_env else 115200
+    scan_mode = "Sensitivity" if "a3" in model_env else "Boost"
+
+    return LaunchDescription([
+
+        DeclareLaunchArgument(
+            'serial_port',
+            default_value=serial_port,
+            description='Specifying usb port to connected lidar'),
+
+        DeclareLaunchArgument(
+            'frame_id',
+            default_value=frame_id,
+            description='Specifying frame_id of lidar'),
+
+        DeclareLaunchArgument(
+            'model',
+            default_value=model_env,
+            description='Specifying model of lidar'),
+
+        DeclareLaunchArgument(
+            'inverted',
+            default_value=inverted,
+            description='Specifying whether or not to invert scan data'),
+
+        DeclareLaunchArgument(
+            'angle_compensate',
+            default_value=angle_compensate,
+            description='Specifying whether or not to enable angle_compensate of scan data'),
+
+
+        Node(
+            package='rplidar_ros2',
+            node_executable='rplidar_scan_publisher',
+            name='rplidar_scan_publisher',
+            parameters=[{'serial_port': serial_port,
+                         'serial_baudrate': serial_baudrate,
+                         'frame_id': frame_id,
+                         'inverted': inverted,
+                         'angle_compensate': angle_compensate,
+                         'scan_mode': scan_mode}],
+            output='screen',
+            remappings = [('scan', 'scan_raw')]),
+
+        Node(
+            package="laser_filters",
+            node_executable="scan_to_scan_filter_chain",
+            name="scan_to_scan_filter_chain",
+            parameters=[
+                os.path.join(
+                    get_package_share_directory("tianracer_bringup"),
+                    "param", "tianbot_laser_config.yaml"
+                )
+            ],
+            remappings=[('scan', 'scan_raw'),
+                        ('scan_filtered', 'scan'),]
+        )
+        ])
+
+def generate_launch_description():
+        return LaunchDescription([
+        OpaqueFunction(function=launch_setup),
+    ])
+
diff --git a/tianracer_bringup/launch/lidar.launch.py b/tianracer_bringup/launch/lidar.launch.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    lidar = os.environ.get("TIANRACER_LIDAR", "rplidar_a1")
+    model = os.environ.get("TIANRACER_LIDAR_MODEL", "a1")
+    ld = LaunchDescription()
+    if "rplidar" in lidar:
+        ld.add_action(IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(
+                get_package_share_directory("tianracer_bringup"),
+                'launch','includes','lidar', 'rplidar.launch.py')),
+                launch_arguments={'model': model}.items(),
+            ))
+    ## TODO
+    # if “osight” in lidar
+    # if “velodyne” in lidar
+    # if “rslidar” in lidar
+
+
+
+    return ld