Restructure codebase

.docker/run.bash

@@ -76,7 +76,9 @@ GUI_ENVS=(
 CUSTOM_VOLUMES+=("/etc/localtime:/etc/localtime:ro")
 
 # Pass USB devices to container
-USB_VOLUME+=("/dev/bus/usb:/dev/bus/usb")
+#USB_VOLUME+=("/dev/bus/usb:/dev/bus/usb")
+DEVICE_VOLUME+=("/dev:/dev:rw")
+#USB_SERIAL+=("/dev/ttyACM0:/dev/ttyACM0")
 
 ## Additional environment variables
 # Synchronize ROS_DOMAIN_ID with host
@@ -114,7 +116,9 @@ DOCKER_RUN_CMD=(
     "${GPU_OPT}"
     "${GPU_ENVS[@]/#/"--env "}"
     "${CUSTOM_VOLUMES[@]/#/"--volume "}"
-    "${USB_VOLUME[@]/#/"--volume "}"
+    "${DEVICE_VOLUME[@]/#/"--volume "}"
+    #"${USB_VOLUME[@]/#/"--volume "}"
+    #"${USB_SERIAL[@]/#/"--volume "}"
     "${CUSTOM_ENVS[@]/#/"--env "}"
     "${TAG}"
     "${CMD}"

README.md

@@ -12,3 +12,19 @@ ros2 launch draw_svg draw_svg.launch.py
 
 ## xArm lite6
 - web interface: http://192.168.1.150:18333
+## ROS2 rpi4
+https://github.com/ros-realtime/ros-realtime-rpi4-image/releases
+
+After unpacking the tar file, flash it to sd card.
+Log in with "ubuntu:ubuntu".
+
+``` sh
+sudo -i
+loadkeys fi
+passwd ubuntu #change from default 'ubuntu' to '1234'
+apt-mark hold $(uname -r) linux-firmware u-boot-rpi u-boot-tools #prevent kernel updates
+apt-mark hold libraspberrypi-bin libraspberrypi-dev libraspberrypi-doc libraspberrypi0
+apt-mark hold raspberrypi-bootloader raspberrypi-kernel raspberrypi-kernel-headers
+
+apt update && apt upgrade
+```

src/axidraw_controller/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(axidraw_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
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/axidraw_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>axidraw_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_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/axidraw_controller/src/test.py

@@ -2,6 +2,7 @@
 from pyaxidraw import axidraw   # import module
 ad = axidraw.AxiDraw()          # Initialize class
 ad.interactive()                # Enter interactive context
+ad.options.port = "/dev/ttyAXI"
 if not ad.connect():            # Open serial port to AxiDraw;
     quit()                      #   Exit, if no connection.
 ad.options.units = 1            # set working units to cm.

src/draw_svg/src/py/draw_svg.py

@@ -55,7 +55,7 @@ class PublishTarget(Node):
     def __init__(self):
         super().__init__('publisher')
         self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
-        timer_period = 7.0  # seconds
+        timer_period = 4.0  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
         self.i = 0
 
@@ -66,7 +66,7 @@ class PublishTarget(Node):
         #print(p.orientation)
         xml = ET.parse('svg/test.svg')
         svg = xml.getroot()
-        self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.1, 0.5, -0.2, 0.2)
+        self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.2, 0.4, -0.1, 0.1)
         self.points = []
         for child in svg:
             if (child.tag == 'line'):

src/drawing_controller/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(drawing_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
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/drawing_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>drawing_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_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/drawing_controller/src/drawing_controller.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+"""Sends motions individually to robot_controller"""
+
+import rclpy
+from geometry_msgs.msg import Pose, PoseStamped
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from random import uniform as rand
+import math
+#from tf2_ros.transformations import quaternion_from_euler
+import lxml.etree as ET
+
+
+def quaternion_from_euler(ai, aj, ak):
+    ai /= 2.0
+    aj /= 2.0
+    ak /= 2.0
+    ci = math.cos(ai)
+    si = math.sin(ai)
+    cj = math.cos(aj)
+    sj = math.sin(aj)
+    ck = math.cos(ak)
+    sk = math.sin(ak)
+    cc = ci*ck
+    cs = ci*sk
+    sc = si*ck
+    ss = si*sk
+
+    q = [0,0,0,0]
+    q[0] = cj*sc - sj*cs
+    q[1] = cj*ss + sj*cc
+    q[2] = cj*cs - sj*sc
+    q[3] = cj*cc + sj*ss
+
+    return q
+
+def translate(val, lmin, lmax, rmin, rmax):
+    lspan = lmax - lmin
+    rspan = rmax - rmin
+    val = float(val - lmin) / float(lspan)
+    return rmin + (val * rspan)
+
+def map_point_function(x_pixels, y_pixels, xlim_lower, xlim_upper, ylim_lower, ylim_upper):
+    def map_point(xpix,ypix):
+       x = translate(xpix, 0, x_pixels, xlim_lower, xlim_upper)
+       y = translate(ypix, 0, y_pixels, ylim_lower, ylim_upper)
+       return (x,y)
+    return map_point
+
+
+class DrawingController(Node):
+    def __init__(self):
+        super().__init__('drawing_controller')
+        self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
+        timer_period = 7.0  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+        # TODO get dimensions from svg
+
+        #print(p)
+        #print(p.position)
+        #print(p.orientation)
+        xml = ET.parse('svg/test.svg')
+        svg = xml.getroot()
+        self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.1, 0.5, -0.2, 0.2)
+        self.points = []
+        for child in svg:
+            if (child.tag == 'line'):
+                self.points.append((float(child.get('x1')), float(child.get('y1'))))
+                self.points.append((float(child.get('x2')), float(child.get('y2'))))
+
+
+    def timer_callback(self):
+        next_point = self.points[self.i]
+        point = self.map_point(float(next_point[0]),float(next_point[1]))
+        p = Pose()
+        p.position.x = point[0]
+        p.position.y = point[1]
+        p.position.z = 0.1
+        q = quaternion_from_euler(0.0, math.pi, 0.0)
+        #p.orientation = q
+        p.orientation.x = q[0]
+        p.orientation.y = q[1]
+        p.orientation.z = q[2]
+        p.orientation.w = q[3]
+        ps = PoseStamped()
+        ps.pose = p
+        #print(ps)
+        self.publisher_.publish(ps)
+        self.get_logger().info('Publishing to /target_pose: "%s"' % p)
+        self.i = (self.i + 1) % len(self.points)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    publisher = PublishTarget()
+
+    rclpy.spin(publisher)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

src/lite6_controller/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(lite6_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
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/lite6_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>lite6_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_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/robot_controller/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_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
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(robot_interfaces REQUIRED)
+
+#add_executable(robotcontroller src/robotcontroller.cpp)
+#ament_target_dependencies(robotcontroller rclcpp robot_interfaces)
+
+install(TARGETS
+  talker
+  listener
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

src/robot_controller/package.xml

@@ -0,0 +1,18 @@
+<?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>robot_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_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/robot_controller/src/robotcontroller.cpp

@@ -0,0 +1,41 @@
+#include <cstdio>
+#include <rclcpp/rclcpp.hpp>
+
+class RobotController : public rclcpp::Node
+{
+public:
+  /// Constructor
+  RobotController();
+
+private:
+  /// Callback that executes path on robot
+    virtual void add(const std::shared_ptr<robot_interfaces::srv::AddThreeInts::Request> request,
+                           std::shared_ptr<robot_interfaces::srv::AddThreeInts::Response>       response);
+};
+
+RobotController::RobotController(string name) : Node(name)
+{
+  // Subscribe to target pose
+  target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));
+
+  RCLCPP_INFO(this->get_logger(), "Initialization successful.");
+}
+
+int main(int argc, char ** argv)
+{
+  //rclcpp::init(argc, argv);
+
+  //auto target_follower = std::make_shared<MoveItFollowTarget>();
+
+  //rclcpp::executors::SingleThreadedExecutor executor;
+  //executor.add_node(target_follower);
+  //executor.spin();
+
+  //rclcpp::shutdown();
+  //return EXIT_SUCCESS;
+  (void) argc;
+  (void) argv;
+
+  printf("hello world\n");
+  return 0;
+}