Fix/readme.md

.github/workflows/ros1-ci.yaml → .github/workflows/ros2-ci.yaml

@@ -1,30 +1,34 @@
-name: ROS1 CI Workflow
+name: ROS2 CI Workflow
 
 on:
   pull_request:
+    branches:
+      - ros2
   push:
     branches:
-      - main
+      - ros2
 
 jobs:
 
-  build-ros1:
-    runs-on: ubuntu-latest
+  build-ros2:
     strategy:
       fail-fast: false
+      matrix:
+        config:
+        - {
+          ros_distro: "humble"
+        }
+    runs-on: ubuntu-latest
     container:
-      image: ros:melodic
+      image: ros:${{ matrix.config.ros_distro }}
     steps:
       - name: Checkout Repo
         uses: actions/checkout@v2
       - name: Create Workspace
         run: |
-          mkdir -p src_tmp/vesc; \
-          mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/vesc/; \
-          mv src_tmp/ src/; \
-          cd src; \
-          bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
-          catkin_init_workspace'
+          mkdir -p src_tmp/vesc
+          mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/vesc/
+          mv src_tmp/ src/
       - name: Install Dependencies
         run: |
           bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
@@ -33,9 +37,9 @@ jobs:
       - name: Build Workspace
         run: |
           bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
-          catkin_make'
+          colcon build --event-handlers console_cohesion+'
       - name: Run Tests
         run: |
           bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
-          catkin_make run_tests; \
-          catkin_test_results --verbose'
+          colcon test --event-handlers console_cohesion+; \
+          colcon test-result --verbose'

README.md

@@ -1,5 +1,34 @@
 # Veddar VESC Interface
 
-![ROS1 CI Workflow](https://github.com/f1tenth/vesc/workflows/ROS1%20CI%20Workflow/badge.svg)
+Vesc is a new repository that was forked to provide a local instance for developing minor changes required for the C1T system. The only update included in this release is negating the speed value sent to the vesc due to the motors being installed in the opposite direction. 
 
 Packages to interface with Veddar VESC motor controllers. See https://vesc-project.com/ for details
+
+This is a ROS2 implementation of the ROS1 driver using the new serial driver located in [transport drivers](https://github.com/ros-drivers/transport_drivers).
+
+## How to test
+
+1. Clone this repository and [transport drivers](https://github.com/ros-drivers/transport_drivers) into `src`.
+2. `rosdep update && rosdep install --from-paths src -i -y`
+3. Plug in the VESC with a USB cable.
+4. Modify `vesc/vesc_driver/params/vesc_config.yaml` to reflect any changes.
+5. Build the packages `colcon build`
+6. `ros2 launch vesc_driver vesc_driver_node.launch.py`
+7. If prompted "permission denied" on the serial port: `sudo chmod 777 /dev/ttyACM0`
+
+## Contribution
+Welcome to the CARMA contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. [CARMA Contributing Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) 
+
+## Code of Conduct 
+Please read our [CARMA Code of Conduct](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Code_of_Conduct.md) which outlines our expectations for participants within the CARMA community, as well as steps to reporting unacceptable behavior. We are committed to providing a welcoming and inspiring community for all and expect our code of conduct to be honored. Anyone who violates this code of conduct may be banned from the community.
+
+## Attribution
+The development team would like to acknowledge the people who have made direct contributions to the design and code in this repository. [CARMA Attribution](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/ATTRIBUTION.txt) 
+
+## License
+By contributing to the Federal Highway Administration (FHWA) Connected Automated Research Mobility Applications (CARMA), you agree that your contributions will be licensed under its Apache License 2.0 license. [CARMA License](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/docs/License.md) 
+
+## Contact
+Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website. For technical support from the CARMA team, please contact the CARMA help desk at [email protected].
+
+[![CARMA Image](https://raw.githubusercontent.com/usdot-fhwa-stol/carma-platform/develop/docs/image/CARMA_icon.png)](https://highways.dot.gov/research/research-programs/operations/CARMA)

vesc/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(vesc)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_package()

vesc/package.xml

@@ -13,14 +13,15 @@
   <url type="bugtracker">https://github.com/f1tenth/vesc/issues</url>
   <author email="[email protected]">Michael T. Boulet</author>
   <author email="[email protected]">Joshua Whitley</author>
+  <author email="[email protected]">Haoru Xue</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>vesc_driver</exec_depend>
   <exec_depend>vesc_msgs</exec_depend>
   <exec_depend>vesc_ackermann</exec_depend>
 
   <export>
-    <metapackage/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

vesc_ackermann/CMakeLists.txt

@@ -1,101 +1,48 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(vesc_ackermann)
 
-# Setting C++ standard to 11
-if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}")
-  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
-  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
-  set(CMAKE_CXX_STANDARD 11)
+# Setting C++ standard to 14
+if(NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}")
+  message(STATUS "Changing CXX_STANDARD from C++98 to C++14")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+elseif("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
+  message(STATUS "Changing CXX_STANDARD from C++98 to C++14")
+  set(CMAKE_CXX_STANDARD 14)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  ackermann_msgs
-  geometry_msgs
-  nav_msgs
-  nodelet
-  pluginlib
-  roscpp
-  roslint
-  std_msgs
-  tf
-  vesc_msgs
-)
-
-catkin_package(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS
-    ackermann_msgs
-    geometry_msgs
-    nav_msgs
-    nodelet
-    pluginlib
-    std_msgs
-    tf
-    vesc_msgs
-)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 ###########
 ## Build ##
 ###########
 
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
+# nodes library
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/ackermann_to_vesc.cpp
+  src/vesc_to_odom.cpp
 )
 
-# node executable
-add_executable(vesc_to_odom_node src/vesc_to_odom_node.cpp
-                                 src/vesc_to_odom.cpp)
-add_dependencies(vesc_to_odom_node ${catkin_EXPORTED_TARGETS})
-target_link_libraries(vesc_to_odom_node
-  ${catkin_LIBRARIES}
+# register nodes as components
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN vesc_ackermann::AckermannToVesc
+  EXECUTABLE ackermann_to_vesc_node
 )
-
-add_executable(ackermann_to_vesc_node src/ackermann_to_vesc_node.cpp
-                                      src/ackermann_to_vesc.cpp)
-add_dependencies(ackermann_to_vesc_node ${catkin_EXPORTED_TARGETS})
-target_link_libraries(ackermann_to_vesc_node
-  ${catkin_LIBRARIES}
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN vesc_ackermann::VescToOdom
+  EXECUTABLE vesc_to_odom_node
 )
 
-# nodelet library
-add_library(vesc_ackermann_nodelet src/ackermann_to_vesc_nodelet.cpp
-                                   src/ackermann_to_vesc.cpp
-                                   src/vesc_to_odom_nodelet.cpp
-                                   src/vesc_to_odom.cpp)
-add_dependencies(vesc_ackermann_nodelet ${catkin_EXPORTED_TARGETS})
-target_link_libraries(vesc_ackermann_nodelet
-  ${catkin_LIBRARIES}
-)
-
-set(ROSLINT_CPP_OPTS "--filter=-build/c++11")
-roslint_cpp()
-
-#############
-## Install ##
-#############
-
-install(TARGETS vesc_to_odom_node ackermann_to_vesc_node
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(TARGETS vesc_ackermann_nodelet
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-install(FILES vesc_ackermann_nodelet.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY launch/
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
-
 #############
 ## Testing ##
 #############
 
-if(CATKIN_ENABLE_TESTING)
-  roslint_add_test()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    launch
+)

vesc_ackermann/include/vesc_ackermann/ackermann_to_vesc.hpp

@@ -0,0 +1,68 @@
+// Copyright 2020 F1TENTH Foundation
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//   * Redistributions of source code must retain the above copyright
+//     notice, this list of conditions and the following disclaimer.
+//
+//   * Redistributions in binary form must reproduce the above copyright
+//     notice, this list of conditions and the following disclaimer in the
+//     documentation and/or other materials provided with the distribution.
+//
+//   * Neither the name of the {copyright_holder} nor the names of its
+//     contributors may be used to endorse or promote products derived from
+//     this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+// -*- mode:c++; fill-column: 100; -*-
+
+#ifndef VESC_ACKERMANN__ACKERMANN_TO_VESC_HPP_
+#define VESC_ACKERMANN__ACKERMANN_TO_VESC_HPP_
+
+#include <ackermann_msgs/msg/ackermann_drive_stamped.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/float64.hpp>
+
+namespace vesc_ackermann
+{
+
+using ackermann_msgs::msg::AckermannDriveStamped;
+using std_msgs::msg::Float64;
+
+class AckermannToVesc : public rclcpp::Node
+{
+public:
+  explicit AckermannToVesc(const rclcpp::NodeOptions & options);
+
+private:
+  // ROS parameters
+  // conversion gain and offset
+  double speed_to_erpm_gain_, speed_to_erpm_offset_;
+  double steering_to_servo_gain_, steering_to_servo_offset_;
+
+  /** @todo consider also providing an interpolated look-up table conversion */
+
+  // ROS services
+  rclcpp::Publisher<Float64>::SharedPtr erpm_pub_;
+  rclcpp::Publisher<Float64>::SharedPtr servo_pub_;
+  rclcpp::Subscription<AckermannDriveStamped>::SharedPtr ackermann_sub_;
+
+  // ROS callbacks
+  void ackermannCmdCallback(const AckermannDriveStamped::SharedPtr cmd);
+};
+
+}  // namespace vesc_ackermann
+
+#endif  // VESC_ACKERMANN__ACKERMANN_TO_VESC_HPP_