add program

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(my_bot)
+project(robot)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

README.md

@@ -2,6 +2,6 @@
 
 This is a GitHub template. You can make your own copy by clicking the green "Use this template" button.
 
-It is recommended that you keep the repo/package name the same, but if you do change it, ensure you do a "Find all" using your IDE (or the built-in GitHub IDE by hitting the `.` key) and rename all instances of `my_bot` to whatever your project's name is.
+It is recommended that you keep the repo/package name the same, but if you do change it, ensure you do a "Find all" using your IDE (or the built-in GitHub IDE by hitting the `.` key) and rename all instances of `robot` to whatever your project's name is.
 
 Note that each directory currently has at least one file in it to ensure that git tracks the files (and, consequently, that a fresh clone has direcctories present for CMake to find). These example files can be removed if required (and the directories can be removed if `CMakeLists.txt` is adjusted accordingly).

config/ball_tracker_params_robot.yaml

@@ -0,0 +1,30 @@
+detect_ball:
+  ros__parameters:
+    # tuning_mode: false # Could set this here but leave it off so it can be easily set by the launch script
+    x_min: 0
+    x_max: 100
+    y_min: 42
+    y_max: 100
+    h_min: 27
+    h_max: 43
+    s_min: 23
+    s_max: 255
+    v_min: 49
+    v_max: 255
+    sz_min: 2
+    sz_max: 25
+
+detect_ball_3d:
+  ros__parameters:
+    h_fov: 1.089
+    ball_radius: 0.033
+    camera_frame: "camera_link_optical"
+
+follow_ball:
+  ros__parameters:
+    rcv_timeout_secs: 1.0
+    angular_chase_multiplier: 0.7
+    forward_chase_speed: 0.1
+    search_angular_speed: 0.5
+    max_size_thresh: 0.1
+    filter_value: 0.9

config/ball_tracker_params_sim.yaml

@@ -0,0 +1,30 @@
+detect_ball:
+  ros__parameters:
+    # tuning_mode: false # Could set this here but leave it off so it can be easily set by the launch script
+    x_min: 0
+    x_max: 100
+    y_min: 32
+    y_max: 100
+    h_min: 20
+    h_max: 37
+    s_min: 42
+    s_max: 255
+    v_min: 0
+    v_max: 255
+    sz_min: 0
+    sz_max: 20
+
+detect_ball_3d:
+  ros__parameters:
+    h_fov: 1.089
+    ball_radius: 0.033
+    camera_frame: "camera_link_optical"
+
+follow_ball:
+  ros__parameters:
+    rcv_timeout_secs: 1.0
+    angular_chase_multiplier: 0.7
+    forward_chase_speed: 0.1
+    search_angular_speed: 0.5
+    max_size_thresh: 0.1
+    filter_value: 0.9

config/drive_bot.rviz

@@ -0,0 +1,205 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 759
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        caster_wheel:
+          Value: true
+        chassis:
+          Value: true
+        left_wheel:
+          Value: true
+        odom:
+          Value: true
+        right_wheel:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        odom:
+          base_link:
+            chassis:
+              caster_wheel:
+                {}
+            left_wheel:
+              {}
+            right_wheel:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        caster_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 997
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000386fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000386000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000385fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000385000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006100000038600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 28

config/gaz_ros2_ctl_use_sim.yaml

@@ -0,0 +1,3 @@
+controller_manager:
+  ros__parameters:
+    use_sim_time: true

config/gazebo_params.yaml

@@ -0,0 +1,3 @@
+gazebo:
+  ros__parameters:
+    publish_rate: 400.0

config/joystick.yaml

@@ -0,0 +1,27 @@
+joy_node:
+  ros__parameters:
+    device_id: 0
+    deadzone: 0.05
+    autorepeat_rate: 20.0
+
+teleop_node:
+  ros__parameters:
+    axis_linear:
+      x: 1
+    scale_linear:
+      x: 0.5
+    scale_linear_turbo:
+      x: 1.0
+
+    axis_angular:
+      yaw: 0
+    scale_angular:
+      yaw: 0.5
+    scale_angular_turbo:
+      yaw: 1.0
+
+
+    enable_button: 6
+    enable_turbo_button: 7
+
+    require_enable_button: true