Merge branch 'master' of ssh://play.qtechofficial.com:9940/thomas/Cobots

src/cobot_platform/cobot_platform/move.py

@@ -0,0 +1,60 @@
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import Float32
+
+from serial import Serial
+
+from enum import Enum
+
+class Servos(Enum):
+    BODY = 0
+    ARM = 1
+    HAND = 2
+
+class CobotMove(Node):
+    def __init__(self):
+        super().__init__('cobot_move')
+        self._logger = self.get_logger()
+        self._logger.info('COBOT init')
+
+        self._serial = Serial('/dev/ttyACM0', 115200)
+
+        # self._buf = [90, 90, 90] # 3 servos
+        # self._prev_buf = [90, 90, 90]
+
+        base_topic = 'move/'
+
+        self.create_subscription(Float32, base_topic+'body', self._move_body_cb, rclpy.qos.qos_profile_sensor_data)
+        self.create_subscription(Float32, base_topic+'arm',  self._move_arm_cb,  rclpy.qos.qos_profile_sensor_data)
+        self.create_subscription(Float32, base_topic+'hand', self._move_hand_cb, rclpy.qos.qos_profile_sensor_data)
+
+    def _move_body_cb(self, msg):
+        self._move_servo(Servos.BODY, msg.data)
+
+    def _move_arm_cb(self, msg):
+        self._move_servo(Servos.ARM, msg.data)
+
+    def _move_hand_cb(self, msg):
+        self._move_servo(Servos.HAND, msg.data)
+
+    def _move_servo(self, serv_num, pos):
+        cmd = 'SV'
+        #  self._buf[serv_num] = pos
+        self._logger.info('COBOT: Servo {serv_num} to {pos}')
+        self._serial.write(f'{cmd}V{serv_num}P{pos}\n'.encode('UTF-8'))
+
+    # def _push ?
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    cobot_move = CobotMove()
+    rclpy.spin(cobot_move)
+
+    cobot_move.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/cobot_platform/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>cobot_platform</name>
+  <version>1.0.0</version>
+  <description>Driver for the cobot platform</description>
+  <maintainer email="farrell2017@my.fit.edu">John Farrell</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/cobot_platform/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/cobot_platform
+[install]
+install-scripts=$base/lib/cobot_platform

src/cobot_platform/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'cobot_platform'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='John Farrell',
+    maintainer_email='farrell2017@my.fit.edu',
+    description='Driver for the cobot platform',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'move = cobot_platform.move:main'
+        ],
+    },
+)

src/cobot_platform/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/cobot_platform/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/cobot_platform/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/joystickmove/joystickmove/move.py

@@ -0,0 +1,33 @@
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import Float32
+from sensor_msgs.msg import Joy
+
+class JoyMove(Node):
+    def __init__(self):
+        super().__init__('joystickmove')
+        self._logger = self.get_logger()
+        self._logger.info('joystick init')
+
+        self.create_subscription(Joy, '/joy', self._joy_cb, rclpy.qos.qos_profile_sensor_data)
+
+        self.base_pub = self.create_publisher(Float32, '/move/body', 10)
+
+    def _joy_cb(self, msg):
+        asd = (msg.axes[1] + 1) / 2 * 180.0
+        self.base_pub.publish(Float32(data=asd))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    joy_move = JoyMove()
+    rclpy.spin(joy_move)
+
+    joy_move.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/joystickmove/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>joystickmove</name>
+  <version>0.0.0</version>
+  <description>Joystick memes</description>
+  <maintainer email="farrell2017@my.fit.edu">John Farrell</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/joystickmove/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/joystickmove
+[install]
+install-scripts=$base/lib/joystickmove

src/joystickmove/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'joystickmove'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='John Farrell',
+    maintainer_email='farrell2017@my.fit.edu',
+    description='Joystick memes',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'joystickmove = joystickmove.move:main'
+        ],
+    },
+)

src/joystickmove/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/joystickmove/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/joystickmove/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'