Really bad state publisher server

Listens on port 9999 for 6 joint targets and a \n

Angles are in degrees

src/ar3_description/ar3_description/state_publisher_net.py

@@ -0,0 +1,111 @@
+from math import sin, cos, pi, copysign
+import rclpy, random, time, threading
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from geometry_msgs.msg import Quaternion
+from sensor_msgs.msg import JointState
+from tf2_ros import TransformBroadcaster, TransformStamped
+import socket
+
+class StatePublisher(Node):
+
+    def __init__(self):
+        super().__init__('state_publisher')
+
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+
+        self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self.sock.bind(('0.0.0.0', 9999))
+        self.sock.listen(1)
+
+        qos_profile = QoSProfile(depth=10)
+        self.joint_pub = self.create_publisher(JointState, 'joint_states', qos_profile)
+        self.broadcaster = TransformBroadcaster(self, qos=qos_profile)
+        self.nodeName = self.get_name()
+        self.get_logger().info("{0} started".format(self.nodeName))
+
+        self.cur_joints = [0.] * 6
+        self.cmd_joints = [0.] * 6
+        self.rate = 10. / 180. * pi
+        self.accel = 10. / 180. * pi
+        self.prev_time = time.time()
+
+        threading.Thread(target=self.server_handle).start()
+
+    def server_handle(self):
+        while rclpy.ok():
+            cli, addr = self.sock.accept()
+            cli.settimeout(0)
+            cli.setblocking(0)
+            print(cli, addr)
+            while rclpy.ok():
+                try:
+                    msg = cli.recv(4096)
+                    if msg == b'':
+                        print('bailing')
+                        break
+                    # print(repr(msg))
+
+                    if len(msg) >= 7 and msg[6] == 10:
+                        self.cmd_joints = [msg[0], msg[1], msg[2], msg[3], msg[4], msg[5]]
+                        self.cmd_joints = [a / 180. * pi for a in self.cmd_joints]
+                except BlockingIOError as e:
+                    pass
+                except Exception as e:
+                    print('what the fuck')
+                    print(e)
+                    raise e
+
+                cur_time = time.time()
+                dt = cur_time - self.prev_time
+                self.prev_time = cur_time
+                # print(self.cmd_joints, self.cur_joints)
+                # print(dt)
+
+                for i in range(6):
+                    self.cur_joints[i] += copysign(self.rate * dt + 0.5 * self.accel * dt * dt, self.cmd_joints[i] - self.cur_joints[i])
+
+                # message declarations
+                odom_trans = TransformStamped()
+                odom_trans.header.frame_id = 'odom'
+                odom_trans.child_frame_id = 'base_link'
+                joint_state = JointState()
+
+                # update joint_state
+                now = self.get_clock().now()
+                joint_state.header.stamp = now.to_msg()
+                joint_state.name = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
+                joint_state.position = self.cur_joints.copy()
+
+                # update transform
+                # (moving in a circle with radius=2)
+                odom_trans.header.stamp = now.to_msg()
+                odom_trans.transform.translation.x = 0.0# cos(angle) * 0.4
+                odom_trans.transform.translation.y = 0.0# sin(angle) * 0.4
+                odom_trans.transform.translation.z = 0.0
+                odom_trans.transform.rotation = \
+                    euler_to_quaternion(0, 0, 0) # roll,pitch,yaw
+
+                # send the joint state and transform
+                self.joint_pub.publish(joint_state)
+                self.broadcaster.sendTransform(odom_trans)
+
+def euler_to_quaternion(roll, pitch, yaw):
+    qx = sin(roll/2) * cos(pitch/2) * cos(yaw/2) - cos(roll/2) * sin(pitch/2) * sin(yaw/2)
+    qy = cos(roll/2) * sin(pitch/2) * cos(yaw/2) + sin(roll/2) * cos(pitch/2) * sin(yaw/2)
+    qz = cos(roll/2) * cos(pitch/2) * sin(yaw/2) - sin(roll/2) * sin(pitch/2) * cos(yaw/2)
+    qw = cos(roll/2) * cos(pitch/2) * cos(yaw/2) + sin(roll/2) * sin(pitch/2) * sin(yaw/2)
+    return Quaternion(x=qx, y=qy, z=qz, w=qw)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = StatePublisher()
+
+    rclpy.spin(node)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

src/ar3_description/launch/net.launch.py

@@ -0,0 +1,37 @@
+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
+
+def generate_launch_description():
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    urdf_file_name = 'ar3.urdf'
+    urdf = os.path.join(
+        get_package_share_directory('ar3_description'),
+        urdf_file_name)
+    with open(urdf, 'r') as infp:
+        robot_desc = infp.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation (Gazebo) clock if true'),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{'use_sim_time': use_sim_time, 'robot_description': robot_desc}],
+            arguments=[urdf]),
+        Node(
+            package='ar3_description',
+            executable='state_publisher_net',
+            name='state_publisher_net',
+            emulate_tty=True,
+            output='screen'),
+    ])

src/ar3_description/setup.py

@@ -7,7 +7,7 @@ package_name = 'ar3_description'
 
 setup(
     name=package_name,
-    version='0.0.0',
+    version='1.0.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -26,7 +26,8 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'state_publisher = ar3_description.state_publisher:main'
+            'state_publisher = ar3_description.state_publisher:main',
+            'state_publisher_net = ar3_description.state_publisher_net:main'
         ],
     },
 )

src/ar3_description/urdf/ar3.rviz

@@ -0,0 +1,221 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 616
+  - 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
+        link_1:
+          Value: true
+        link_2:
+          Value: true
+        link_3:
+          Value: true
+        link_4:
+          Value: true
+        link_5:
+          Value: true
+        link_6:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        odom:
+          base_link:
+            link_1:
+              link_2:
+                link_3:
+                  link_4:
+                    link_5:
+                      link_6:
+                        {}
+      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
+          Value: true
+        link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_6:
+          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: base_link
+    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: 2.0058364868164062
+      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: 1.0453979969024658
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.080399513244629
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000002f3000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e000002f3000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 1278
+  Y: 80