updated pkg to use wrp_sdk, removed scout_webots_sim

scout_base/CMakeLists.txt

@@ -15,7 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
     std_msgs
     geometry_msgs
     scout_msgs
-    scout_sdk
+    wrp_sdk
     tf2 
     tf2_ros
 )
@@ -29,7 +29,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES scout_messenger
-  CATKIN_DEPENDS scout_msgs roscpp sensor_msgs scout_sdk
+  CATKIN_DEPENDS scout_msgs roscpp sensor_msgs
 #   DEPENDS Boost
 )
 

scout_base/include/scout_base/scout_messenger.hpp

@@ -18,9 +18,9 @@
 #include <tf2_ros/transform_broadcaster.h>
 
 #include "scout_msgs/ScoutLightCmd.h"
-#include "scout_sdk/scout_base.hpp"
+#include "wrp_sdk/platforms/scout/scout_base.hpp"
 
-namespace wescore
+namespace westonrobot
 {
 class ScoutROSMessenger
 {
@@ -68,6 +68,6 @@ private:
     void LightCmdCallback(const scout_msgs::ScoutLightCmd::ConstPtr &msg);
     void PublishOdometryToROS(double linear, double angular, double dt);
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* SCOUT_MESSENGER_HPP */

scout_base/package.xml

@@ -19,13 +19,13 @@
   <build_depend>roslaunch</build_depend>
   <build_depend>roslint</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>scout_sdk</build_depend>
+  <build_depend>wrp_sdk</build_depend>
   <run_depend>controller_manager</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>scout_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>topic_tools</run_depend>
-  <run_depend>scout_sdk</run_depend>
+  <run_depend>wrp_sdk</run_depend>
   <export></export>
 </package>

scout_base/src/imu_broadcast_node.cpp

@@ -1,72 +0,0 @@
-/* 
- * imu_broadcast_node.cpp
- * 
- * Created on: Oct 02, 2019 19:09
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#include <string>
-
-#include <lcm/lcm-cpp.hpp>
-#include "lcmtypes/wescore.hpp"
-
-#include <ros/ros.h>
-#include <sensor_msgs/Imu.h>
-
-ros::Publisher imu_pub;
-
-struct MessageBroadcaster
-{
-    void IMULCMCallback(const lcm::ReceiveBuffer *rbuf, const std::string &chan, const wescore_lcm_msgs::IMU *msg)
-    {
-        static uint64_t count = 0;
-        // std::cout << "imu msg received" << std::endl;
-        sensor_msgs::Imu imu_msg;
-        imu_msg.header.frame_id = "imu_link";
-        imu_msg.header.stamp = ros::Time::now();
-        imu_msg.header.seq = count++;
-
-        imu_msg.angular_velocity.x = msg->angular_velocity.x;
-        imu_msg.angular_velocity.y = msg->angular_velocity.y;
-        imu_msg.angular_velocity.z = msg->angular_velocity.z;
-
-        imu_msg.linear_acceleration.x = msg->linear_acceleration.x;
-        imu_msg.linear_acceleration.y = msg->linear_acceleration.y;
-        imu_msg.linear_acceleration.z = msg->linear_acceleration.z;
-
-        for (int i = 0; i < 9; ++i)
-        {
-            imu_msg.orientation_covariance[i] = msg->orientation_covariance[i];
-            imu_msg.angular_velocity_covariance[i] = msg->angular_velocity_covariance[i];
-            imu_msg.linear_acceleration_covariance[i] = msg->linear_acceleration_covariance[i];
-        }
-
-        imu_pub.publish(imu_msg);
-    }
-};
-
-int main(int argc, char **argv)
-{
-    // setup LCM
-    lcm::LCM lcm;
-
-    if (!lcm.good())
-        return 1;
-    MessageBroadcaster mb;
-    lcm.subscribe("sensor_hub_raw_imu", &MessageBroadcaster::IMULCMCallback, &mb);
-
-    // setup ROS node
-    ros::init(argc, argv, "imu_broadcast_node");
-    ros::NodeHandle nh;
-    imu_pub = nh.advertise<sensor_msgs::Imu>("imu", 1000);
-
-    ROS_INFO("Started broadcasting");
-    while (ros::ok())
-    {
-        lcm.handleTimeout(5);
-    }
-
-    return 0;
-}

scout_base/src/scout_base_node.cpp

@@ -5,10 +5,10 @@
 #include <tf/transform_broadcaster.h>
 #include <nav_msgs/Odometry.h>
 
-#include "scout_sdk/scout_base.hpp"
+#include "wrp_sdk/platforms/scout/scout_base.hpp"
 #include "scout_base/scout_messenger.hpp"
 
-using namespace wescore;
+using namespace westonrobot;
 
 int main(int argc, char **argv)
 {

scout_base/src/scout_messenger.cpp

@@ -13,7 +13,7 @@
 
 #include "scout_msgs/ScoutStatus.h"
 
-namespace wescore
+namespace westonrobot
 {
 ScoutROSMessenger::ScoutROSMessenger(ros::NodeHandle *nh) : scout_(nullptr), nh_(nh)
 {
@@ -259,4 +259,4 @@ void ScoutROSMessenger::PublishOdometryToROS(double linear, double angular, doub
 
     odom_publisher_.publish(odom_msg);
 }
-} // namespace wescore
+} // namespace westonrobot