saved work

2026-01-12 03:15:01 +08:00 · 2020-03-26 19:06:34 +08:00
parent 38510eb257
commit dbf04d03d8
10 changed files with 151 additions and 57 deletions
--- a/NOTE.md
+++ b/NOTE.md
@@ -0,0 +1,3 @@
+```
+$ rostopic pub -1 /scout_motor_fl_controller/command std_msgs/Float64 "data: 0.5"
+```
--- a/scout_description/launch/scout_v2_stock.launch
+++ b/scout_description/launch/scout_v2_stock.launch
@@ -1,5 +1,10 @@
-<?xml version="1.0"?>

 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
+    <arg name="robot_namespace" default="/"/>
+    <arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
+        --inorder 
+        robot_namespace:=$(arg robot_namespace) 
+        urdf_extras:=$(arg urdf_extras)" />
 </launch>
--- a/scout_description/urdf/scout_v2.gazebo
+++ b/scout_description/urdf/scout_v2.gazebo
@@ -16,7 +16,7 @@
    <!-- Controller configurations -->
    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-            <robotNamespace></robotNamespace>
+            <robotNamespace>$(arg robot_namespace)</robotNamespace>
        </plugin>
    </gazebo>

--- a/scout_description/urdf/scout_v2.xacro
+++ b/scout_description/urdf/scout_v2.xacro
@@ -3,6 +3,7 @@
 <robot name="scout_v2" 
    xmlns:xacro="http://ros.org/wiki/xacro">

+    <xacro:arg name="robot_namespace" default="/" />
    <xacro:arg name="urdf_extras" default="empty.urdf" />

    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
--- a/scout_gazebo_sim/CMakeLists.txt
+++ b/scout_gazebo_sim/CMakeLists.txt
@@ -7,11 +7,9 @@ find_package(catkin REQUIRED COMPONENTS
    roslaunch 
    roslint 
    roscpp 
-    sensor_msgs
    std_msgs
+    sensor_msgs
    geometry_msgs
-    scout_msgs
-    scout_sdk
    tf2 
    tf2_ros
 )
--- a/scout_gazebo_sim/include/scout_gazebo/scout_skid_steer.hpp
+++ b/scout_gazebo_sim/include/scout_gazebo/scout_skid_steer.hpp
@@ -10,17 +10,39 @@
 #ifndef SCOUT_SKID_STEER_HPP
 #define SCOUT_SKID_STEER_HPP

-#include <string>
-
+#include <geometry_msgs/Twist.h>
 #include <ros/ros.h>

+#include <string>
+
 namespace wescore {
 class ScoutSkidSteer {
 public:
-  ScoutSkidSteer(std::string robot_name);
+  ScoutSkidSteer(ros::NodeHandle *nh, std::string robot_name = "");
+
+  void SetupSubscription();

 private:
-  std::string robot_name;
+  std::string robot_name_;
+  std::string motor_fr_topic_;
+  std::string motor_fl_topic_;
+  std::string motor_rl_topic_;
+  std::string motor_rr_topic_;
+  std::string cmd_topic_;
+
+  const double SCOUT_WHEELBASE = 0.498;
+  const double SCOUT_WHEEL_RADIUS = 0.16459;
+
+  ros::NodeHandle *nh_;
+
+  ros::Publisher motor_fr_pub_;
+  ros::Publisher motor_fl_pub_;
+  ros::Publisher motor_rl_pub_;
+  ros::Publisher motor_rr_pub_;
+
+  ros::Subscriber cmd_sub_;
+
+  void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg);
 };
 }  // namespace wescore

--- a/scout_gazebo_sim/launch/scout_empty_world.launch
+++ b/scout_gazebo_sim/launch/scout_empty_world.launch
@@ -25,6 +25,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
 -->
 <launch>

+    <arg name="robot_namespace" default="/"/>
    <arg name="world_name" default="worlds/empty.world"/>

    <include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -37,7 +38,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
        <arg name="debug" value="false"/>
    </include>

-    <include file="$(find scout_gazebo)/launch/spawn_scout_v2.launch"></include>
+    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
        
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
 </launch>
--- a/scout_gazebo_sim/launch/spawn_scout_v2.launch
+++ b/scout_gazebo_sim/launch/spawn_scout_v2.launch
@@ -5,6 +5,8 @@
    <arg name="z" default="0.0"/>
    <arg name="yaw" default="0.0"/>

+    <arg name="robot_namespace" default="/"/>
+
    <!-- these are the arguments you can pass this launch file, for example paused:=true -->
    <arg name="paused" default="true" />
    <arg name="use_sim_time" default="false" />
@@ -12,7 +14,9 @@
    <arg name="headless" default="false" />
    <arg name="debug" default="true" />

-    <include file="$(find scout_description)/launch/scout_v2_stock.launch"></include>
+    <include file="$(find scout_description)/launch/scout_v2_stock.launch">
+        <arg name="robot_namespace" value="$(arg robot_namespace)" />
+    </include>

    <node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
              -y $(arg y)
@@ -21,14 +25,16 @@
              -unpause
              -urdf
              -param robot_description
-              -model 'scout_v2'" />
+              -model 'scout$(arg robot_namespace)'" />

    <!-- Load joint controller configurations from YAML file to parameter server -->
-    <rosparam file="$(find scout_gazebo)/config/scout_v2_control.yaml" command="load"/>
+    <rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>

    <!-- load the controllers -->
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
-
-    <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
+        <param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
+    </node>
 </launch> 
--- a/scout_gazebo_sim/src/scout_skid_steer.cpp
+++ b/scout_gazebo_sim/src/scout_skid_steer.cpp
@@ -9,6 +9,52 @@

 #include "scout_gazebo/scout_skid_steer.hpp"

+#include <geometry_msgs/Twist.h>
+#include <std_msgs/Float64.h>
+
 namespace wescore {
-    
-}
+ScoutSkidSteer::ScoutSkidSteer(ros::NodeHandle *nh, std::string robot_name)
+    : nh_(nh), robot_name_(robot_name) {
+  motor_fr_topic_ = robot_name_ + "/scout_motor_fr_controller/command";
+  motor_fl_topic_ = robot_name_ + "/scout_motor_fl_controller/command";
+  motor_rl_topic_ = robot_name_ + "/scout_motor_rl_controller/command";
+  motor_rr_topic_ = robot_name_ + "/scout_motor_rr_controller/command";
+  cmd_topic_ = robot_name_ + "/cmd_vel";
+}
+
+void ScoutSkidSteer::SetupSubscription() {
+  // command subscriber
+  cmd_sub_ = nh_->subscribe<geometry_msgs::Twist>(
+      cmd_topic_, 5, &ScoutSkidSteer::TwistCmdCallback, this);
+
+  // motor command publisher
+  motor_fr_pub_ = nh_->advertise<std_msgs::Float64>(motor_fr_topic_, 50);
+  motor_fl_pub_ = nh_->advertise<std_msgs::Float64>(motor_fl_topic_, 50);
+  motor_rl_pub_ = nh_->advertise<std_msgs::Float64>(motor_rl_topic_, 50);
+  motor_rr_pub_ = nh_->advertise<std_msgs::Float64>(motor_rr_topic_, 50);
+}
+
+void ScoutSkidSteer::TwistCmdCallback(
+    const geometry_msgs::Twist::ConstPtr &msg) {
+  std_msgs::Float64 motor_cmd[4];
+
+  double driving_vel = msg->linear.x;
+  double steering_vel = msg->angular.z;
+
+  double left_side_velocity =
+      (driving_vel - steering_vel * SCOUT_WHEELBASE) / SCOUT_WHEEL_RADIUS;
+  double right_side_velocity =
+      (driving_vel + steering_vel * SCOUT_WHEELBASE) / SCOUT_WHEEL_RADIUS;
+
+  motor_cmd[0].data = right_side_velocity;
+  motor_cmd[1].data = -left_side_velocity;
+  motor_cmd[2].data = -left_side_velocity;
+  motor_cmd[3].data = right_side_velocity;
+
+  motor_fr_pub_.publish(motor_cmd[0]);
+  motor_fl_pub_.publish(motor_cmd[1]);
+  motor_rl_pub_.publish(motor_cmd[2]);
+  motor_rr_pub_.publish(motor_cmd[3]);
+}
+
+}  // namespace wescore
--- a/scout_gazebo_sim/src/scout_skid_steer_controller.cpp
+++ b/scout_gazebo_sim/src/scout_skid_steer_controller.cpp
@@ -1,52 +1,64 @@
-#include <string>
-
+#include <nav_msgs/Odometry.h>
 #include <ros/ros.h>
 #include <sensor_msgs/JointState.h>
 #include <tf/transform_broadcaster.h>
-#include <nav_msgs/Odometry.h>
+
+#include <string>

 #include "scout_gazebo/scout_skid_steer.hpp"

 using namespace wescore;

-int main(int argc, char **argv)
-{
-    // setup ROS node
-    ros::init(argc, argv, "scout_odom");
-    ros::NodeHandle node(""), private_node("~");
+int main(int argc, char **argv) {
+  // setup ROS node
+  ros::init(argc, argv, "scout_odom");
+  ros::NodeHandle node(""), private_node("~");

-    // // instantiate a robot object
-    // ScoutBase robot;
-    // ScoutROSMessenger messenger(&robot, &node);
+  // fetch parameters
+  std::string robot_namespace;
+  private_node.param<std::string>("robot_namespace", robot_namespace,
+                                  std::string("scout_default"));

-    // // fetch parameters before connecting to robot
-    // std::string port_name;
-    // private_node.param<std::string>("port_name", port_name, std::string("can0"));
-    // private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
-    // private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
-    // private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);
+  ROS_INFO("Namespace: %s", robot_namespace.c_str());

-    // // connect to robot and setup ROS subscription
-    // if (port_name.find("can") != std::string::npos)
-    // {
-    //     robot.Connect(port_name);
-    //     ROS_INFO("Using CAN bus to talk with the robot");
-    // }
-    // else
-    // {
-    //     robot.Connect(port_name, 115200);
-    //     ROS_INFO("Using UART to talk with the robot");
-    // }
-    // messenger.SetupSubscription();
+  ScoutSkidSteer skid_steer_controller(&node, robot_namespace);
+  skid_steer_controller.SetupSubscription();

-    // // publish robot state at 20Hz while listening to twist commands
-    // ros::Rate rate_20hz(20); // 20Hz
-    // while (true)
-    // {
-    //     messenger.PublishStateToROS();
-    //     ros::spinOnce();
-    //     rate_20hz.sleep();
-    // }
+  ros::spin();

-    return 0;
+  // // instantiate a robot object
+  // ScoutBase robot;
+  // ScoutROSMessenger messenger(&robot, &node);
+
+  // // fetch parameters before connecting to robot
+  // std::string port_name;
+  // private_node.param<std::string>("port_name", port_name,
+  // std::string("can0")); private_node.param<std::string>("odom_frame",
+  // messenger.odom_frame_, std::string("odom"));
+  // private_node.param<std::string>("base_frame", messenger.base_frame_,
+  // std::string("base_link")); private_node.param<bool>("simulated_robot",
+  // messenger.simulated_robot_, false);
+
+  // // connect to robot and setup ROS subscription
+  // if (port_name.find("can") != std::string::npos)
+  // {
+  //     robot.Connect(port_name);
+  //     ROS_INFO("Using CAN bus to talk with the robot");
+  // }
+  // else
+  // {
+  //     robot.Connect(port_name, 115200);
+  //     ROS_INFO("Using UART to talk with the robot");
+  // }
+  // messenger.SetupSubscription();
+
+  // publish robot state at 20Hz while listening to twist commands
+  //   ros::Rate rate_20hz(20);  // 20Hz
+  //   while (true) {
+  //     messenger.PublishStateToROS();
+  //     ros::spinOnce();
+  //     rate_20hz.sleep();
+  //   }
+
+  return 0;
 }