Magnezijum-Robotics/magrob
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First flake environment

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This commit is contained in:
Pimpest
2025-11-06 15:59:22 +01:00
parent 8648a96bce
commit d8b55f08de
33 changed files with 371 additions and 26 deletions
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5
mg_control/CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.8)
cmake_minimum_required(VERSION 3.24)
project(mg_control)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@ -13,7 +13,6 @@ find_package(hardware_interface REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rclcpp_components REQUIRED)
include(FindPkgConfig)
pkg_search_module(LIBSERIAL REQUIRED libserial)
add_library(
mg_control
@ -24,13 +23,11 @@ add_library(
target_include_directories(
mg_control
PRIVATE
${LIBSERIAL_INCLUDE_DIRS}
include
)
target_link_libraries(
mg_control
${LIBSERIAL_LIBRARIES}
)
ament_target_dependencies(

2
mg_control/assets/mg_base.urdf
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@ -55,7 +55,7 @@
</joint>
<ros2_control name="mg-base" type="system">
<ros2_control name="mg_base" type="system">
<hardware>
<plugin>mg_control/MgStepperInterface</plugin>
</hardware>

2
mg_control/assets/mg_base_local.urdf
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@ -55,7 +55,7 @@
</joint>
<ros2_control name="mg-base" type="system">
<ros2_control name="mg_base" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param>

4
mg_control/include/mg_control/mg_control.hpp
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@ -3,7 +3,7 @@
#include <vector>
#include <string>
#include "libserial/SerialPort.h"
//#include "libserial/SerialPort.h"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/system_interface.hpp"
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
@ -26,7 +26,7 @@ namespace mg {
private:
std::string serial_port_name;
LibSerial::SerialPort odrive_serial_interface;
// LibSerial::SerialPort odrive_serial_interface;
double left_wheel_vel_cmd = 0;
double left_wheel_pos_state = 0;

19
mg_control/package.nix Normal file
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@ -0,0 +1,19 @@
# Automatically generated by: ros2nix --distro jazzy
{ lib, buildRosPackage, ament-cmake, ament-lint-auto, ament-lint-common, controller-manager, diff-drive-controller, hardware-interface, joint-state-broadcaster, libserial-dev, pluginlib, rclcpp, rclcpp-components, rclcpp-lifecycle, robot-state-publisher, ros2-control, ros2launch }:
buildRosPackage rec {
pname = "ros-jazzy-mg-control";
version = "0.0.1";
src = ./.;
buildType = "ament_cmake";
buildInputs = [ ament-cmake ];
checkInputs = [ ament-lint-auto ament-lint-common ];
propagatedBuildInputs = [ controller-manager diff-drive-controller hardware-interface joint-state-broadcaster libserial-dev pluginlib rclcpp rclcpp-components rclcpp-lifecycle robot-state-publisher ros2-control ros2launch ];
nativeBuildInputs = [ ament-cmake ];
meta = {
description = "Ros2 control compatible drivers for magrob";
license = with lib.licenses; [ asl20 ];
};
}

8
mg_control/src/mg_control.cpp
View File

@ -8,11 +8,13 @@ CallbackReturn mg::MgStepperInterface::on_init(const hardware_interface::Hardwar
return CallbackReturn::ERROR;
}
/*
if (info_.hardware_parameters.find("device_path") != info.hardware_parameters.end()) {
serial_port_name = info_.hardware_parameters["device_path"];
} else {
serial_port_name = "/dev/ttyACM1";
}
*/
left_wheel_pos_state = 0;
right_wheel_pos_state = 0;
@ -22,6 +24,7 @@ CallbackReturn mg::MgStepperInterface::on_init(const hardware_interface::Hardwar
}
CallbackReturn mg::MgStepperInterface::on_configure(const rclcpp_lifecycle::State&) {
/*
try {
if (!odrive_serial_interface.IsOpen()) {
odrive_serial_interface.Open(serial_port_name);
@ -31,13 +34,16 @@ CallbackReturn mg::MgStepperInterface::on_configure(const rclcpp_lifecycle::Stat
"Failed to open serial port (Is the stepper driver plugged in)");
return CallbackReturn::ERROR;
}
*/
return CallbackReturn::SUCCESS;
}
CallbackReturn mg::MgStepperInterface::on_shutdown(const rclcpp_lifecycle::State&) {
/*
if (odrive_serial_interface.IsOpen()) {
odrive_serial_interface.Close();
}
*/
return CallbackReturn::SUCCESS;
}
@ -66,6 +72,7 @@ hardware_interface::return_type mg::MgStepperInterface::read(const rclcpp::Time&
}
hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time&, const rclcpp::Duration&) {
/*
union {
std::array<u_char, sizeof(double)> bytes;
double data;
@ -79,5 +86,6 @@ hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time
for (const auto& bt : value.bytes) { odrive_serial_interface.WriteByte(bt); }
} catch (const std::runtime_error& e) { return hardware_interface::return_type::ERROR; }
*/
return hardware_interface::return_type::OK;
}