First flake environment

mg_odometry/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.24)
 project(mg_odometry)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -14,7 +14,6 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(mg_msgs REQUIRED)
 include(FindPkgConfig)
-pkg_search_module(LIBSERIAL REQUIRED libserial)
 
 # uncomment the following section in order to fill in
 # further dependencies manually.
@@ -36,11 +35,10 @@ ament_target_dependencies(
 target_include_directories(mg_odom_publisher PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
-  ${LIBSERIAL_INCLUDE_DIRS})
+)
 
 target_link_libraries(
   mg_odom_publisher
-  ${LIBSERIAL_LIBRARIES}
 )
 
 target_compile_features(mg_odom_publisher PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

mg_odometry/package.nix

@@ -0,0 +1,19 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, ament-lint-auto, ament-lint-common, libserial-dev, mg-msgs, rclcpp, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-odometry";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ mg-msgs rclcpp std-srvs tf2 tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ "TODO-License-declaration" ];
+  };
+}

mg_odometry/src/mg_odom_publisher.cpp

@@ -5,7 +5,7 @@
 #include <memory>
 #include <rclcpp/service.hpp>
 #include <string>
-#include <libserial/SerialStream.h>
+//#include <libserial/SerialStream.h>
 #include <sys/types.h>
 
 #include "mg_msgs/srv/send_double.hpp"
@@ -59,11 +59,11 @@ class MgOdomPublisher : public rclcpp::Node {
     rclcpp::Service<ZeroSrv>::SharedPtr            zero_service_;
     rclcpp::Service<ZeroSrv>::SharedPtr            calib_service_;
     rclcpp::TimerBase::SharedPtr                   timer_;
-    LibSerial::SerialStream                        enc_serial_port_;
+    //LibSerial::SerialStream                        enc_serial_port_;
 
     void set_width(const std::shared_ptr<SendDoubleSrv::Request> request) {
         RCLCPP_INFO(get_logger(), "Setting width to: %lf", request->data);
-
+        /*
         if (enc_serial_port_.IsOpen()) {
             union {
                 std::array<u_char, sizeof(double)> bytes;
@@ -74,11 +74,12 @@ class MgOdomPublisher : public rclcpp::Node {
             enc_serial_port_ << "w;";
             for (const auto& byte : value.bytes) { enc_serial_port_ << byte; }
         }
+        */
     }
 
     void set_ratio(const std::shared_ptr<SendDoubleSrv::Request> request) {
         RCLCPP_INFO(get_logger(), "Setting wheel ratio to: %lf", request->data);
-
+        /*
         if (enc_serial_port_.IsOpen()) {
             union {
                 std::array<u_char, sizeof(double)> bytes;
@@ -89,11 +90,13 @@ class MgOdomPublisher : public rclcpp::Node {
             enc_serial_port_ << "r;";
             for (const auto& byte : value.bytes) { enc_serial_port_ << byte; }
         }
+        */
     }
 
     void calib(const std::shared_ptr<ZeroSrv::Request> /*request*/) {
         RCLCPP_INFO(get_logger(), "Finishing wheel diameter calib");
 
+        /*
         if (enc_serial_port_.IsOpen()) {
             enc_serial_port_ << "c;";
             double left_gain  = 0;
@@ -101,14 +104,16 @@ class MgOdomPublisher : public rclcpp::Node {
             enc_serial_port_ >> left_gain >> right_gain;
             RCLCPP_INFO(this->get_logger(), "The new gains are %lf %lf", left_gain, right_gain);
         }
+        */
     }
 
     void zero(const std::shared_ptr<ZeroSrv::Request> /*request*/) {
         RCLCPP_INFO(get_logger(), "Zeroing odometry");
-
+        /*
         if (enc_serial_port_.IsOpen()) {
             enc_serial_port_ << "z;";
         }
+        */
     }
 
     void timer_callback() {
@@ -118,6 +123,7 @@ class MgOdomPublisher : public rclcpp::Node {
 
         RCLCPP_DEBUG(this->get_logger(), "Callback called");
 
+        /*
         try {
             if (!enc_serial_port_.IsOpen()) {
                 enc_serial_port_.Open(this->get_parameter("serial_path").as_string());
@@ -134,6 +140,7 @@ class MgOdomPublisher : public rclcpp::Node {
 
             make_transform(_x, _y, _theta);
         } catch (const std::exception& e) { RCLCPP_ERROR(this->get_logger(), "%s\n", e.what()); }
+        */
     }
 
     void make_transform(double x, double y, double theta) {