Added LICENSE file and license to mg_odometry package.xml

AUTHORS

@@ -0,0 +1,5 @@
+# Authors of Magrob
+#
+# The following individuals and organizations hold copyright for this project:
+
+Pimpest

LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
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+
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+   limitations under the License.

mg_control/include/mg_control/mg_control.hpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #ifndef MG_WHEEL_INTERFACE_HPP_
 #define MG_WHEEL_INTERFACE_HPP_
 #include <vector>

mg_control/src/mg_control.cpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #include "mg_control/mg_control.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 

mg_msgs/CMakeLists.txt

@@ -14,8 +14,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/MoveStraight.action"
   "action/MovePoint.action"
   "action/LookAt.action"
-  "action/Rotate.action"
-  "srv/SetWidth.srv"
 )
 
 ament_package()

mg_msgs/action/Rotate.action

@@ -1,25 +0,0 @@
-
-float64 angle
-
-float64 step 0.01
-float64 tolerance 0.001
-float64 max_wheel_speed 3
-float64 max_angular 3.14
-float64 max_vel 2
-float64 pos_mult 15
-float64 ornt_mult 4
-float64 t_ornt_mult 0.1
-float64 obst_mult_a -5
-float64 obst_mult_b -30
-float64 obst_mult_c -9
-string[] ignore_tags []
----
-uint8 SUCCESS=0
-uint8 BLOCKED=1
-uint8 TIMEOUT=2
-uint8 MISALIGNED=3
-uint8 UNKNOWN=254
-
-uint8 error
----
-float64 distance_passed

mg_msgs/package.xml

@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>This contains various msg/action used within the project</description>
   <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
-  <license>MIT</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

mg_msgs/srv/SetWidth.srv

@@ -1,2 +0,0 @@
-float64 width
----

mg_navigation/include/handlers/dwm.hpp

@@ -1,7 +1,20 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 
 #include "handlers/dwm_core.hpp"
 #include "handlers/dwm_point.hpp"
 #include "handlers/dwm_forward.hpp"
 #include "handlers/dwm_lookat.hpp"
-#include "handlers/dwm_rotate.hpp"

mg_navigation/include/handlers/dwm_core.hpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 
 #include "glm/glm.hpp"

mg_navigation/include/handlers/dwm_forward.hpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 #include "handlers/dwm_core.hpp"
 

mg_navigation/include/handlers/dwm_lookat.hpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 #include "handlers/dwm_core.hpp"
 

mg_navigation/include/handlers/dwm_point.hpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 #include "handlers/dwm_core.hpp"
 

mg_navigation/include/handlers/dwm_rotate.hpp

@@ -1,66 +0,0 @@
-#pragma once
-#include "handlers/dwm_core.hpp"
-
-#include "glm/gtx/norm.hpp"
-#include "glm/gtx/rotate_vector.hpp"
-#include "glm/gtx/vector_angle.hpp"
-#include <glm/gtc/constants.hpp>
-
-namespace mg {
-
-    template <>
-    inline bool DWM<MgNavigationServer::Rotate>::target_check() {
-
-        const double a = glm::abs(theta - target_ornt);
-        const double b = (a > glm::pi<double>()) ? glm::two_pi<double>() - a : a;
-
-        return b > goal->tolerance;
-    }
-
-    template <>
-    inline void DWM<MgNavigationServer::Rotate>::target_init() {
-        target_ornt = goal->angle;
-    }
-
-    template <>
-    inline bool DWM<MgNavigationServer::Rotate>::condition_check() {
-        return false;
-    }
-
-    template <>
-    inline double DWM<MgNavigationServer::Rotate>::calc_score(int vl, int vr) {
-        constexpr double delta = 0.5;
-        const auto [v, w]      = to_vel(step * vl, step * vr);
-        const double n_theta   = theta + w * delta;
-
-        double dist_old = glm::abs(target_ornt - theta);
-        double dist_new = glm::abs(target_ornt - n_theta);
-
-        dist_old = (dist_old > glm::pi<double>()) ? glm::two_pi<double>() - dist_old : dist_old;
-        dist_new = (dist_new > glm::pi<double>()) ? glm::two_pi<double>() - dist_new : dist_new;
-
-        const double score = goal->ornt_mult * (dist_old - dist_new);
-
-        return score;
-    }
-
-    template <>
-    inline void DWM<MgNavigationServer::Rotate>::populate_candidates(std::vector<int>& vl,
-                                                                     std::vector<int>& vr,
-                                                                     int               dimx,
-                                                                     int) {
-        vl.clear();
-        vr.clear();
-
-        for (int i = -dimx / 2; i <= dimx / 2; i++) {
-            auto [v, w] = to_vel(step * (cvl + i), step * (cvr + i));
-
-            if (step * abs(cvl - i) <= goal->max_wheel_speed && step * abs(cvr + i) <= goal->max_wheel_speed
-                && glm::abs(w) < goal->max_angular) {
-                vl.push_back(cvl - i);
-                vr.push_back(cvr + i);
-            }
-        }
-    }
-
-}

mg_navigation/include/mg_navigation.hpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #pragma once
 
 #include <thread>
@@ -8,7 +22,6 @@
 #include "mg_msgs/action/move_point.hpp"
 #include "mg_msgs/action/move_straight.hpp"
 #include "mg_msgs/action/look_at.hpp"
-#include "mg_msgs/action/rotate.hpp"
 
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
@@ -27,14 +40,12 @@ namespace mg {
         using MovePoint    = mg_msgs::action::MovePoint;
         using MoveStraight = mg_msgs::action::MoveStraight;
         using LookAt       = mg_msgs::action::LookAt;
-        using Rotate       = mg_msgs::action::Rotate;
 
         rclcpp::Publisher<Geometry::TwistStamped>::SharedPtr pub_twist;
 
+        rclcpp_action::Server<LookAt>::SharedPtr       sv_look_at;
         rclcpp_action::Server<MovePoint>::SharedPtr    sv_move_point;
         rclcpp_action::Server<MoveStraight>::SharedPtr sv_move_straight;
-        rclcpp_action::Server<LookAt>::SharedPtr       sv_look_at;
-        rclcpp_action::Server<Rotate>::SharedPtr       sv_rotate;
 
         rclcpp::Subscription<Geometry::TransformStamped>::SharedPtr tf2_subscription_;
         tf2_ros::Buffer::SharedPtr                                  tf2_buffer;

mg_navigation/src/mg_navigation.cpp

@@ -1,3 +1,17 @@
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #include <iostream>
 #include <functional>
 #include <thread>
@@ -60,13 +74,6 @@ namespace mg {
           std::bind(&MgNavigationServer::handle_cancel<MovePoint>, this, _1, "MovePoint"),
           std::bind(&MgNavigationServer::handle_accepted<MovePoint>, this, _1, "MovePoint"));
 
-        sv_move_straight = rclcpp_action::create_server<MoveStraight>(
-          this,
-          "MoveStraight",
-          std::bind(&MgNavigationServer::handle_goal<MoveStraight>, this, _1, _2, "MoveStraight"),
-          std::bind(&MgNavigationServer::handle_cancel<MoveStraight>, this, _1, "MoveStraight"),
-          std::bind(&MgNavigationServer::handle_accepted<MoveStraight>, this, _1, "MoveStraight"));
-
         sv_look_at = rclcpp_action::create_server<LookAt>(
           this,
           "LookAt",
@@ -74,12 +81,12 @@ namespace mg {
           std::bind(&MgNavigationServer::handle_cancel<LookAt>, this, _1, "LookAt"),
           std::bind(&MgNavigationServer::handle_accepted<LookAt>, this, _1, "LookAt"));
 
-        sv_rotate = rclcpp_action::create_server<Rotate>(
+        sv_move_straight = rclcpp_action::create_server<MoveStraight>(
           this,
           "MoveStraight",
-          std::bind(&MgNavigationServer::handle_goal<Rotate>, this, _1, _2, "MoveStraight"),
+          std::bind(&MgNavigationServer::handle_goal<MoveStraight>, this, _1, _2, "MoveStraight"),
-          std::bind(&MgNavigationServer::handle_cancel<Rotate>, this, _1, "MoveStraight"),
+          std::bind(&MgNavigationServer::handle_cancel<MoveStraight>, this, _1, "MoveStraight"),
-          std::bind(&MgNavigationServer::handle_accepted<Rotate>, this, _1, "MoveStraight"));
+          std::bind(&MgNavigationServer::handle_accepted<MoveStraight>, this, _1, "MoveStraight"));
     }
 
 };

mg_odometry/CMakeLists.txt

@@ -11,8 +11,6 @@ find_package(rclcpp REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(mg_msgs REQUIRED)
 include(FindPkgConfig)
 pkg_search_module(LIBSERIAL REQUIRED libserial)
 
@@ -25,8 +23,6 @@ add_executable(mg_odom_publisher src/mg_odom_publisher.cpp)
 
 ament_target_dependencies(
   mg_odom_publisher
-  mg_msgs
-  std_srvs
   tf2
   tf2_ros
   tf2_geometry_msgs

mg_odometry/package.xml

@@ -5,19 +5,16 @@
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
-  <license>TODO: License declaration</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
-  <depend>std_srvs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>libserial-dev</depend>
 
-  <depend>mg_msgs</depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

mg_odometry/src/mg_odom_publisher.cpp

@@ -1,15 +1,23 @@
-#include <array>
+/** Copyright 2025 The Magrob Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #include <chrono>
-#include <cstddef>
 #include <functional>
 #include <memory>
-#include <rclcpp/service.hpp>
 #include <string>
 #include <libserial/SerialStream.h>
 
-#include "mg_msgs/srv/set_width.hpp"
-#include "std_srvs/srv/empty.hpp"
-
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 
@@ -24,9 +32,6 @@
 
 constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM1";
 
-using SetWidthSrv = mg_msgs::srv::SetWidth;
-using ZeroSrv     = std_srvs::srv::Empty;
-
 class MgOdomPublisher : public rclcpp::Node {
   public:
     MgOdomPublisher() : Node("mg_odom_publisher") {
@@ -38,44 +43,13 @@ class MgOdomPublisher : public rclcpp::Node {
 
         timer_ = this->create_wall_timer(std::chrono::milliseconds(TIMEOUT),
                                          std::bind(&MgOdomPublisher::timer_callback, this));
-
-        set_width_service_ = create_service<SetWidthSrv>(
-          "/set_width", std::bind(&MgOdomPublisher::set_width, this, std::placeholders::_1));
-
-        zero_service_
-          = create_service<ZeroSrv>("/zero", std::bind(&MgOdomPublisher::zero, this, std::placeholders::_1));
     }
 
   private:
     std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
-    rclcpp::Service<SetWidthSrv>::SharedPtr        set_width_service_;
-    rclcpp::Service<ZeroSrv>::SharedPtr            zero_service_;
     rclcpp::TimerBase::SharedPtr                   timer_;
     LibSerial::SerialStream                        enc_serial_port_;
 
-    void set_width(const std::shared_ptr<SetWidthSrv::Request> request) {
-        RCLCPP_INFO(get_logger(), "Setting width to: %lf", request->width);
-
-        if (!enc_serial_port_.IsOpen()) {
-            union {
-                std::array<double, sizeof(double)> bytes;
-                double                             data;
-            } value{};
-            value.data = request->width;
-
-            enc_serial_port_ << "w;";
-            for (const auto& byte : value.bytes) { enc_serial_port_ << byte; }
-        }
-    }
-
-    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() {
         double _x     = NAN;
         double _y     = NAN;