Added basic launch file for mg_lidar

mg_bt/CMakeLists.txt

@@ -37,7 +37,6 @@ set(SOURCES
 
 
 add_executable(mg_bt_executor ${SOURCES})
-add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)
 
 target_include_directories(
   mg_bt_executor
@@ -46,14 +45,10 @@ target_include_directories(
   include
 )
 
-target_link_libraries(mg_i2cnode i2c)
-
 ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
-ament_target_dependencies(mg_i2cnode rclcpp mg_msgs)
 
 install( TARGETS
   mg_bt_executor
-  mg_i2cnode
   DESTINATION lib/${PROJECT_NAME}
 )
 

mg_bt/i2cmodule/i2cnode.cpp

@@ -1,47 +0,0 @@
-#include "rclcpp/rclcpp.hpp"
-#include "mg_msgs/srv/i2c.hpp"
-
-extern "C" {
-
-#include <fcntl.h>
-#include <linux/i2c-dev.h>
-#include <sys/ioctl.h>
-#include <i2c/smbus.h>
-}
-class MgI2c : public rclcpp::Node {
-    using I2cSrv = mg_msgs::srv::I2c;
-
-  public:
-    MgI2c(const std::string& name) : rclcpp::Node(name), i2c_fd_(open("/dev/i2c-1", O_RDWR)) { // NOLINT
-        auto cb
-          = [this](I2cSrv::Request::ConstSharedPtr req, I2cSrv::Response::SharedPtr resp) { send_req(req, resp); };
-        i2c_srv_ = create_service<I2cSrv>("/i2c", cb);
-    }
-
-    void send_req(I2cSrv::Request::ConstSharedPtr req, I2cSrv::Response::SharedPtr resp) const {
-        ioctl(i2c_fd_, I2C_SLAVE, req->addr); // NOLINT
-        i2c_smbus_write_byte(i2c_fd_, req->data);
-        int ch = 0;
-
-        rclcpp::Rate rate(100);
-
-        while (ch == 0 || (ch < 256 && ch > 0)) {
-            ch = i2c_smbus_read_byte(i2c_fd_);
-            rate.sleep();
-        }
-        resp->resp.push_back(ch);
-        RCLCPP_INFO(get_logger(), "Recieved %d", resp->resp.front());
-    }
-
-  private:
-    rclcpp::Service<mg_msgs::srv::I2c>::SharedPtr i2c_srv_;
-    int                                           i2c_fd_;
-};
-
-int main(int argc, const char* const* argv) {
-    rclcpp::init(argc, argv);
-    rclcpp::spin(std::make_shared<MgI2c>("i2cu"));
-    rclcpp::shutdown();
-
-    return 0;
-}

mg_bt/package.xml

@@ -14,7 +14,6 @@
   <depend>behaviortree_ros2</depend>
   <depend>btcpp_ros2_interfaces</depend>
   <depend>mg_msgs</depend>
-  <depend>libi2c-dev</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

mg_bt/src/mg_tree_executor.cpp

@@ -2,7 +2,6 @@
 
 #include "behaviortree_cpp/xml_parsing.h"
 #include "tree_nodes/calib.hpp"
-#include "tree_nodes/i2c.hpp"
 #include "tree_nodes/move_point.hpp"
 #include "tree_nodes/rotate.hpp"
 #include "tree_nodes/zero.hpp"
@@ -27,7 +26,6 @@ namespace mg {
         factory.registerNodeType<mg::MovePointNode>("MovePoint", node());
         factory.registerNodeType<mg::RotateNode>("RotateNode", node());
         factory.registerNodeType<mg::ZeroNode>("ZeroNode", node());
-        factory.registerNodeType<mg::I2cNode>("I2CSignal", node());
         factory.registerNodeType<mg::CalibWidthNode>("CalibWidth", node(), [this]() { return this->position(); });
     }
 

mg_bt/src/tree_nodes/i2c.hpp

@@ -1,29 +0,0 @@
-#pragma once
-
-#include "behaviortree_ros2/bt_service_node.hpp"
-#include "mg_msgs/srv/i2c.hpp"
-
-namespace mg {
-    class I2cNode : public BT::RosServiceNode<mg_msgs::srv::I2c> {
-      public:
-        I2cNode(const std::string& name, const BT::NodeConfig& conf, const BT::RosNodeParams& params) :
-          BT::RosServiceNode<mg_msgs::srv::I2c>(name, conf, params) { }
-
-        static BT::PortsList providedPorts() {
-            return providedBasicPorts({ BT::InputPort<int>("Address", 42, {}),
-                                        BT::InputPort<int>("Data", 0, {}),
-                                        BT::OutputPort<int>("Result") });
-        }
-
-        bool setRequest(typename Request::SharedPtr& req) override {
-            req->addr = getInput<int>("Address").value_or(42);
-            req->data = getInput<int>("Result").value_or(0);
-            return true;
-        }
-
-        BT::NodeStatus onResponseReceived(const typename Response::SharedPtr& resp) override {
-            setOutput<int>("Result", resp->resp.front());
-            return BT::NodeStatus::SUCCESS;
-        }
-    };
-}

mg_msgs/CMakeLists.txt

@@ -19,7 +19,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/Rotate.action"
   "srv/CalcPath.srv"
   "srv/SendDouble.srv"
-  "srv/I2c.srv"
 )
 
 ament_package()

mg_msgs/srv/I2c.srv

@@ -1,4 +0,0 @@
-uint8 addr
-uint8 data
----
-uint8[] resp