First flake environment

flake.lock

@@ -0,0 +1,84 @@
+{
+  "nodes": {
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "nix-ros-overlay": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
+      },
+      "locked": {
+        "lastModified": 1761810010,
+        "narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "e277df39e3bc6b372a5138c0bcf10198857c55ab",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "master",
+        "repo": "nix-ros-overlay",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1744849697,
+        "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=",
+        "owner": "lopsided98",
+        "repo": "nixpkgs",
+        "rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "nix-ros",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "nix-ros-overlay": "nix-ros-overlay",
+        "nixpkgs": [
+          "nix-ros-overlay",
+          "nixpkgs"
+        ]
+      }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}

flake.nix

@@ -0,0 +1,76 @@
+{
+  inputs = {
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
+    nixpkgs.follows = "nix-ros-overlay/nixpkgs";
+  };
+  outputs =
+    {
+      self,
+      nix-ros-overlay,
+      nixpkgs,
+    }:
+    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
+      system:
+      let
+        pkgs = import nixpkgs {
+          inherit system;
+          overlays = [ nix-ros-overlay.overlays.default ];
+        };
+      in
+      {
+        devShells.default = pkgs.mkShell {
+          name = "Project Robotoid";
+          packages = [
+            pkgs.colcon
+            pkgs.llvmPackages_20.clang-tools
+
+            (
+              with pkgs.rosPackages.jazzy;
+              buildEnv {
+                paths = [
+            # Dependencies from package.xml files
+                  desktop
+                  ament-cmake-core
+                  python-cmake-module
+                  ament-lint-auto
+                  ament-lint-common
+                  behaviortree-cpp
+                  controller-manager
+                  diff-drive-controller
+                  geometry-msgs
+                  hardware-interface
+                  joint-state-broadcaster
+                  launch
+                  launch-ros
+                  pkgs.glm
+                  pkgs.jsoncpp.dev
+                  pkgs.i2c-tools
+                  pluginlib
+                  rclcpp
+                  rclcpp-action
+                  rclcpp-components
+                  rclcpp-lifecycle
+                  robot-state-publisher
+                  ros2-control
+                  ros2launch
+                  rosidl-default-generators
+                  rosidl-default-runtime
+                  sensor-msgs
+                  std-msgs
+                  std-srvs
+                  tf2
+                  tf2-geometry-msgs
+                  tf2-ros
+                  visualization-msgs
+                ];
+              }
+            )
+          ];
+        };
+      }
+    );
+  nixConfig = {
+    extra-substituters = [ "https://attic.iid.ciirc.cvut.cz/ros" ];
+    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
+  };
+}

mg_bringup/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.24)
 set(CMAKE_EXPORT_COMPILE_COMMANDS OFF)
 
 project(mg_bringup)

mg_bringup/package.nix

@@ -0,0 +1,18 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, launch, launch-ros, mg-control, mg-navigation, mg-odometry }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-bringup";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ launch launch-ros mg-control mg-navigation mg-odometry ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

mg_bt/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.24)
 project(mg_bt)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -37,6 +37,7 @@ set(SOURCES
 
 
 add_executable(mg_bt_executor ${SOURCES})
+add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)
 
 target_include_directories(
   mg_bt_executor
@@ -45,10 +46,14 @@ 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

@@ -0,0 +1,47 @@
+#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 > 255 || 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.nix

@@ -0,0 +1,19 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, btcpp-ros2-interfaces, i2c-tools, mg-msgs, rclcpp }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-bt";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 btcpp-ros2-interfaces i2c-tools mg-msgs rclcpp ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Behavior for MagRob";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

mg_bt/package.xml

@@ -14,6 +14,7 @@
   <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

@@ -2,6 +2,7 @@
 
 #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"
@@ -26,6 +27,7 @@ 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

@@ -0,0 +1,29 @@
+#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_control/CMakeLists.txt

@@ -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(

mg_control/assets/mg_base.urdf

@@ -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>

mg_control/assets/mg_base_local.urdf

@@ -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> 

mg_control/include/mg_control/mg_control.hpp

@@ -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;

mg_control/package.nix

@@ -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 ];
+  };
+}

mg_control/src/mg_control.cpp

@@ -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;
 }

mg_lidar/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.24)
+project(mg_lidar)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(PACKAGE_DEPS
+  rclcpp
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  mg_msgs
+  sensor_msgs
+  )
+
+find_package(ament_cmake REQUIRED)
+
+include(FindPkgConfig)
+pkg_search_module(LIBGLM REQUIRED glm)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+    find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+set(SOURCES
+    src/scanner.cpp
+)
+
+add_executable(mg_scanner ${SOURCES})
+
+target_include_directories(
+  mg_scanner
+  PRIVATE
+  ${LIBGLM_INCLUDE_DIRS}
+  include
+)
+
+ament_target_dependencies(mg_scanner ${PACKAGE_DEPS})
+
+install( TARGETS
+  mg_scanner
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+target_compile_features(mg_scanner PUBLIC 
+  c_std_99
+  cxx_std_17
+)  # Require C99 and C++17
+
+ament_package()

mg_lidar/config/lidar.yaml

@@ -0,0 +1,4 @@
+rplidar_node:
+  ros__parameters:
+    scan_mode: "ppbig"
+    topic_name: "base-link"

mg_lidar/launch/launch.py

@@ -0,0 +1,28 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_lidar")
+
+    lidar_config = PathJoinSubstitution([basedir, "config/lidar.yaml"])
+
+    return LaunchDescription([
+        Node(
+            package='mg_lidar',
+            executable='mg_scanner',
+            output="screen",
+            parameters=[lidar_config]
+        ),
+        Node(
+            package='rplidar_ros',
+            executable='rplidar_composition',
+            output="screen",
+            parameters=[lidar_config]
+        ),
+    ])
+    

mg_lidar/package.nix

@@ -0,0 +1,19 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, ament-lint-auto, ament-lint-common, mg-msgs, rclcpp, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs, tf2-ros, visualization-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-lidar";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ mg-msgs rclcpp sensor-msgs std-msgs tf2 tf2-geometry-msgs tf2-ros visualization-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Lidar based opponent tracking";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

mg_lidar/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mg_lidar</name>
+  <version>0.0.0</version>
+  <description>Lidar based opponent tracking</description>
+  <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>mg_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>visualization_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mg_lidar/src/scanner.cpp

@@ -0,0 +1,135 @@
+#include "rclcpp/rclcpp.hpp"
+
+#include "sensor_msgs/msg/laser_scan.hpp"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "glm/glm.hpp"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+#include "tf2/convert.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#define GLM_ENABLE_EXPERIMENTAL 
+#include <glm/gtx/norm.hpp>
+
+class MgScanner : public rclcpp::Node {
+    using LaserScan    = sensor_msgs::msg::LaserScan;
+    using PointStamped = geometry_msgs::msg::PointStamped;
+
+  public:
+    MgScanner() : rclcpp::Node("EnemyScanner") {
+        gen_rotations();
+        scan_sup_ = create_subscription<LaserScan>(
+          "scan", rclcpp::QoS(1), [this](LaserScan::ConstSharedPtr msg) { process_scan(msg); });
+        enemy_pub_ = create_publisher<PointStamped>("/dynamicObstacle", rclcpp::QoS(1));
+
+        tf_buf_      = std::make_shared<tf2_ros::Buffer>(get_clock());
+        tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buf_);
+    }
+
+  private:
+    rclcpp::Subscription<LaserScan>::SharedPtr  scan_sup_;
+    rclcpp::Publisher<PointStamped>::SharedPtr  enemy_pub_;
+    std::shared_ptr<tf2_ros::Buffer>            tf_buf_;
+    std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+
+    std::vector<glm::dmat2> rotations;
+
+    void gen_rotations() {
+        constexpr double min_angle       = -3.1241393089294434;
+        constexpr double max_angle       = 3.1415927410125732;
+        constexpr double angle_increment = 0.008714509196579456;
+
+        double curr = min_angle;
+        while (curr <= max_angle) {
+            rotations.emplace_back(glm::cos(curr), glm::sin(curr), -glm::sin(curr), glm::cos(curr));
+            curr += angle_increment;
+        }
+
+        rotations.emplace_back(glm::cos(curr), glm::sin(curr), -glm::sin(curr), glm::cos(curr));
+    }
+
+    glm::dvec3 pos_query() {
+        RCLCPP_ERROR(get_logger(), "Works to here");
+        try {
+            double x   = NAN;
+            double y   = NAN;
+            double rot = NAN;
+
+            auto tmsg = tf_buf_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+
+            tf2::Transform t;
+            tf2::convert(tmsg.transform, t);
+            t.getBasis().getRPY(x, y, rot);
+            auto vec3 = tmsg.transform.translation;
+
+            return { vec3.x, vec3.y, rot };
+
+        } catch (const tf2::TransformException& e) {
+            RCLCPP_ERROR(get_logger(), "Got following error when looking up transform:\n\t%s", e.what());
+        }
+        return { 0, 0, 0 };
+    }
+
+    static bool part_of_clump(const glm::dvec2 prev, glm::dvec2 curr) {
+        return glm::length2(prev - curr) < 0.05 * 0.05;
+    }
+
+    void process_scan(LaserScan::ConstSharedPtr msg) {
+        // TODO: finish processing
+        const glm::dvec3 v   = pos_query();
+        const glm::dvec2 pos = { v.x, v.y };
+        const glm::dmat2 rot = { glm::cos(v.z), glm::sin(v.z), -glm::sin(v.z), glm::cos(v.z) };
+
+        double mini = INFINITY;
+
+        glm::dvec2 mini_pos = { 0, 0 };
+        glm::dvec2 prev     = { -1, -1 };
+
+        glm::dvec2 clump      = { -1, -1 };
+        int        clump_size = 0;
+
+        bool good_clump = false;
+
+        if (msg->ranges.size() != rotations.size()) {
+            RCLCPP_ERROR(get_logger(),
+                         "The amount of rotations differs from amount of ranges(%lu != %lu)",
+                         msg->ranges.size(),
+                         rotations.size());
+        }
+
+        for (uint i = 0; i < msg->ranges.size(); i++) {
+            if (msg->intensities.at(i) < 35.0) {
+                continue;
+            }
+            const glm::dvec2 potential_pos = rot * rotations.at(i) * glm::dvec2{ msg->ranges.at(i), 0 } + pos;
+            if (0.1 < potential_pos.x && potential_pos.x < 2.9 && 0.1 < potential_pos.y && potential_pos.y < 1.9) {
+                if (!part_of_clump(prev, potential_pos)) {
+                    clump_size = 0;
+                    clump      = { 0, 0 };
+                }
+                good_clump |= mini > msg->ranges.at(i);
+                clump += potential_pos;
+                clump_size++;
+                if (good_clump) {
+                    mini     = msg->ranges.at(i);
+                    mini_pos = clump / (double)clump_size;
+                }
+            }
+            prev = potential_pos;
+        }
+        if (mini < INFINITY) {
+            PointStamped m;
+            m.header.frame_id = "odom";
+            m.point.x         = mini_pos.x;
+            m.point.y         = mini_pos.y;
+
+            enemy_pub_->publish(m);
+        }
+    }
+};
+
+int main(const int argc, const char** argv) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<MgScanner>());
+    rclcpp::shutdown();
+}

mg_msgs/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.24)
 project(mg_msgs)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -19,6 +19,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/Rotate.action"
   "srv/CalcPath.srv"
   "srv/SendDouble.srv"
+  "srv/I2c.srv"
 )
 
 ament_package()

mg_msgs/package.nix

@@ -0,0 +1,18 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, rosidl-default-generators, rosidl-default-runtime }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-msgs";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake rosidl-default-generators ];
+  propagatedBuildInputs = [ rosidl-default-runtime ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = "This contains various msg/action used within the project";
+    license = with lib.licenses; [ mit ];
+  };
+}

mg_msgs/srv/I2c.srv

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

mg_navigation/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.24)
 project(mg_navigation)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

mg_navigation/package.nix

@@ -0,0 +1,18 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, geometry-msgs, glm, mg-msgs, mg-obstacles, rclcpp, rclcpp-action, rclcpp-components, tf2, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-navigation";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake glm ];
+  propagatedBuildInputs = [ geometry-msgs mg-msgs mg-obstacles rclcpp rclcpp-action rclcpp-components tf2 tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

mg_navigation/src/mg_navigation.cpp

@@ -2,6 +2,7 @@
 #include <functional>
 #include <thread>
 
+#define GLM_ENABLE_EXPERIMENTAL
 #include "rclcpp/rclcpp.hpp"
 #include "mg_navigation.hpp"
 #include "handlers/dwa.hpp"

mg_navigation/src/path_buffer.cpp

@@ -1,5 +1,6 @@
 #include "path_buffer.hpp"
 
+#define GLM_ENABLE_EXPERIMENTAL
 #include <glm/gtx/norm.hpp>
 
 #include <chrono>

mg_obstacles/include/mg_obstacles/permanent_obstacle.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <glm/glm.hpp>
-#include <jsoncpp/json/json.h>
+#include <json/json.h>
 
 namespace mg {
     class PermanentObstacle {

mg_obstacles/include/mg_obstacles/static_obstacle.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <glm/glm.hpp>
-#include <jsoncpp/json/json.h>
+#include <json/json.h>
 
 namespace mg {
     class StaticObstacle {

mg_obstacles/package.nix

@@ -0,0 +1,18 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, geometry-msgs, glm, jsoncpp, mg-msgs, rclcpp, rclcpp-action, rclcpp-components, tf2, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-obstacles";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake glm ];
+  propagatedBuildInputs = [ geometry-msgs jsoncpp mg-msgs rclcpp rclcpp-action rclcpp-components tf2 tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Library for collision detection";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

mg_obstacles/src/mg_obstacles.cpp

@@ -5,6 +5,7 @@
 #include "geometry_msgs/msg/point_stamped.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#define GLM_ENABLE_EXPERIMENTAL 
 #include "glm/glm.hpp"
 #include "glm/gtx/matrix_transform_2d.hpp"
 
@@ -153,7 +154,7 @@ namespace mg {
 
     double ObstacleManager::dist_to_bounds(glm::dvec2 pos, glm::dvec2 size, double rot) {
         // Find me
-        const glm::dmat2 rot_mat{ { glm::cos(rot), -glm::sin(rot) }, { glm::sin(rot), glm::cos(rot) } };
+        const glm::dmat2 rot_mat{ { glm::cos(rot), glm::sin(rot) }, { -glm::sin(rot), glm::cos(rot) } };
         return ObstacleManager::dist_to_bounds(pos, size, rot_mat);
     }
 

mg_obstacles/src/sdf.cpp

@@ -1,4 +1,5 @@
 #include "mg_obstacles/sdf.hpp"
+#define GLM_ENABLE_EXPERIMENTAL 
 #include <glm/gtx/norm.hpp>
 
 namespace mg {

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) {

mg_planner/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.24)
 project(mg_planner)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -35,6 +35,7 @@ add_executable(mg_planner
   src/a_star.cpp
 )
 
+
 ament_target_dependencies(mg_planner ${PACKAGE_DEPS})
 
 target_include_directories(
@@ -49,6 +50,8 @@ target_link_libraries(
   ${LIBGLM_LIBRARIES}
 )
 
+target_compile_definitions(mg_planner PRIVATE GLM_ENABLE_EXPERIMENTAL)
+
 install( TARGETS
   mg_planner
   DESTINATION lib/${PROJECT_NAME}

mg_planner/include/mg_planner/a_star/a_star.hpp

@@ -3,6 +3,7 @@
 #include "mg_planner/config.hpp"
 #include "rclcpp/node.hpp"
 
+#define GLM_ENABLE_EXPERIMENTAL 
 #include <glm/fwd.hpp>
 #include <glm/glm.hpp>
 #include <glm/gtx/fast_square_root.hpp>

mg_planner/package.nix

@@ -0,0 +1,18 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, glm, mg-msgs, mg-obstacles, rclcpp, rclcpp-action, tf2, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-planner";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake glm ];
+  propagatedBuildInputs = [ mg-msgs mg-obstacles rclcpp rclcpp-action tf2 tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}