Initial commit

mg_odometry/CMakeLists.txt

@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 3.8)
+project(mg_odometry)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+include(FindPkgConfig)
+pkg_search_module(LIBSERIAL REQUIRED libserial)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+
+add_executable(mg_odom_publisher src/mg_odom_publisher.cpp)
+
+ament_target_dependencies(
+  mg_odom_publisher
+  tf2
+  tf2_ros
+  rclcpp
+)
+
+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
+  ${LIBSERIAL_LIBRARIES}
+)
+
+target_compile_features(mg_odom_publisher PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+install(TARGETS mg_odom_publisher
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

mg_odometry/package.xml

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+<?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_odometry</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="82343504+Pimpest@users.noreply.github.com">petar</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>libserial-dev</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_odometry/src/mg_odom_publisher.cpp

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+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <libserial/SerialStream.h>
+
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "tf2/LinearMath/Quaternion.h"
+#include "tf2_ros/static_transform_broadcaster.h"
+
+#define ENCODER_SERIAL_PATH_DEFAULT \
+    "/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E661AC8863809024-if00" 
+
+class MgOdomPublisher : public rclcpp::Node {
+public:
+    MgOdomPublisher() 
+        : Node("mg_odom_publisher") 
+    {
+        
+        this->declare_parameter("odom", "odom_encoder");   
+        this->declare_parameter("target", "base-link");
+        this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT);
+
+        tf_static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
+
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(10), std::bind(&MgOdomPublisher::timer_callback, this));
+    }
+
+private:  
+    std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_static_broadcaster_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    LibSerial::SerialStream enc_serial_port_;
+
+    void timer_callback()
+    {
+        RCLCPP_INFO(this->get_logger(), "Callback called");
+
+        try {
+            if(!enc_serial_port_.IsOpen()) {
+                enc_serial_port_.Open(this->get_parameter("serial_path").as_string());
+            }
+            enc_serial_port_ << "g;";
+            double _x,_y,_theta;
+            if(!(enc_serial_port_ >> _x >> _y >> _theta)) {
+                RCLCPP_INFO(this->get_logger(), "Reading Serial Port failed. Closing...");
+                throw "Unfortunately bug with libserial";
+            }
+            RCLCPP_DEBUG(this->get_logger(), "Got following from rpi:{ x: %lf, y: %lf, z: %lf}\n", _x, _y, _theta);
+            make_transform(_x,_y,_theta);
+        } catch(const std::exception& e) {
+            RCLCPP_ERROR(this->get_logger(), "%s\n", e.what());
+            sleep(1);
+        }
+
+    }
+
+    void make_transform(double x, double y, double theta)
+    {
+
+            geometry_msgs::msg::TransformStamped t;
+
+            t.header.stamp = this->get_clock()->now();
+            t.header.frame_id = this->get_parameter("odom").as_string();
+            t.child_frame_id = this->get_parameter("target").as_string();
+
+            t.transform.translation.x = x;
+            t.transform.translation.y = y;
+            t.transform.translation.z = 0.0;
+            tf2::Quaternion q;
+            q.setRPY(0.0, 0.0, theta);
+            t.transform.rotation.x = q.x();
+            t.transform.rotation.y = q.y();
+            t.transform.rotation.z = q.z();
+            t.transform.rotation.w = q.w();
+
+            tf_static_broadcaster_->sendTransform(t);
+
+  }
+
+};
+
+
+int main(const int argc,const char ** argv)
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<MgOdomPublisher>());
+    rclcpp::shutdown();
+    return 0;
+}