Colony » Colony Scout » Colony Scout OS

cmake_minimum_required(VERSION 2.4.6)

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:

#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage

#  Debug          : w/ debug symbols, w/o optimization

#  Release        : w/o debug symbols, w/ optimization

#  RelWithDebInfo : w/ debug symbols, w/ optimization

#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries

#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

#set the default path for built libraries to the "lib" directory

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages

rosbuild_genmsg()

#uncomment if you have defined services

rosbuild_gensrv()

#common commands for building c++ executables and libraries

#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

#target_link_libraries(${PROJECT_NAME} another_library)

#rosbuild_add_boost_directories()

#rosbuild_link_boost(${PROJECT_NAME} thread)

#rosbuild_add_executable(example examples/example.cpp)

#target_link_libraries(example ${PROJECT_NAME})

rosbuild_add_executable(motors_node src/motors.cpp)

include $(shell rospack find mk)/cmake.mk

/**

\mainpage

\htmlinclude manifest.html

\b buttons is the ros node that will respond to button events.

<!-- 

Buttons will contain the functions neceessary for setting and responding to button events.

-->

\section codeapi Code API

<!--

Provide links to specific auto-generated API documentation within your

package that is of particular interest to a reader. Doxygen will

document pretty much every part of your code, so do your best here to

point the reader to the actual API.

If your codebase is fairly large or has different sets of APIs, you

should use the doxygen 'group' tag to keep these APIs together. For

example, the roscpp documentation has 'libros' group.

-->

*/

<package>

  <description brief="buttons">

     buttons

     Module to respond to button events.

  </description>

  <author>Priya</author>

  <license>BSD</license>

  <review status="unreviewed" notes=""/>

  <url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url>

  <depend package="roscpp"/>

  <depend package="std_msgs"/>

</package>

Header header

int8 button1_pressed

int8 button2_pressed

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file buttons.cpp

 * @brief Contains code to control the buttons.

 *

 * Implementation of functions for button use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 **/

#include "ros/ros.h"

#include "buttons.h"

#include <cstdlib>

/**

 * @defgroup buttons Buttons

 * @brief Functions for using the buttons

 *

 * @{

 **/

/* Button state variables

 */

static int button1_pressed; /**< Whether or not button 1 is pressed. */

static int button2_pressed; /**< Whether or not button 2 is pressed. */

/**

 * @brief Sets motor speed

 *

 * Sets the motor speeds based on subscription to the set_motors topic.

 *

 * @param msg The message from the set_motors topic, containing speeds and

 *  motor configuration settings.

 */

void motors_set(const motors::set_motors::ConstPtr& msg)

{

    /** @todo Edit to only set requested motors, not all */

    int which = msg->which;

    if(which & MOTOR_FL_REV)

    {

      motor_fl_speed = -1 * motors_rel_to_abs(msg->fl_speed, msg->units);

    }

    if(which & MOTOR_FR_REV)

    {

      motor_fr_speed = -1 * motors_rel_to_abs(msg->fr_speed, msg->units);

    }

    if(which & MOTOR_BL_REV)

    {

      motor_bl_speed = -1 * motors_rel_to_abs(msg->bl_speed, msg->units);

    }

    if(which & MOTOR_BR_REV)

    {

      motor_br_speed = -1 * motors_rel_to_abs(msg->br_speed, msg->units);

    }

    if(which & MOTOR_FL)

    {

      motor_fl_speed = motors_rel_to_abs(msg->fl_speed, msg->units);

    }

    if(which & MOTOR_FR)

    {

      motor_fr_speed = motors_rel_to_abs(msg->fr_speed, msg->units);

    }

    if(which & MOTOR_BL)

    {

      motor_bl_speed = motors_rel_to_abs(msg->bl_speed, msg->units);

    }

    if(which & MOTOR_BR)

    {

      motor_br_speed = motors_rel_to_abs(msg->br_speed, msg->units);

    }

    /* Write speeds to hardware */

    /** @todo Add code to write speeds to hardware */

}

/**

 * @brief Outputs current motor speeds

 *

 * Serves the service query_motors by responding to service requests with the

 * speeds of the motors.

 * @param req The request. The only field is the units requested.

 * @param res The response. The fields will be filled with values.

 */

bool motors_query(motors::query_motors::Request &req,

                  motors::query_motors::Response &res)

{

    int units = req.units;

    res.fl_speed = motors_abs_to_rel(motor_fl_speed, units);

    res.fr_speed = motors_abs_to_rel(motor_fr_speed, units);

    res.bl_speed = motors_abs_to_rel(motor_bl_speed, units);

    res.br_speed = motors_abs_to_rel(motor_br_speed, units);

    ROS_DEBUG("Motor speeds queried");

    return true;

}

/**

 * @brief Converts set speeds (of various units) to absolute speeds.

 *

 * @param speed The speed expressed in the desired units

 * @param units The units the desired speed is measured in

 * @return The absolute speed of the motor

 **/

int motors_rel_to_abs(int rel_speed, int units)

{

    switch(units)

    {

      case MOTOR_ABSOLUTE:/* Speed given as absolute */

        return rel_speed;

      case MOTOR_PERCENT:/* Convert from percentage */

        return rel_speed * MAXSPEED / 100;

      case MOTOR_MMS:/* Convert from mm/s */

        /** @todo Make math to do this conversion **/

        return rel_speed;

      case MOTOR_CMS:/* Convert from cm/s */

        /** @todo Make math to do this conversion **/

        return rel_speed;

      default: /* The units aren't recognized */

        /** @todo Decide on default case. Either percent or absolute. **/

        return rel_speed;

    }

}

/**

 * @brief Convert absolute speeds to speeds of various units.

 *

 * @param speed The speed expressed in absolute units.

 * @param units The units the desired speed is measured in.

 * @return The relative speed of the motor in desired units.

 **/

int motors_abs_to_rel(int abs_speed, int units)

{

    switch(units)

    {

      case MOTOR_ABSOLUTE:/* Speed given as absolute */

        return abs_speed;

      case MOTOR_PERCENT:/* Convert from percentage */

        return abs_speed * 100 / MAXSPEED;

      case MOTOR_MMS:/* Convert from mm/s */

        /** @todo Make math to do this conversion **/

        return abs_speed;

      case MOTOR_CMS:/* Convert from cm/s */

        /** @todo Make math to do this conversion **/

        return abs_speed;

      default: /* The units aren't recognized */

        /** @todo Decide on default case. Either percent or absolute. **/

        return abs_speed;

    }

}

/**

 * @brief Motors driver. This is a ROS node that controls motor speeds.

 *

 * This is the main function for the motors node. It is run when the node

 * starts and initializes the motors. It then subscribes to the

 * set_motors, and set_motor_speeds topics, and advertises the

 * query_motors service.

 * 

 * @param argc The number of command line arguments (should be 1)

 * @param argv The array of command line arguments

 **/

int main(int argc, char **argv)

{

    /* Initialize in ROS the motors driver node */

    ros::init(argc, argv, "motors_driver");

    /* Advertise that this serves the query_motors service */

    ros::NodeHandle n;

    ros::ServiceServer service = n.advertiseService("query_motors",

                                                    motors_query);

    /* Subscribe to the set_motors topic */

    ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set);

    /* Initialize hardware for motors */

    // Hardware init functions here

    ROS_INFO("Ready to set motors.");

    ros::spin();

    return 0;

}

/** @} **/

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file buttons.h

 * @brief Contains buttons declarations and functions.

 * 

 * Contains functions and definitions for the use of

 * buttons.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 **/

#ifndef _BUTTONS_H_

#define _BUTTONS_H_

#include "buttons/query_buttons.h"

#include "buttons/button_event.h"

#define BUTTON_PRESSED 0x1

/** @brief Initialize the buttons module and driver. **/

int main(int argc, char **argv);

/** @brief Responds to topic to notify of button events. **/

void event_button(const buttons::button_event::ConstPtr& msg);

/** @brief Responds to service to query buttons. **/

bool buttons_query(buttons::query_buttons::Request &req,

                  buttons::query_buttons::Response &res);

#endif

int8 units

---

int8 button1_pressed

int8 button2_pressed

int8 units

---

int8 fl_speed

int8 fr_speed

int8 bl_speed

int8 br_speed

cmake_minimum_required(VERSION 2.4.6)

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:

#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage

#  Debug          : w/ debug symbols, w/o optimization

#  Release        : w/o debug symbols, w/ optimization

#  RelWithDebInfo : w/ debug symbols, w/ optimization

#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries

#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

#set the default path for built libraries to the "lib" directory

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages

rosbuild_genmsg()

#uncomment if you have defined services

rosbuild_gensrv()

#common commands for building c++ executables and libraries

#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

#target_link_libraries(${PROJECT_NAME} another_library)

#rosbuild_add_boost_directories()

#rosbuild_link_boost(${PROJECT_NAME} thread)

#rosbuild_add_executable(example examples/example.cpp)

#target_link_libraries(example ${PROJECT_NAME})

rosbuild_add_executable(motors_node src/motors.cpp)

include $(shell rospack find mk)/cmake.mk

/**

\mainpage

\htmlinclude manifest.html

\b cliffsensor is the ros node that will read from the cliffsensors and detect cliffs and tell the motors to stop driving.

<!-- 

Cliffsensor will contain the functions necessary for reading from the cliffsensors and detecting cliffs (and behaviors associated with the cliffsensor).

-->

\section codeapi Code API

<!--

Provide links to specific auto-generated API documentation within your

package that is of particular interest to a reader. Doxygen will

document pretty much every part of your code, so do your best here to

point the reader to the actual API.

If your codebase is fairly large or has different sets of APIs, you

should use the doxygen 'group' tag to keep these APIs together. For

example, the roscpp documentation has 'libros' group.

-->

*/

<package>

  <description brief="cliffsensor">

     cliffsensor

     Module to read from the cliffsensor, detect cliffs, and behaviors for cliffsensor.

  </description>

  <author>Priya</author>

  <license>BSD</license>

  <review status="unreviewed" notes=""/>

  <url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url>

  <depend package="roscpp"/>

  <depend package="std_msgs"/>

</package>

Header header

int8 front_raw

int8 left_raw

int8 right_raw

int8 cliff_status

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file cliffsensor.cpp

 * @brief Contains code to control the cliffsensor.

 *

 * Implementation of functions for cliffsensor use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 **/

#include "ros/ros.h"

#include "cliffsensor.h"

#include <cstdlib>

/**

 * @defgroup cliffsensor Cliffsensor

 * @brief Functions for using the cliffsensors

 *

 * @{

 **/

/* Cliffsensor state variables

 */

static int front_raw; /**< The current raw value data of the front cliffsensor. */

static int left_raw; /**< The current raw value data of the left cliffsensor. */

static int back_raw; /**< The current raw value data of the right cliffsensor. */

static bool is_cliff; /**< Boolean to represent whether or not there is a cliff. */

/**

 * @brief Sets motor speed

 *

 * Sets the motor speeds based on subscription to the set_motors topic.

 *

 * @param msg The message from the set_motors topic, containing speeds and

 *  motor configuration settings.

 */

void motors_set(const motors::set_motors::ConstPtr& msg)

{

    /** @todo Edit to only set requested motors, not all */

    int which = msg->which;

    if(which & MOTOR_FL_REV)

    {

      motor_fl_speed = -1 * motors_rel_to_abs(msg->fl_speed, msg->units);

    }

    if(which & MOTOR_FR_REV)

    {

      motor_fr_speed = -1 * motors_rel_to_abs(msg->fr_speed, msg->units);

    }

    if(which & MOTOR_BL_REV)

    {

      motor_bl_speed = -1 * motors_rel_to_abs(msg->bl_speed, msg->units);

    }

    if(which & MOTOR_BR_REV)

    {

      motor_br_speed = -1 * motors_rel_to_abs(msg->br_speed, msg->units);

    }

    if(which & MOTOR_FL)

    {

      motor_fl_speed = motors_rel_to_abs(msg->fl_speed, msg->units);

    }

    if(which & MOTOR_FR)

    {

      motor_fr_speed = motors_rel_to_abs(msg->fr_speed, msg->units);

    }

    if(which & MOTOR_BL)

    {

      motor_bl_speed = motors_rel_to_abs(msg->bl_speed, msg->units);

    }

    if(which & MOTOR_BR)

    {

      motor_br_speed = motors_rel_to_abs(msg->br_speed, msg->units);

    }

    /* Write speeds to hardware */

    /** @todo Add code to write speeds to hardware */

}

/**

 * @brief Outputs current motor speeds

 *

 * Serves the service query_motors by responding to service requests with the

 * speeds of the motors.

 * @param req The request. The only field is the units requested.

 * @param res The response. The fields will be filled with values.

 */

bool motors_query(motors::query_motors::Request &req,

                  motors::query_motors::Response &res)

{

    int units = req.units;

    res.fl_speed = motors_abs_to_rel(motor_fl_speed, units);

    res.fr_speed = motors_abs_to_rel(motor_fr_speed, units);

    res.bl_speed = motors_abs_to_rel(motor_bl_speed, units);

    res.br_speed = motors_abs_to_rel(motor_br_speed, units);

    ROS_DEBUG("Motor speeds queried");

    return true;

}

/**

 * @brief Converts set speeds (of various units) to absolute speeds.

 *

 * @param speed The speed expressed in the desired units

 * @param units The units the desired speed is measured in

 * @return The absolute speed of the motor

 **/

int motors_rel_to_abs(int rel_speed, int units)

{

    switch(units)

    {

      case MOTOR_ABSOLUTE:/* Speed given as absolute */

        return rel_speed;

      case MOTOR_PERCENT:/* Convert from percentage */

        return rel_speed * MAXSPEED / 100;

      case MOTOR_MMS:/* Convert from mm/s */

        /** @todo Make math to do this conversion **/

        return rel_speed;

      case MOTOR_CMS:/* Convert from cm/s */

        /** @todo Make math to do this conversion **/

        return rel_speed;

      default: /* The units aren't recognized */

        /** @todo Decide on default case. Either percent or absolute. **/

        return rel_speed;

    }

}

/**

 * @brief Convert absolute speeds to speeds of various units.

 *

 * @param speed The speed expressed in absolute units.

 * @param units The units the desired speed is measured in.

 * @return The relative speed of the motor in desired units.

 **/

int motors_abs_to_rel(int abs_speed, int units)

{

    switch(units)

    {

      case MOTOR_ABSOLUTE:/* Speed given as absolute */

        return abs_speed;

      case MOTOR_PERCENT:/* Convert from percentage */

        return abs_speed * 100 / MAXSPEED;

      case MOTOR_MMS:/* Convert from mm/s */

        /** @todo Make math to do this conversion **/

        return abs_speed;

      case MOTOR_CMS:/* Convert from cm/s */

        /** @todo Make math to do this conversion **/

        return abs_speed;

      default: /* The units aren't recognized */

        /** @todo Decide on default case. Either percent or absolute. **/

        return abs_speed;

    }

}

/**

 * @brief Motors driver. This is a ROS node that controls motor speeds.

 *

 * This is the main function for the motors node. It is run when the node

 * starts and initializes the motors. It then subscribes to the

 * set_motors, and set_motor_speeds topics, and advertises the

 * query_motors service.

 * 

 * @param argc The number of command line arguments (should be 1)

 * @param argv The array of command line arguments

 **/

int main(int argc, char **argv)

{

    /* Initialize in ROS the motors driver node */

    ros::init(argc, argv, "motors_driver");

    /* Advertise that this serves the query_motors service */

    ros::NodeHandle n;

    ros::ServiceServer service = n.advertiseService("query_motors",

                                                    motors_query);

    /* Subscribe to the set_motors topic */

    ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set);

    /* Initialize hardware for motors */

    // Hardware init functions here

    ROS_INFO("Ready to set motors.");

    ros::spin();

    return 0;

}

/** @} **/

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file cliffsensor.h

 * @brief Contains cliffsensor declarations and functions.

 * 

 * Contains functions and definitions for the use of

 * cliffsensors.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 **/

#ifndef _CLIFFSENSOR_H_

#define _CLIFFSENSOR_H_

#include "cliffsensor/query_cliff.h"

#include "cliffsensor/cliff_status_changed.h"

#define CLIFF_DETECTED 0x0

#define NO_CLIFF 0x1

/** @brief Initialize the cliffsensor module and driver. **/

int main(int argc, char **argv);

/** @brief Responds to topic to change cliff sensor status. **/

void changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg);

/** @brief Responds to service to query cliffsensor data. **/

bool cliff_query(cliffsensor::query_cliff::Request &req,

                  cliffsensor::query_cliff::Response &res);

#endif

int8 units

---

int8 front_raw

int8 left_raw

int8 right_raw

int8 cliff_status