Revision c492be62
ID | c492be629f06e3cf71fdf832ce2cd5ac1ec779f8 |
Updated the licensing information in many files.
This is a broken commit because I decided to do this at a bad time. Sorry! The build will be working after next commit, I promise (and I won't push till then). This commit reflects the licensing in the files after I used my auto-add/remove script.
scout/analog/src/analog.cpp | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file analog.cpp |
scout/analog/src/analog.h | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
27 | 27 |
* @file analog.h |
scout/bom/src/bom.cpp | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file bom.cpp |
scout/bom/src/bom.h | ||
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1 | 1 |
/** |
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* Copyright (c) 2007 Colony Project
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* Copyright (c) 2011 Colony Project
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3 | 3 |
* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
... | ... | |
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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*/ |
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|
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25 | 26 |
/** |
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* @file bom.h |
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* @brief Contains bom declarations and functions. |
scout/buttons/src/buttons.cpp | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
27 | 27 |
* @file buttons.cpp |
scout/buttons/src/buttons.h | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file buttons.h |
scout/cliffsensor/src/cliffsensor.cpp | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file cliffsensor.cpp |
scout/cliffsensor/src/cliffsensor.h | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file cliffsensor.h |
scout/encoders/src/encoders.cpp | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
scout/encoders/src/encoders.h | ||
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/** |
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*Copyright (c) 2011 Colony Project |
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* Copyright (c) 2011 Colony Project
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3 | 3 |
* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
... | ... | |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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*/ |
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/** |
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* @file encoders.h |
scout/headlights/src/headlights.cpp | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file headlights.cpp |
scout/headlights/src/headlights.h | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file headlights.h |
scout/libscout/CMakeLists.txt | ||
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#rosbuild_add_executable(example examples/example.cpp) |
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#target_link_libraries(example ${PROJECT_NAME}) |
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rosbuild_add_executable(priya_behavior src/priya_behavior_process.cpp src/PriyaBehavior.cpp src/Behavior.cpp src/MotorControl.cpp src/HeadlightControl.cpp) |
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rosbuild_add_executable(priya_behavior src/priya_behavior_process.cpp src/PriyaBehavior.cpp src/Behavior.cpp src/MotorControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp) |
scout/libscout/src/Behavior.cpp | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file Behavior.cpp |
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* @brief Contains basic functions for the structure of all behaviours.
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* @brief Contains basic functions for the structure of all behaviors. |
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* |
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* Contains function implementations needed for all behavior. |
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* |
... | ... | |
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using namespace std; |
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/** |
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* Constructs a behavior and sets up all control classes. |
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* |
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* This constructor is used by all behaviors which inherit the Behavior |
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* class, so that it is easy to create a behavior with access to ROS |
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* functionality through the control classes. |
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* |
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* @param scoutname If nonempty, specifies which scout in the simulator |
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* will be controlled by this behavior. |
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*/ |
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Behavior::Behavior(string scoutname) |
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{ |
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motors = new MotorControl(node, scoutname); |
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buttons = new ButtonControl(node, scoutname); |
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sonar = new SonarControl(node, scoutname); |
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loop_rate = new ros::Rate(10); |
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//buttons(node); |
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//sonar(node); |
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} |
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/** |
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* Allows the behavior to check ros::ok(), without being aware of ROS. |
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*/ |
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bool Behavior::ok() |
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{ |
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return ros::ok(); |
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} |
53 | 67 |
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/** |
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* Allows the behavior to call ros::spin(), without being aware of ROS. |
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*/ |
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void Behavior::spin() |
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{ |
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ros::spin(); |
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return; |
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} |
59 | 76 |
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/** |
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* Allows the behavior to call ros::spinOnce(), without being aware of ROS. |
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*/ |
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void Behavior::spinOnce() |
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{ |
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ros::spinOnce(); |
scout/libscout/src/Behavior.h | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
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**/
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*/ |
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/** |
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* @file Behavior.h |
... | ... | |
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#include "MotorControl.h" |
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#include "HeadlightControl.h" |
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#include "ButtonControl.h" |
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#include "SonarControl.h" |
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#include "constants.h" |
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|
... | ... | |
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// Initializes ROS for behavior |
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Behavior(std::string scoutname); |
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// User implemented behavior
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/// Extended by subclasses to actually run the behavior.
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virtual void run() = 0; |
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protected: |
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ros::NodeHandle node; |
59 |
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/// @todo Should this really be a pointer, or the object itself somehow? |
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ros::Rate *loop_rate; |
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// Declare all used library controls |
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MotorControl * motors; |
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//ButtonControl buttons;
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//SonarControl sonar;
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ButtonControl * buttons;
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SonarControl * sonar;
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// Wrappers for ROS functions |
66 | 69 |
bool ok(); |
scout/libscout/src/ButtonControl.cpp | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
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*/ |
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27 | 27 |
/** |
scout/libscout/src/ButtonControl.h | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
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*/ |
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25 | 25 |
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27 | 27 |
/** |
scout/libscout/src/MotorControl.cpp | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
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*/ |
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25 | 25 |
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/** |
27 | 27 |
* @file MotorControl.cpp |
scout/libscout/src/MotorControl.h | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
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*/ |
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25 | 25 |
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26 | 26 |
/** |
27 | 27 |
* @file MotorControl.h |
scout/libscout/src/PriyaBehavior.h | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
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*/ |
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25 | 25 |
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/** |
27 | 27 |
* @file PriyaBehavior.h |
... | ... | |
46 | 46 |
class PriyaBehavior : Behavior |
47 | 47 |
{ |
48 | 48 |
public: |
49 |
/// @todo Is this the best way to inherit the Behavior constructor? |
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PriyaBehavior(std::string scoutname) : Behavior(scoutname) {}; |
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PriyaBehavior(std::string scoutname) : Behavior(scoutname) {} |
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/** |
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* @brief Runs the behavior. |
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*/ |
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/** Actually executes the behavior. */ |
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void run(); |
55 | 54 |
}; |
56 | 55 |
|
scout/libscout/src/SonarControl.cpp | ||
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21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
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*/ |
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25 | 25 |
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26 | 26 |
/** |
27 | 27 |
* @file SonarControl.cpp |
28 |
* @brief Contains sonar function imeplementations
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* @brief Contains sonar function implementation
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29 | 29 |
* |
30 | 30 |
* Contains functions for the use of sonar control. |
31 | 31 |
* |
32 | 32 |
* @author Colony Project, CMU Robotics Club |
33 | 33 |
* @author Priyanka Deo |
34 |
* @author Alex Zirbel |
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34 | 35 |
**/ |
35 | 36 |
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36 | 37 |
#include "SonarControl.h" |
37 | 38 |
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using namespace std; |
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|
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38 | 41 |
/** |
39 | 42 |
* @brief Initialize the sonar module of libscout. |
40 | 43 |
* |
41 | 44 |
* Initialize the libscout node as a publisher of sonar_set_scan and |
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* sonar_toggle and a client of query_sonar. |
43 | 46 |
*/ |
44 |
SonarControl::SonarControl(const ros::NodeHandle& libscout_node) |
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SonarControl::SonarControl(const ros::NodeHandle& libscout_node, |
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string scoutname) |
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: node(libscout_node) |
46 | 50 |
{ |
47 | 51 |
sonar_set_scan_pub = |
48 |
node.advertise<sonar::sonar_set_scan>("set_sonar_scan", QUEUE_SIZE); |
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node.advertise<sonar::sonar_set_scan>(scoutname + "/set_sonar_scan", |
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QUEUE_SIZE); |
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sonar_toggle_pub = |
50 |
node.advertise<sonar::sonar_toggle>("toggle_sonar", QUEUE_SIZE); |
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query_sonar = |
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node.serviceClient<sonar::sonar_direction>("query_sonar"); |
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node.advertise<sonar::sonar_toggle>(scoutname + "/toggle_sonar", |
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QUEUE_SIZE); |
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sonar_distance_sub = node.subscribe(scoutname + "sonar_distance", |
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QUEUE_SIZE, distance_callback); |
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// Initialize all the sonar readings to 0 and timestamps to undefined |
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for (int i = 0; i < 48; i++) |
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{ |
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readings[i] = 0; |
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timestamps[i] = ros::Time::now(); // A common shortcut for no reading |
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} |
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} |
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/** |
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* Update the array of sonar values, and the last read timestamps, |
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* to reflect the new reading received. |
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*/ |
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void SonarControl::distance_callback(const sonar::sonar_distance::ConstPtr& msg) |
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{ |
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// Error checking so that the array doesn't cause a segfault |
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if (msg->pos < 0 || msg-> pos > 23) |
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{ |
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ROS_ERROR("SonarControl received an invalid sonar position."); |
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return; |
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} |
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80 |
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readings[msg->pos] = msg->distance0; |
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readings[msg->pos + 24] = msg->distance1; |
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timestamps[msg->pos] = msg->header.stamp; |
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timestamps[msg->pos + 24] = msg->header.stamp; |
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53 | 85 |
} |
54 | 86 |
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55 | 87 |
/** |
... | ... | |
57 | 89 |
* |
58 | 90 |
* @param position Value between 0-180 of degree position to set sonar |
59 | 91 |
* @return NONE |
92 |
* @todo should return bool. See below. |
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*/ |
61 |
void SonarControl::set(int position) |
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void SonarControl::set_single(int position)
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62 | 95 |
{ |
63 | 96 |
set_range(position, position); |
64 | 97 |
} |
... | ... | |
69 | 102 |
* @param start_pos The leftmost (smallest) value that the sonar can take |
70 | 103 |
* @param end_pos The rightmost (largest) value that the sonar can take |
71 | 104 |
* @return NONE |
105 |
* @todo Also misimplemented, should return bool. Look at srv def in sonar/ |
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72 | 106 |
*/ |
73 | 107 |
void SonarControl::set_range(int start_pos, int end_pos) |
74 | 108 |
{ |
75 |
/** Turn sonar on */ |
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// Check that the range is valid |
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if (start_pos < 0 || end_pos < 0 || start_pos > 23 || end_pos > 23) |
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{ |
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ROS_ERROR("Commanded SonarControl::set_range to a bad value."); |
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return; |
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} |
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115 |
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// Sort the start and end positions into increasing order |
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if (start_pos > end_pos) |
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{ |
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int temp = start_pos; |
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start_pos = end_pos; |
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end_pos = temp; |
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} |
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// Turn sonar on |
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76 | 125 |
sonar::sonar_toggle on_msg; |
77 | 126 |
on_msg.set_on = true; |
78 | 127 |
sonar_toggle_pub.publish(on_msg); |
79 | 128 |
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80 |
/** Set scan range */
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// Set scan range
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81 | 130 |
sonar::sonar_set_scan msg; |
82 |
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83 |
//TODO Enable some checks of start and end position |
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84 | 131 |
msg.stop_l = start_pos; |
85 | 132 |
msg.stop_r = end_pos; |
86 | 133 |
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87 | 134 |
sonar_set_scan_pub.publish(msg); |
88 |
ros::spinOnce(); |
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ros::spinOnce(); ///<! Sure? Does this belong here?
|
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89 | 136 |
} |
90 | 137 |
|
91 | 138 |
/** |
92 | 139 |
* @brief Turn off sonar readings |
93 | 140 |
* |
94 | 141 |
* Stops sonar from panning and taking readings. |
142 |
* @todo Misimplemented. Needs to use a service call and return the ack as bool |
|
95 | 143 |
* |
96 | 144 |
* @return NONE |
97 | 145 |
*/ |
98 | 146 |
float SonarControl::set_off() |
99 | 147 |
{ |
100 |
/** Turn sonar off */ |
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101 | 148 |
sonar::sonar_toggle on_msg; |
102 | 149 |
on_msg.set_on = false; |
103 | 150 |
sonar_toggle_pub.publish(on_msg); |
104 | 151 |
} |
105 |
/** |
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106 |
* @brief Query the current front sonar readings |
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107 |
* |
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* Sends a request to the query_sonar service which will reply with the |
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* current readings of the sonar. |
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* |
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* @TODO Change so we can get multiple sonar readings with one call |
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112 |
* |
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113 |
* @return The reading of the front sonar |
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*/ |
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115 |
float SonarControl::query_front() |
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116 |
{ |
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117 |
sonar::sonar_direction srv; |
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118 |
if(query_sonar.call(srv)) |
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{ |
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srv.response.distance0; |
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} |
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else |
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{ |
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124 |
ROS_FATAL("Failed to call service query_motors"); |
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125 |
} |
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126 |
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127 |
return 0; |
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128 |
} |
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129 |
|
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130 |
/** |
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131 |
* @brief Query the current back sonar readings |
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132 |
* |
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* Sends a request to the query_sonar service which will reply with the |
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* current readings of the sonar. |
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135 |
* |
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136 |
* @TODO Change so we can get multiple sonar readings with one call |
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137 |
* |
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138 |
* @return The reading of the back sonar |
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*/ |
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140 |
float SonarControl::query_back() |
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141 |
{ |
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142 |
sonar::sonar_direction srv; |
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143 |
if(query_sonar.call(srv)) |
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144 |
{ |
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145 |
srv.response.distance1; |
|
146 |
} |
|
147 |
else |
|
148 |
{ |
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149 |
ROS_FATAL("Failed to call service query_motors"); |
|
150 |
} |
|
151 |
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152 |
return 0; |
|
153 |
} |
|
154 | 152 |
|
155 | 153 |
/** |
156 | 154 |
* @brief Converts value returne by sonar to physical distances. |
... | ... | |
158 | 156 |
* @param sonar_value The returned value of the sonar |
159 | 157 |
* @return The physical distance measured by the sonar. |
160 | 158 |
**/ |
161 |
float sonar_to_dist(float sonar_value) |
|
162 |
{ |
|
159 |
//float sonar_to_dist(float sonar_value)
|
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160 |
//{
|
|
163 | 161 |
//TODO impelement later based on sonar readings |
164 |
return sonar_value; |
|
165 |
} |
|
162 |
// return sonar_value;
|
|
163 |
//}
|
|
166 | 164 |
|
167 | 165 |
/** |
168 | 166 |
* @brief Converts values from physical distances to values read by sonar |
... | ... | |
170 | 168 |
* @param distance The physical distance as measured. |
171 | 169 |
* @return The value read by the sonar that corresponds to the given distance |
172 | 170 |
**/ |
173 |
float dist_to_sonar(float distance) |
|
174 |
{ |
|
171 |
//float dist_to_sonar(float distance)
|
|
172 |
//{
|
|
175 | 173 |
//TODO implement later based on sonar readings |
176 |
return distance; |
|
177 |
} |
|
174 |
// return distance; |
|
175 |
//} |
scout/libscout/src/SonarControl.h | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file SonarControl.h |
... | ... | |
46 | 46 |
{ |
47 | 47 |
public: |
48 | 48 |
/** Set up the motor node and prepare to communicate over ROS */ |
49 |
SonarControl(const ros::NodeHandle& libscout_node); |
|
49 |
SonarControl(const ros::NodeHandle& libscout_node, |
|
50 |
std::string scoutname); |
|
50 | 51 |
|
51 | 52 |
/** Sets sonar to a position (0-180 deg) specified by input */ |
52 |
void set(int position); |
|
53 |
void set_single(int position);
|
|
53 | 54 |
|
54 | 55 |
/** Sets sonar to scan a range in 0-180 specified by input */ |
55 | 56 |
void set_range(int start_pos, int end_pos); |
56 | 57 |
|
57 |
/** Stops sonar from panning and taking readings */ |
|
58 |
void set_off(); |
|
59 |
|
|
60 |
/** Returns the distance readings of sonars */ |
|
61 |
float query_front(void); |
|
62 |
float query_back(void); |
|
58 |
/** Stops sonar from panning and taking readings */ |
|
59 |
void set_off(); |
|
63 | 60 |
|
64 | 61 |
private: |
65 |
/** Converts between values output by sensor and physical distances */ |
|
66 |
float sonar_to_dist(float sonar_value); |
|
67 |
float dist_to_sonar(float distance); |
|
62 |
/** Record the new sonar distance measurement */ |
|
63 |
void distance_callback(const sonar::sonar_distance::ConstPtr& msg); |
|
68 | 64 |
|
69 |
/* Front and back distance values read by sonar. */
|
|
70 |
float front_dist;
|
|
71 |
float back_dist;
|
|
65 |
/** Converts between values output by sensor and physical distances */
|
|
66 |
//float sonar_to_dist(float sonar_value);
|
|
67 |
//float dist_to_sonar(float distance);
|
|
72 | 68 |
|
73 |
/** ROS publisher and client declaration */
|
|
69 |
/* ROS publisher and client declaration */ |
|
74 | 70 |
ros::Publisher sonar_set_scan_pub; |
75 | 71 |
ros::Publisher sonar_toggle_pub; |
76 |
ros::ServiceClient query_sonar;
|
|
72 |
ros::Subscriber sonar_distance_sub;
|
|
77 | 73 |
|
78 | 74 |
ros::NodeHandle node; |
79 | 75 |
}; |
scout/libscout/src/constants.h | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file constants.h |
scout/libscout/src/priya_behavior_process.cpp | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file Behavior.cpp |
... | ... | |
58 | 58 |
|
59 | 59 |
PriyaBehavior *behavior = new PriyaBehavior(scoutname); |
60 | 60 |
behavior->run(); |
61 |
|
|
62 |
return 0; |
|
61 | 63 |
} |
scout/motors/src/motors.cpp | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file motors.cpp |
scout/motors/src/motors.h | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file motors.h |
scout/power/src/power.cpp | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file power.cpp |
scout/power/src/power.h | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file motors.h |
scout/scoutsim/licensing.txt | ||
---|---|---|
1 |
The code in this package was developed using the structure of Willow |
|
2 |
Garage's turtlesim package. It was modified by the CMU Robotics Club |
|
3 |
to be used as a simulator for the Colony Scout robot. |
|
4 |
|
|
5 |
All redistribution of this code is limited to the terms of Willow Garage's |
|
6 |
licensing terms, as well as under permission from the CMU Robotics Club. |
|
7 |
|
|
8 |
Please see both licensing agreements below. |
|
9 |
|
|
10 |
****************************************************************************** |
|
11 |
** BELOW IS THE LICENSING AGREEMENT FROM WILLOW GARAGE ** |
|
12 |
****************************************************************************** |
|
13 |
|
|
14 |
Copyright (c) 2009, Willow Garage, Inc. |
|
15 |
All rights reserved. |
|
16 |
|
|
17 |
Redistribution and use in source and binary forms, with or without |
|
18 |
modification, are permitted provided that the following conditions are met: |
|
19 |
|
|
20 |
Redistributions of source code must retain the above copyright |
|
21 |
notice, this list of conditions and the following disclaimer. |
|
22 |
Redistributions in binary form must reproduce the above copyright |
|
23 |
notice, this list of conditions and the following disclaimer in the |
|
24 |
documentation and/or other materials provided with the distribution. |
|
25 |
Neither the name of the Willow Garage, Inc. nor the names of its |
|
26 |
contributors may be used to endorse or promote products derived from |
|
27 |
this software without specific prior written permission. |
|
28 |
|
|
29 |
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
|
30 |
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
|
31 |
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
|
32 |
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
|
33 |
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
|
34 |
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
|
35 |
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
|
36 |
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
|
37 |
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
|
38 |
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
39 |
POSSIBILITY OF SUCH DAMAGE. |
|
40 |
|
|
41 |
|
|
42 |
****************************************************************************** |
|
43 |
** BELOW IS THE LICENSING AGREEMENT FROM THE COLONY PROJECT ** |
|
44 |
****************************************************************************** |
|
45 |
|
|
46 |
Copyright (c) 2011 Colony Project |
|
47 |
|
|
48 |
Permission is hereby granted, free of charge, to any person |
|
49 |
obtaining a copy of this software and associated documentation |
|
50 |
files (the "Software"), to deal in the Software without |
|
51 |
restriction, including without limitation the rights to use, |
|
52 |
copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
53 |
copies of the Software, and to permit persons to whom the |
|
54 |
Software is furnished to do so, subject to the following |
|
55 |
conditions: |
|
56 |
|
|
57 |
The above copyright notice and this permission notice shall be |
|
58 |
included in all copies or substantial portions of the Software. |
|
59 |
|
|
60 |
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
61 |
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
62 |
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
63 |
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
64 |
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
65 |
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
66 |
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
67 |
OTHER DEALINGS IN THE SOFTWARE. |
scout/scoutsim/src/scout.cpp | ||
---|---|---|
1 |
/* |
|
2 |
* This package was developed by the CMU Robotics Club project using code |
|
3 |
* from Willow Garage, Inc. Please see licensing.txt for details. |
|
1 |
/** |
|
2 |
* The code in this package was developed using the structure of Willow |
|
3 |
* Garage's turtlesim package. It was modified by the CMU Robotics Club |
|
4 |
* to be used as a simulator for the Colony Scout robot. |
|
4 | 5 |
* |
6 |
* All redistribution of this code is limited to the terms of Willow Garage's |
|
7 |
* licensing terms, as well as under permission from the CMU Robotics Club. |
|
8 |
* |
|
9 |
* Copyright (c) 2011 Colony Project |
|
10 |
* |
|
11 |
* Permission is hereby granted, free of charge, to any person |
|
12 |
* obtaining a copy of this software and associated documentation |
|
13 |
* files (the "Software"), to deal in the Software without |
|
14 |
* restriction, including without limitation the rights to use, |
|
15 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
16 |
* copies of the Software, and to permit persons to whom the |
|
17 |
* Software is furnished to do so, subject to the following |
|
18 |
* conditions: |
|
19 |
* |
|
20 |
* The above copyright notice and this permission notice shall be |
|
21 |
* included in all copies or substantial portions of the Software. |
|
22 |
* |
|
23 |
* Copyright (c) 2009, Willow Garage, Inc. |
|
5 | 24 |
* All rights reserved. |
6 |
* |
|
7 |
* @brief Keeps track of a single scout robot. |
|
8 |
* @file scout.cpp |
|
9 |
* @author Colony Project, CMU Robotics Club |
|
10 |
* @author Alex Zirbel |
|
25 |
* |
|
26 |
* Redistribution and use in source and binary forms, with or without |
|
27 |
* modification, are permitted provided that the following conditions are met: |
|
28 |
* |
|
29 |
* Redistributions of source code must retain the above copyright |
|
30 |
* notice, this list of conditions and the following disclaimer. |
|
31 |
* Redistributions in binary form must reproduce the above copyright |
|
32 |
* notice, this list of conditions and the following disclaimer in the |
|
33 |
* documentation and/or other materials provided with the distribution. |
|
34 |
* Neither the name of the Willow Garage, Inc. nor the names of its |
|
35 |
* contributors may be used to endorse or promote products derived from |
|
36 |
* this software without specific prior written permission. |
|
37 |
* |
|
38 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
39 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
40 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
41 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
42 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
43 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
44 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
45 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
11 | 46 |
*/ |
12 | 47 |
|
13 | 48 |
#include "scout.h" |
... | ... | |
43 | 78 |
set_pen_srv = node.advertiseService("set_pen", |
44 | 79 |
&Scout::setPenCallback, |
45 | 80 |
this); |
46 |
teleport_relative_srv = |
|
47 |
node.advertiseService("teleport_relative", |
|
48 |
&Scout::teleportRelativeCallback, |
|
49 |
this); |
|
50 |
teleport_absolute_srv = |
|
51 |
node.advertiseService("teleport_absolute", |
|
52 |
&Scout::teleportAbsoluteCallback, |
|
53 |
this); |
|
54 | 81 |
|
55 | 82 |
meter = scout.GetHeight(); |
56 | 83 |
} |
... | ... | |
58 | 85 |
/** |
59 | 86 |
* A callback function that sets velocity based on a set_motors |
60 | 87 |
* request. |
88 |
* @todo Use "callback" in all callback function names? Or remove? |
|
61 | 89 |
*/ |
62 | 90 |
void Scout::setMotors(const motors::set_motors::ConstPtr& msg) |
63 | 91 |
{ |
... | ... | |
91 | 119 |
ang_vel = SPEED_SCALE_FACTOR * (r_speed - l_speed); |
92 | 120 |
} |
93 | 121 |
|
122 |
float Scout::getSonar(float angle) |
|
123 |
{ |
|
124 |
|
|
125 |
return 0.0; |
|
126 |
} |
|
127 |
|
|
94 | 128 |
bool Scout::setPenCallback(scoutsim::SetPen::Request& req, |
95 | 129 |
scoutsim::SetPen::Response&) |
96 | 130 |
{ |
... | ... | |
110 | 144 |
return true; |
111 | 145 |
} |
112 | 146 |
|
113 |
/// @TODO remove |
|
114 |
bool Scout::teleportRelativeCallback(scoutsim::TeleportRelative::Request& req, |
|
115 |
scoutsim::TeleportRelative::Response&) |
|
116 |
{ |
|
117 |
teleport_requests.push_back(TeleportRequest(0, |
|
118 |
0, |
|
119 |
req.angular, |
|
120 |
req.linear, |
|
121 |
true)); |
|
122 |
return true; |
|
123 |
} |
|
124 |
|
|
125 |
/// @TODO remove |
|
126 |
bool Scout::teleportAbsoluteCallback(scoutsim::TeleportAbsolute::Request& req, |
|
127 |
scoutsim::TeleportAbsolute::Response&) |
|
128 |
{ |
|
129 |
teleport_requests.push_back(TeleportRequest(req.x, |
|
130 |
req.y, |
|
131 |
req.theta, |
|
132 |
0, |
|
133 |
false)); |
|
134 |
return true; |
|
135 |
} |
|
136 |
|
|
137 | 147 |
void Scout::update(double dt, wxMemoryDC& path_dc, |
138 | 148 |
const wxImage& path_image, wxColour background_color, |
139 | 149 |
float canvas_width, float canvas_height) |
140 | 150 |
{ |
141 |
// first process any teleportation requests, in order |
|
142 |
V_TeleportRequest::iterator it = teleport_requests.begin(); |
|
143 |
V_TeleportRequest::iterator end = teleport_requests.end(); |
|
144 |
for (; it != end; ++it) |
|
145 |
{ |
|
146 |
const TeleportRequest& req = *it; |
|
147 |
|
|
148 |
Vector2 old_pos = pos; |
|
149 |
if (req.relative) |
|
150 |
{ |
|
151 |
orient += req.theta; |
|
152 |
pos.x += sin(orient + PI/2.0) * req.linear; |
|
153 |
pos.y += cos(orient + PI/2.0) * req.linear; |
|
154 |
} |
|
155 |
else |
|
156 |
{ |
|
157 |
pos.x = req.pos.x; |
|
158 |
pos.y = std::max(0.0f, canvas_height - req.pos.y); |
|
159 |
orient = req.theta; |
|
160 |
} |
|
161 |
|
|
162 |
path_dc.SetPen(pen); |
|
163 |
path_dc.DrawLine(pos.x * meter, pos.y * meter, |
|
164 |
old_pos.x * meter, old_pos.y * meter); |
|
165 |
} |
|
166 |
|
|
167 |
teleport_requests.clear(); |
|
168 |
|
|
169 |
if (ros::WallTime::now() - last_command_time > ros::WallDuration(1.0)) |
|
170 |
{ |
|
171 |
lin_vel = 0.0f; |
|
172 |
ang_vel = 0.0f; |
|
173 |
} |
|
174 |
|
|
175 | 151 |
Vector2 old_pos = pos; |
176 | 152 |
|
177 | 153 |
orient = fmod(orient + ang_vel * dt, 2*PI); |
scout/scoutsim/src/scout.h | ||
---|---|---|
1 |
/* |
|
2 |
* This package was developed by the CMU Robotics Club project using code |
|
3 |
* from Willow Garage, Inc. Please see licensing.txt for details. |
|
1 |
/** |
|
2 |
* The code in this package was developed using the structure of Willow |
|
3 |
* Garage's turtlesim package. It was modified by the CMU Robotics Club |
|
4 |
* to be used as a simulator for the Colony Scout robot. |
|
4 | 5 |
* |
6 |
* All redistribution of this code is limited to the terms of Willow Garage's |
|
7 |
* licensing terms, as well as under permission from the CMU Robotics Club. |
|
8 |
* |
|
9 |
* Copyright (c) 2011 Colony Project |
|
10 |
* |
|
11 |
* Permission is hereby granted, free of charge, to any person |
|
12 |
* obtaining a copy of this software and associated documentation |
|
13 |
* files (the "Software"), to deal in the Software without |
|
14 |
* restriction, including without limitation the rights to use, |
|
15 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
16 |
* copies of the Software, and to permit persons to whom the |
|
17 |
* Software is furnished to do so, subject to the following |
|
18 |
* conditions: |
|
19 |
* |
|
20 |
* The above copyright notice and this permission notice shall be |
|
21 |
* included in all copies or substantial portions of the Software. |
|
22 |
* |
|
23 |
* Copyright (c) 2009, Willow Garage, Inc. |
|
5 | 24 |
* All rights reserved. |
6 |
* |
|
7 |
* @file scout.h |
|
8 |
* @author Colony Project, CMU Robotics Club |
|
9 |
* @author Alex Zirbel |
|
25 |
* |
|
26 |
* Redistribution and use in source and binary forms, with or without |
|
27 |
* modification, are permitted provided that the following conditions are met: |
|
28 |
* |
|
29 |
* Redistributions of source code must retain the above copyright |
|
30 |
* notice, this list of conditions and the following disclaimer. |
|
31 |
* Redistributions in binary form must reproduce the above copyright |
|
32 |
* notice, this list of conditions and the following disclaimer in the |
|
33 |
* documentation and/or other materials provided with the distribution. |
|
34 |
* Neither the name of the Willow Garage, Inc. nor the names of its |
|
35 |
* contributors may be used to endorse or promote products derived from |
|
36 |
* this software without specific prior written permission. |
|
37 |
* |
|
38 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
39 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
40 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
41 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
42 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
43 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
44 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
45 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
10 | 46 |
*/ |
11 | 47 |
|
12 | 48 |
#ifndef _SCOUTSIM_SCOUT_H_ |
... | ... | |
19 | 55 |
|
20 | 56 |
#include <scoutsim/Pose.h> |
21 | 57 |
#include <scoutsim/SetPen.h> |
22 |
#include <scoutsim/TeleportRelative.h> |
|
23 |
#include <scoutsim/TeleportAbsolute.h> |
|
24 | 58 |
#include <scoutsim/Color.h> |
25 | 59 |
|
26 | 60 |
#include <wx/wx.h> |
27 | 61 |
|
62 |
#include "scout_constants.h" |
|
63 |
|
|
28 | 64 |
#define PI 3.14159265 |
65 |
|
|
29 | 66 |
/// The scale factor so the speed of scout robots is reasonable for the sim |
30 | 67 |
#define SPEED_SCALE_FACTOR 0.05 |
31 | 68 |
|
... | ... | |
70 | 107 |
|
71 | 108 |
private: |
72 | 109 |
void setMotors(const motors::set_motors::ConstPtr& msg); |
110 |
float getSonar(float angle); |
|
73 | 111 |
bool setPenCallback(scoutsim::SetPen::Request&, |
74 | 112 |
scoutsim::SetPen::Response&); |
75 |
bool teleportRelativeCallback(scoutsim::TeleportRelative::Request&, |
|
76 |
scoutsim::TeleportRelative::Response&); |
|
77 |
bool teleportAbsoluteCallback(scoutsim::TeleportAbsolute::Request&, |
|
78 |
scoutsim::TeleportAbsolute::Response&); |
|
79 | 113 |
|
80 | 114 |
ros::NodeHandle node; |
81 | 115 |
|
... | ... | |
91 | 125 |
int motor_bl_speed; |
92 | 126 |
int motor_br_speed; |
93 | 127 |
|
128 |
// Each scout has a unique id number, which is also displayed on its image. |
|
129 |
int scout_id; |
|
130 |
|
|
94 | 131 |
float lin_vel; |
95 | 132 |
float ang_vel; |
96 | 133 |
bool pen_on; |
... | ... | |
100 | 137 |
ros::Publisher pose_pub; |
101 | 138 |
ros::Publisher color_pub; |
102 | 139 |
ros::ServiceServer set_pen_srv; |
103 |
ros::ServiceServer teleport_relative_srv; |
|
104 |
ros::ServiceServer teleport_absolute_srv; |
|
105 | 140 |
|
106 | 141 |
ros::WallTime last_command_time; |
107 | 142 |
|
108 | 143 |
float meter; |
109 | 144 |
|
110 |
struct TeleportRequest |
|
111 |
{ |
|
112 |
TeleportRequest(float x, float y, float new_theta, |
|
113 |
float new_linear, bool new_relative) |
|
114 |
: pos(x, y) |
|
115 |
, theta(new_theta) |
|
116 |
, linear(new_linear) |
|
117 |
, relative(new_relative) |
|
118 |
{} |
|
119 |
|
|
120 |
Vector2 pos; |
|
121 |
float theta; |
|
122 |
float linear; |
|
123 |
bool relative; |
|
124 |
}; |
|
125 |
|
|
126 |
typedef std::vector<TeleportRequest> V_TeleportRequest; |
|
127 |
V_TeleportRequest teleport_requests; |
|
128 | 145 |
}; |
129 | 146 |
typedef boost::shared_ptr<Scout> ScoutPtr; |
130 | 147 |
|
131 |
} |
|
148 |
|
|
132 | 149 |
|
133 | 150 |
#endif |
scout/scoutsim/src/scoutsim.cpp | ||
---|---|---|
1 |
/* |
|
2 |
* This package was developed by the CMU Robotics Club project using code |
|
3 |
* from Willow Garage, Inc. Please see licensing.txt for details. |
|
1 |
/** |
|
2 |
* The code in this package was developed using the structure of Willow |
|
3 |
* Garage's turtlesim package. It was modified by the CMU Robotics Club |
|
4 |
* to be used as a simulator for the Colony Scout robot. |
|
4 | 5 |
* |
6 |
* All redistribution of this code is limited to the terms of Willow Garage's |
|
7 |
* licensing terms, as well as under permission from the CMU Robotics Club. |
|
8 |
* |
|
9 |
* Copyright (c) 2011 Colony Project |
|
10 |
* |
|
11 |
* Permission is hereby granted, free of charge, to any person |
|
12 |
* obtaining a copy of this software and associated documentation |
|
13 |
* files (the "Software"), to deal in the Software without |
|
14 |
* restriction, including without limitation the rights to use, |
|
15 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
16 |
* copies of the Software, and to permit persons to whom the |
|
17 |
* Software is furnished to do so, subject to the following |
|
18 |
* conditions: |
|
19 |
* |
|
20 |
* The above copyright notice and this permission notice shall be |
|
21 |
* included in all copies or substantial portions of the Software. |
|
22 |
* |
|
23 |
* Copyright (c) 2009, Willow Garage, Inc. |
|
5 | 24 |
* All rights reserved. |
6 |
* |
|
7 |
* @brief Runs the simulator, keeping track of all the scout robots. |
|
8 |
* @file scoutsim.cpp |
|
9 |
* @author Colony Project, CMU Robotics Club |
|
10 |
* @author Alex Zirbel |
|
25 |
* |
|
26 |
* Redistribution and use in source and binary forms, with or without |
|
27 |
* modification, are permitted provided that the following conditions are met: |
|
28 |
* |
|
29 |
* Redistributions of source code must retain the above copyright |
|
30 |
* notice, this list of conditions and the following disclaimer. |
|
31 |
* Redistributions in binary form must reproduce the above copyright |
|
32 |
* notice, this list of conditions and the following disclaimer in the |
|
33 |
* documentation and/or other materials provided with the distribution. |
|
34 |
* Neither the name of the Willow Garage, Inc. nor the names of its |
|
35 |
* contributors may be used to endorse or promote products derived from |
|
36 |
* this software without specific prior written permission. |
|
37 |
* |
|
38 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
39 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
40 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
41 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
42 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
43 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
44 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
45 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
11 | 46 |
*/ |
12 | 47 |
|
13 | 48 |
#include <wx/app.h> |
... | ... | |
25 | 60 |
|
26 | 61 |
class ScoutApp : public wxApp |
27 | 62 |
{ |
28 |
public: |
|
29 |
char** local_argv; |
|
30 |
ros::NodeHandlePtr nh; |
|
63 |
public:
|
|
64 |
char** local_argv;
|
|
65 |
ros::NodeHandlePtr nh;
|
|
31 | 66 |
|
32 |
ScoutApp() |
|
33 |
{ |
|
34 |
} |
|
67 |
ScoutApp()
|
|
68 |
{
|
|
69 |
}
|
|
35 | 70 |
|
36 |
bool OnInit() |
|
37 |
{ |
|
71 |
bool OnInit()
|
|
72 |
{
|
|
38 | 73 |
#ifdef __WXMAC__ |
39 |
ProcessSerialNumber PSN; |
|
40 |
GetCurrentProcess(&PSN); |
|
41 |
TransformProcessType(&PSN,kProcessTransformToForegroundApplication); |
|
42 |
SetFrontProcess(&PSN); |
|
74 |
ProcessSerialNumber PSN;
|
|
75 |
GetCurrentProcess(&PSN);
|
|
76 |
TransformProcessType(&PSN,kProcessTransformToForegroundApplication);
|
|
77 |
SetFrontProcess(&PSN);
|
|
43 | 78 |
#endif |
44 | 79 |
|
45 |
// create our own copy of argv, with regular char*s.
|
|
46 |
local_argv = new char*[ argc ];
|
|
47 |
for ( int i = 0; i < argc; ++i ) |
|
48 |
{ |
|
49 |
local_argv[ i ] = strdup( wxString( argv[ i ] ).mb_str() ); |
|
50 |
} |
|
80 |
// Create our own copy of argv, with regular char*s.
|
|
81 |
local_argv = new char*[ argc ];
|
|
82 |
for ( int i = 0; i < argc; ++i )
|
|
83 |
{
|
|
84 |
local_argv[ i ] = strdup( wxString( argv[ i ] ).mb_str() );
|
|
85 |
}
|
|
51 | 86 |
|
52 |
ros::init(argc, local_argv, "scoutsim"); |
|
53 |
nh.reset(new ros::NodeHandle); |
|
87 |
ros::init(argc, local_argv, "scoutsim");
|
|
88 |
nh.reset(new ros::NodeHandle);
|
|
54 | 89 |
|
55 |
wxInitAllImageHandlers(); |
|
90 |
wxInitAllImageHandlers();
|
|
56 | 91 |
|
57 |
scoutsim::SimFrame* frame = new scoutsim::SimFrame(NULL); |
|
92 |
scoutsim::SimFrame* frame = new scoutsim::SimFrame(NULL);
|
|
58 | 93 |
|
59 |
SetTopWindow(frame); |
|
60 |
frame->Show(); |
|
94 |
SetTopWindow(frame);
|
|
95 |
frame->Show();
|
|
61 | 96 |
|
62 |
return true; |
|
63 |
} |
|
97 |
return true;
|
|
98 |
}
|
|
64 | 99 |
|
65 |
int OnExit() |
|
66 |
{ |
|
67 |
for ( int i = 0; i < argc; ++i ) |
|
68 |
{ |
|
69 |
free( local_argv[ i ] ); |
|
70 |
} |
|
71 |
delete [] local_argv; |
|
100 |
int OnExit()
|
|
101 |
{
|
|
102 |
for ( int i = 0; i < argc; ++i )
|
|
103 |
{
|
|
104 |
free( local_argv[ i ] );
|
|
105 |
}
|
|
106 |
delete [] local_argv;
|
|
72 | 107 |
|
73 |
return 0; |
|
74 |
} |
|
108 |
return 0;
|
|
109 |
}
|
|
75 | 110 |
}; |
76 | 111 |
|
77 | 112 |
DECLARE_APP(ScoutApp); |
78 | 113 |
IMPLEMENT_APP(ScoutApp); |
79 |
|
scout/scoutsim/src/sim_frame.cpp | ||
---|---|---|
1 |
/* |
|
2 |
* This package was developed by the CMU Robotics Club project using code |
|
3 |
* from Willow Garage, Inc. Please see licensing.txt for details. |
|
1 |
/** |
|
2 |
* The code in this package was developed using the structure of Willow |
|
3 |
* Garage's turtlesim package. It was modified by the CMU Robotics Club |
|
4 |
* to be used as a simulator for the Colony Scout robot. |
|
4 | 5 |
* |
6 |
* All redistribution of this code is limited to the terms of Willow Garage's |
|
7 |
* licensing terms, as well as under permission from the CMU Robotics Club. |
|
8 |
* |
|
9 |
* Copyright (c) 2011 Colony Project |
|
10 |
* |
|
11 |
* Permission is hereby granted, free of charge, to any person |
|
12 |
* obtaining a copy of this software and associated documentation |
|
13 |
* files (the "Software"), to deal in the Software without |
|
14 |
* restriction, including without limitation the rights to use, |
|
15 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
16 |
* copies of the Software, and to permit persons to whom the |
|
17 |
* Software is furnished to do so, subject to the following |
|
18 |
* conditions: |
|
19 |
* |
|
20 |
* The above copyright notice and this permission notice shall be |
|
21 |
* included in all copies or substantial portions of the Software. |
|
22 |
* |
|
23 |
* Copyright (c) 2009, Willow Garage, Inc. |
|
5 | 24 |
* All rights reserved. |
6 |
* |
|
7 |
* @brief Keeps track of the frame (visualization of the whole environment). |
|
8 |
* @file sim_frame.cpp |
|
9 |
* @author Colony Project, CMU Robotics Club |
|
10 |
* @author Alex Zirbel |
|
25 |
* |
|
26 |
* Redistribution and use in source and binary forms, with or without |
|
27 |
* modification, are permitted provided that the following conditions are met: |
|
28 |
* |
|
29 |
* Redistributions of source code must retain the above copyright |
|
30 |
* notice, this list of conditions and the following disclaimer. |
|
31 |
* Redistributions in binary form must reproduce the above copyright |
|
32 |
* notice, this list of conditions and the following disclaimer in the |
|
33 |
* documentation and/or other materials provided with the distribution. |
|
34 |
* Neither the name of the Willow Garage, Inc. nor the names of its |
|
35 |
* contributors may be used to endorse or promote products derived from |
|
36 |
* this software without specific prior written permission. |
|
37 |
* |
|
38 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
39 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
40 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
41 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
42 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
43 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
44 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
45 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
11 | 46 |
*/ |
12 | 47 |
|
13 | 48 |
#include "sim_frame.h" |
... | ... | |
216 | 251 |
width_in_meters, height_in_meters); |
217 | 252 |
} |
218 | 253 |
|
219 |
++frame_count;
|
|
254 |
frame_count++;
|
|
220 | 255 |
} |
221 | 256 |
|
222 |
|
|
223 | 257 |
bool SimFrame::clearCallback(std_srvs::Empty::Request&, |
224 | 258 |
std_srvs::Empty::Response&) |
225 | 259 |
{ |
scout/scoutsim/src/sim_frame.h | ||
---|---|---|
1 |
/* |
|
2 |
* This package was developed by the CMU Robotics Club project using code |
|
3 |
* from Willow Garage, Inc. Please see licensing.txt for details. |
|
1 |
/** |
|
2 |
* The code in this package was developed using the structure of Willow |
|
3 |
* Garage's turtlesim package. It was modified by the CMU Robotics Club |
|
4 |
* to be used as a simulator for the Colony Scout robot. |
|
4 | 5 |
* |
6 |
* All redistribution of this code is limited to the terms of Willow Garage's |
|
7 |
* licensing terms, as well as under permission from the CMU Robotics Club. |
|
8 |
* |
|
9 |
* Copyright (c) 2011 Colony Project |
|
10 |
* |
|
11 |
* Permission is hereby granted, free of charge, to any person |
|
12 |
* obtaining a copy of this software and associated documentation |
|
13 |
* files (the "Software"), to deal in the Software without |
|
14 |
* restriction, including without limitation the rights to use, |
|
15 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
16 |
* copies of the Software, and to permit persons to whom the |
|
17 |
* Software is furnished to do so, subject to the following |
|
18 |
* conditions: |
|
19 |
* |
|
20 |
* The above copyright notice and this permission notice shall be |
|
21 |
* included in all copies or substantial portions of the Software. |
|
22 |
* |
|
23 |
* Copyright (c) 2009, Willow Garage, Inc. |
|
5 | 24 |
* All rights reserved. |
6 |
* |
|
7 |
* @file sim_frame.h |
|
8 |
* @author Colony Project, CMU Robotics Club |
|
9 |
* @author Alex Zirbel |
|
25 |
* |
|
26 |
* Redistribution and use in source and binary forms, with or without |
|
27 |
* modification, are permitted provided that the following conditions are met: |
|
28 |
* |
|
29 |
* Redistributions of source code must retain the above copyright |
|
30 |
* notice, this list of conditions and the following disclaimer. |
|
31 |
* Redistributions in binary form must reproduce the above copyright |
|
32 |
* notice, this list of conditions and the following disclaimer in the |
|
33 |
* documentation and/or other materials provided with the distribution. |
|
34 |
* Neither the name of the Willow Garage, Inc. nor the names of its |
|
35 |
* contributors may be used to endorse or promote products derived from |
|
36 |
* this software without specific prior written permission. |
|
37 |
* |
|
38 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
39 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
40 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
41 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
42 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
43 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
44 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
45 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
10 | 46 |
*/ |
11 | 47 |
|
12 | 48 |
#include <wx/wx.h> |
scout/sonar/msg/sonar_direction.msg | ||
---|---|---|
1 |
# Gives a timestamp so nodes make sure they use current readings |
|
2 |
Header header |
|
3 |
|
|
4 |
# Distance reading from the front sonar |
|
5 |
int8 distance0 |
|
6 |
# Distance reading from the back sonar |
|
7 |
int8 distnace1 |
scout/sonar/src/sonar.cpp | ||
---|---|---|
1 | 1 |
/** |
2 |
* Copyright (c) 2007 Colony Project
|
|
2 |
* Copyright (c) 2011 Colony Project
|
|
3 | 3 |
* |
4 | 4 |
* Permission is hereby granted, free of charge, to any person |
5 | 5 |
* obtaining a copy of this software and associated documentation |
... | ... | |
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/ |
|
25 |
|
|
24 |
*/ |
|
26 | 25 |
|
27 | 26 |
/** |
28 | 27 |
* @file sonar.cpp |
... | ... | |
34 | 33 |
* @author Alex Zirbel |
35 | 34 |
**/ |
36 | 35 |
|
37 |
#include "scout/sonar.h" |
|
38 |
#include "ros/ros.h" |
|
36 |
#include <ros/ros.h> |
|
39 | 37 |
#include <cstdlib> |
40 | 38 |
|
39 |
#include "sonar.h" |
|
40 |
|
|
41 | 41 |
/** |
42 | 42 |
* @defgroup sonar Sonar |
43 | 43 |
* @brief Functions for using the sonar |
... | ... | |
110 | 110 |
is_on = true; |
111 | 111 |
|
112 | 112 |
/* Initialize hardware for sonar */ |
113 |
//Hardware init functions here |
|
113 |
// Hardware init functions here
|
|
114 | 114 |
sonar_init(); |
115 | 115 |
|
116 | 116 |
/* Initialize the sonar driver node in ROS */ |
... | ... | |
124 | 124 |
handle_sonar_set_scan); |
125 | 125 |
|
126 | 126 |
ROS_INFO("Sonar: Ready"); |
127 |
// Sonar reading and publishing here |
|
127 | 128 |
ros::spin(); |
128 | 129 |
|
129 | 130 |
return 0; |
scout/sonar/src/sonar.h | ||
---|---|---|
1 | 1 |
/** |
2 |
* Copyright (c) 2007 Colony Project
|
|
2 |
* Copyright (c) 2011 Colony Project
|
|
3 | 3 |
* |
4 | 4 |
* Permission is hereby granted, free of charge, to any person |
5 | 5 |
* obtaining a copy of this software and associated documentation |
... | ... | |
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/ |
|
25 |
|
|
24 |
*/ |
|
26 | 25 |
|
27 | 26 |
/** |
28 | 27 |
* @file sonar.h |
Also available in: Unified diff