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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
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233
Devices/Packages/diff_wheel_plugin/CMakeLists.txt Executable file
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cmake_minimum_required(VERSION 3.0.2)
project(diff_wheel_plugin)
## Compile as C++17, supported in ROS Kinetic and newer
add_compile_options(-std=c++17)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
models
pluginlib
realtime_tools
geometry_msgs
delta_modbus
md_controller
nav_2d_utils
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES diff_wheel_plugin
CATKIN_DEPENDS roscpp geometry_msgs std_msgs realtime_tools
DEPENDS Boost
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(${PROJECT_NAME}
src/wheel_plugin.cpp
# src/encoder_plugin.cpp
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(diff_wheel_feedback src/diff_wheel_feedback.cpp)
add_executable(diff_wheel_controller src/diff_wheel_controller.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(diff_wheel_feedback ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(diff_wheel_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
target_link_libraries(diff_wheel_feedback
${PROJECT_NAME}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
target_link_libraries(diff_wheel_controller
${PROJECT_NAME}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS diff_wheel_feedback diff_wheel_controller
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
install(DIRECTORY
launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_diff_wheel_plugin.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

17
Devices/Packages/diff_wheel_plugin/include/diff_wheel_plugin/command.h Executable file
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#ifndef __DIFF_WHEEL_PLUGIN_COMMAND_H_INCLUDED_
#define __DIFF_WHEEL_PLUGIN_COMMAND_H_INCLUDED_
#include <ros/ros.h>
namespace diff_wheel_plugin
{
class WheelCommand
{
public:
double vel_wheel;
ros::Time stamp;
WheelCommand() : vel_wheel(0.0), stamp(0.0) {}
};
} // namespace diff_wheel_plugin
#endif

159
Devices/Packages/diff_wheel_plugin/include/diff_wheel_plugin/wheel_plugin.h Executable file
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#ifndef __ROS_DIFF_WHEEL_PLUGIN_H_INCLUDED_
#define __ROS_DIFF_WHEEL_PLUGIN_H_INCLUDED_
#include <ros/ros.h>
#include <std_msgs/Float32.h>
#include "diff_wheel_plugin/command.h"
#include <realtime_tools/realtime_buffer.h>
#include <realtime_tools/realtime_publisher.h>
// Boost
#include <boost/thread.hpp>
#include <boost/make_shared.hpp>
//plugin
#include <models/BaseSteerDrive.h>
namespace diff_wheel_plugin
{
/**
* @class WheelPlugin
*/
class WheelPlugin : public models::BaseSteerDrive
{
public:
/**
* @brief Contructor
*/
WheelPlugin();
/**
* @brief Contructor
* @param[in] nh NodeHandle
* @param[in] name The name to give this instance of the model base
*/
WheelPlugin(ros::NodeHandle & nh, const std::string &name);
/**
* @brief Decontructor
*/
virtual ~WheelPlugin();
/**
* @brief Init
* @param[in] nh NodeHandle
* @param name The name to give this instance of the model base
*/
virtual void initialize(ros::NodeHandle & nh, const std::string &name) override;
/**
* @brief Constructs
* @param name Check model is deady
* @return true, if model is ready, false otherwise
*/
virtual bool Ready() override;
/**
* @brief Get the velocity limit on axis(index).
* @return Velocity limit specified in SDF
*/
virtual double GetVelocityLimit(unsigned int _index) override;
/**
* @brief Set the velocity limit on a joint axis.
* @param[in] _velocity Velocity limit for the axis.
*/
virtual void SetVelocityLimit(double _velocity) override;
/**
* @brief Get the rotation rate of an axis(index)
* @return The rotaional velocity of the joint axis. (rad/s)
*/
virtual double GetVelocity() override;
/**
* @brief Set the velocity of an axis(index).
* In ODE and Bullet, the SetVelocityMaximal function is used to
* set the velocity of the child link relative to the parent.
* In Simbody and DART, this function updates the velocity state,
* which has a recursive effect on the rest of the chain.
* @param[in] _vel Velocity.
*/
virtual void SetVelocity(double _vel) override;
/**
* @brief Get the position of an axis according to its index.
*
* For rotational axes, the value is in radians. For prismatic axes,
* it is in meters.
*
* For static models, it returns the static joint position.
*
* It returns ignition::math::NAN_D in case the position can't be
* obtained. For instance, if the index is invalid, if the joint is
* fixed, etc.
*
* Subclasses can't override this method. See PositionImpl instead.
*
* @return Current position of the axis.
* @sa PositionImpl
*/
virtual double Position() override;
/**
* @brief The child links of this joint are updated based on desired
* position. And all the links connected to the child link of this joint
* except through the parent link of this joint moves with the child
* link.
* @param[in] _position Position to set the joint to.
* unspecified, pure kinematic teleportation.
* link with respect to the world frame will remain the same after
* setting the position. By default this is false, which means there are
* no guarantees about what the child link's world velocity will be after
* the position is changed (the behavior is determined by the underlying
* physics engine).
*
* @note{Only ODE and Bullet support _preserveWorldVelocity being true.}
*/
virtual void SetPosition(const double _position) override;
private:
/**
* @brief Brake by away SetVelocity(0.0)
*/
void brake() { this->SetVelocity(0.0); }
/**
* @brief call back from a subscriber
*/
void DLS_Callback(const std_msgs::Float32::ConstPtr & msg);
/**
* @brief Do stuff when create boost::Thread
*/
void DoStuff(void);
ros::NodeHandle nh_;
ros::NodeHandle nh_priv_;
std::string name_;
bool initialized_;
bool is_ready_;
int m_subscribe_queue_size_;
double update_rate_;
boost::thread * m_publish_thread_;
boost::mutex callback_mutex_;
std_msgs::Float32::ConstPtr m_measurement_;
bool allow_multiple_command_publishers_;
realtime_tools::RealtimeBuffer<diff_wheel_plugin::WheelCommand> command_;
diff_wheel_plugin::WheelCommand command_struct_;
double command_timeout_;
ros::Subscriber mesurement_sub_;
boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float32>> wheel_pub_;
};
} // namespace diff_wheel_plugin
#endif // __ROS_DIFF_WHEEL_PLUGIN_H_INCLUDED_

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Devices/Packages/diff_wheel_plugin/launch/run.launch Executable file
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<?xml version="1.0"?>
<launch>
<arg name="output_screen" default="screen"/>
<node pkg="diff_wheel_plugin" type="diff_wheel_feedback" name="diff_wheel_feedback" output="$(arg output_screen)">
<param name="ip_address" value="192.168.1.5"/>
<param name="port" value="502"/>
<param name="publish_rate" value="50"/>
<param name="start_bit" value="111"/>
<param name="end_bit" value="114"/>
</node>
<node pkg="diff_wheel_plugin" type="diff_wheel_controller" name="diff_wheel_controller" output="screen">
<rosparam command="load" file="$(find md_controller)/motorInfomation.yaml"/>
<param name="port_name" type="str" value="/dev/USB_MD200"/>
</node>
</launch>

89
Devices/Packages/diff_wheel_plugin/package.xml Executable file
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<?xml version="1.0"?>
<package format="2">
<name>diff_wheel_plugin</name>
<version>0.0.0</version>
<description>The diff_wheel_plugin package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="robotics@todo.todo">robotics</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/diff_wheel_plugin</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_export_depend>roscpp</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>roscpp</exec_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>delta_modbus_tcp</build_depend>
<build_depend>md_controller</build_depend>
<build_depend>models</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>realtime_tools</build_depend>
<build_depend>nav_2d_utils</build_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>delta_modbus_tcp</build_export_depend>
<build_export_depend>md_controller</build_export_depend>
<build_export_depend>models</build_export_depend>
<build_export_depend>pluginlib</build_export_depend>
<build_export_depend>realtime_tools</build_export_depend>
<build_export_depend>nav_2d_utils</build_export_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>delta_modbus_tcp</exec_depend>
<exec_depend>md_controller</exec_depend>
<exec_depend>models</exec_depend>
<exec_depend>pluginlib</exec_depend>
<exec_depend>realtime_tools</exec_depend>
<exec_depend>nav_2d_utils</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<models plugin="${prefix}/plugins.xml" />
</export>
</package>

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Devices/Packages/diff_wheel_plugin/plugins.xml Executable file
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<library path="lib/libdiff_wheel_plugin">
<class name="WheelPlugin" type="diff_wheel_plugin::WheelPlugin" base_class_type="models::BaseSteerDrive">
<description></description>
</class>
<class name="EncoderPlugin" type="diff_wheel_plugin::EncoderPlugin" base_class_type="models::BaseAbsoluteEncoder">
<description></description>
</class>
</library>

201
Devices/Packages/diff_wheel_plugin/src/diff_wheel_controller.cpp Executable file
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#include <ros/ros.h>
#include <XmlRpcValue.h>
#include <boost/thread/thread.hpp>
#include "md_controller/md_controller.h"
#include "md_controller/diagnostic.h"
#include "md_controller/md_controller_subscriber.h"
#include "libserial/udevadm_info.h"
#include <cstdlib>
#include <XmlRpcException.h>
/* define struct */
typedef struct device{
std::string _port;
int _baud;
}device_t;
bool findDevice(ros::NodeHandlePtr nh, std::string node_name, device_t *dv) {
ROS_INFO("loadParam() - node_name: %s", node_name.c_str());
if(!nh->param(node_name + "/baudrate", dv->_baud, dv->_baud))
{
if(!nh->getParam("baudrate", dv->_baud))
return false;
}
ROS_INFO("product");
std::string product; //port name
if(!nh->param(node_name + "/product", product, product)) {}
else if(!nh->getParam("product", product)) {}
else
{
udevadmInfo *ludev = new udevadmInfo(product.c_str());
if(ludev->init() == EXIT_FAILURE) {}
if(ludev->scanDevices())
{
strcpy(dv->_port.data(), ludev->port);
return true;
}
}
ROS_INFO("port_name");
if(!nh->param(node_name + "/port_name", dv->_port, dv->_port))
{
if(!nh->getParam("port_name", dv->_port))
return false;
}
ROS_WARN("Can not scan device from /product. So try to use /port_name is %s", dv->_port.c_str());
return true;
}
/**
* @brief shortcut to read a member from a XmlRpcValue, or to return a defaultvalue, it the member does not exist
*/
template<class T> static T readMember(XmlRpc::XmlRpcValue & value, const std::string & member, const T & defaultvalue)
{
try
{
if(value.hasMember(member))
return value[member];
return defaultvalue;
}
catch(const XmlRpc::XmlRpcException& e)
{
ROS_WARN_STREAM( "'"<<member << "' "<< e.getMessage() << '\n');
return defaultvalue;
}
}
/**********************************************************************
* MAIN
***********************************************************************/
int main(int argc,char **argv)
{
/* create ros ndoe */
ros::init(argc, argv, "MD");
ros::NodeHandlePtr nh = boost::make_shared<ros::NodeHandle>();
std::string node_name = ros::this_node::getName();
ROS_INFO("%s.cpp-node_name: %s", node_name.c_str(), node_name.c_str());
/* connect with the server */
std::string diagnostic_topic = "MD_diagnostic";
MD::Diagnostic::init(*nh, diagnostic_topic, "MD md_controller");
XmlRpc::XmlRpcValue drivers;
if(!nh->getParam(node_name + "/drivers", drivers) || drivers.size() < 1)
{
ROS_ERROR("%s: no driver found in yaml-file, please check configuration. Aborting...", node_name.c_str());
MD::Diagnostic::update(MD::DIAGNOSTIC_STATUS::CONFIGURATION_ERROR, " No driver found in yaml-file");
return 2;
}
std::vector<boost::shared_ptr<MD::Subscriber>> p_md_controller_subscriber;
for(XmlRpc::XmlRpcValue::iterator object_iter = drivers.begin(); object_iter != drivers.end(); ++object_iter)
{
std::string topic_name = readMember<std::string>(object_iter->second, "toppic", "");
int subscribe_queue_size = readMember<int>(object_iter->second, "subscribe_queue_size", 1);
ROS_INFO("%s: initializing toppic \"%s\" queue_size \"%d\"...", node_name.c_str(), topic_name.c_str(), subscribe_queue_size);
p_md_controller_subscriber.push_back(boost::make_shared<MD::Subscriber>(*nh, object_iter));
}
device_t dv;
if(findDevice(nh, node_name, &dv))
{
ROS_INFO("%s: found device successfull", node_name.c_str());
}
else
{
ROS_ERROR("%s: Error when find device", node_name.c_str());
return 2;
}
uint8_t rate = 50; // Hz
ros::Rate loop_rate(rate);
if (p_md_controller_subscriber.empty()) {
ROS_WARN("No subscribers available!");
return 1;
}
while (ros::ok())
{
ROS_INFO("%s: Conecting port name %s with baudrate %d ...", node_name.c_str(), dv._port.c_str(), dv._baud);
boost::shared_ptr<MD::MdController> md_controller = boost::make_shared<MD::MdController>(nh, dv._port.c_str(), dv._baud, PARITY_NONE, DATABIT_8, STOPBIT_1);
ros::Duration(1.0).sleep();
const std::string password = "robotics"; // Replace with the correct password
// First, set to RS232
std::string command = "sudo -S -k echo rs232 > /sys/class/sp339_mode_ctl/uartMode";
std::string full_command = "echo '" +password + "' | " + command;
system(full_command.c_str());
// Sleep for 0.5 seconds
ros::Duration(1.0).sleep();
// Now, set to RS485
command = "sudo -S -k echo rs485 > /sys/class/sp339_mode_ctl/uartMode";
full_command = "echo '" + password + "' | " + command;
system(full_command.c_str());
for(auto &p_sub : p_md_controller_subscriber)
{
md_controller->pid_break(p_sub->slave_id);
md_controller->pid_break(p_sub->slave_id);
}
int v_min = 60;
while(ros::ok() && md_controller->_connected)
{
for(auto it = p_md_controller_subscriber.begin(); it != p_md_controller_subscriber.end(); ++it)
{
auto &p_sub = *it;
if(p_sub->isWheelTriggered())
{
int16_t rotate_speed_wheel;
{
boost::lock_guard<boost::mutex> publish_lockguard(p_sub->m_measurement_mutex);
rotate_speed_wheel = p_sub->speed;
}
if(std::abs(rotate_speed_wheel) > 0)
{
int sign = (rotate_speed_wheel / abs(rotate_speed_wheel)) > 0 ? 1 : -1;
int16_t speed = abs(rotate_speed_wheel) < v_min? (int)(sign * v_min) : rotate_speed_wheel;
md_controller->pid_vel_cmd(p_sub->slave_id, speed);
// ROS_INFO("%x %d", p_sub->slave_id, speed);
}
else
{
md_controller->pid_break(p_sub->slave_id);
if(abs(rotate_speed_wheel) > 0) ROS_INFO("%x Brake %d", p_sub->slave_id, rotate_speed_wheel);
}
p_sub->scheduleWheelController(false);
}
if(p_sub->isWheelLastestTriggered())
{
int16_t rotate_speed_wheel;
{
boost::lock_guard<boost::mutex> publish_lockguard(p_sub->m_measurement_mutex);
rotate_speed_wheel = p_sub->speed;
}
md_controller->pid_stop(p_sub->slave_id);
if(std::abs(rotate_speed_wheel) > 0) ROS_WARN("%x stop %d", p_sub->slave_id, rotate_speed_wheel);
p_sub->scheduleWheelController(false);
}
}
loop_rate.sleep();
ros::spinOnce();
}
ros::spinOnce();
for(auto &p_sub : p_md_controller_subscriber)
{
md_controller->pid_break(p_sub->slave_id);
md_controller->pid_break(p_sub->slave_id);
}
md_controller->close_port();
}
ros::spin();
return 0;
}

81
Devices/Packages/diff_wheel_plugin/src/diff_wheel_feedback.cpp Executable file
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#include <ros/ros.h>
#include <boost/thread.hpp>
#include "delta_modbus/delta_modbus_tcp.h"
#include <std_msgs/Float32.h>
double combine_uint16_to_double(uint16_t high, uint16_t low) {
// Chuyển đổi high thành double và dịch nó sang trái 16 bit
double result = (double)high * 65536.0; // 65536 = 2^16
// Thêm low vào kết quả
result += (double)low;
return result;
}
/**********************************************************************
* MAIN
***********************************************************************/
int main(int argc, char** argv) {
ros::init(argc, argv, "diff_encoder_node");
ros::NodeHandle nh;
ros::NodeHandle nh_node("~");
std::string node_name = ros::this_node::getName();
ROS_INFO("node_name: %s", node_name.c_str());
std::string ip_address;
int port;
if(!nh_node.getParam("ip_address", ip_address))
{
ROS_ERROR("Could not find 'ip_address' in node handle");
return 1;
}
if(!nh_node.getParam("port", port))
{
ROS_ERROR("Could not find 'port' in node handle");
return 1;
}
int id;
nh_node.param("id", id, 1);
double rate;
nh_node.param("publish_rate", rate, 20.0);
int start, end;
nh_node.param("start_bit", start, 101);
nh_node.param("end_bit", end, 103);
ROS_INFO("%s: start_bit: %d end_bit: %d ", node_name.c_str(), start, end);
ros::Publisher left_encoder_pub = nh.advertise<std_msgs::Float32>("left_encoder", 1);
ros::Publisher right_encoder_pub = nh.advertise<std_msgs::Float32>("right_encoder", 1);
DELTA_NAMESPACE::PLC *plc = NULL;
plc = new DELTA_NAMESPACE::PLC(ip_address, port, id);
ros::Rate r(rate);
uint16_t dataD[4];
float left_encoder, righ_encoder;
while (ros::ok())
{
plc->connect();
while (ros::ok() && plc->checkConnected())
{
plc->mulGetD(start, end, dataD);
std::memcpy(reinterpret_cast<void*>(&righ_encoder), reinterpret_cast<void const*>(&dataD[0]), sizeof left_encoder);
std::memcpy(reinterpret_cast<void*>(&left_encoder), reinterpret_cast<void const*>(&dataD[2]), sizeof righ_encoder);
std_msgs::Float32 left_encoder_msg, righ_encoder_msg;
left_encoder_msg.data = left_encoder * 2 * M_PI;
righ_encoder_msg.data = righ_encoder * 2 * M_PI;
left_encoder_pub.publish(left_encoder_msg);
right_encoder_pub.publish(righ_encoder_msg);
r.sleep();
ros::spinOnce();
}
ros::spinOnce();
}
ros::spin();
plc = NULL;
delete(plc);
return 0;
}

192
Devices/Packages/diff_wheel_plugin/src/wheel_plugin.cpp Executable file
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#include "diff_wheel_plugin/wheel_plugin.h"
#include <pluginlib/class_list_macros.hpp>
#include <nav_2d_utils/parameters.h>
#include <nav_2d_utils/conversions.h>
#include <nav_2d_utils/tf_help.h>
#include <nav_2d_utils/path_ops.h>
namespace diff_wheel_plugin
{
WheelPlugin::WheelPlugin()
: command_timeout_(0.5)
{
}
WheelPlugin::WheelPlugin(ros::NodeHandle & nh, const std::string &name)
: command_timeout_(0.5)
{
initialize(nh, name);
}
WheelPlugin::~WheelPlugin()
{
if (m_publish_thread_)
{
m_publish_thread_->join();
delete (m_publish_thread_);
m_publish_thread_ = 0;
}
}
void WheelPlugin::initialize(ros::NodeHandle & nh, const std::string &name)
{
if(!initialized_)
{
nh_ = nh;
name_ = name;
nh_priv_ = ros::NodeHandle(nh, name);
nh_priv_.param("command_timeout", command_timeout_, 0.5);
nh_priv_.param("subscribe_queue_size", m_subscribe_queue_size_, 1);
nh_priv_.param("max_publish_rate", update_rate_, 100.0);
ROS_INFO_NAMED("WheelPlugin","Initializing on %s with command_timeout %f subscribe_queue_size %d max_publish_rate %f",
name_.c_str(),
command_timeout_,
m_subscribe_queue_size_,
update_rate_
);
std::string mesurement_topic;
nh_priv_.param("mesurement_topic", mesurement_topic, std::string(""));
std::string wheel_topic;
nh_priv_.param("wheel_topic", wheel_topic, name_);
mesurement_sub_ = nh_.subscribe(mesurement_topic, m_subscribe_queue_size_, &diff_wheel_plugin::WheelPlugin::DLS_Callback, this);
wheel_pub_.reset(new realtime_tools::RealtimePublisher<std_msgs::Float32>(nh_, wheel_topic , 100));
m_publish_thread_ = new boost::thread(&diff_wheel_plugin::WheelPlugin::DoStuff,this);
command_struct_.stamp = ros::Time::now();
ROS_INFO_NAMED("WheelPlugin","Initializing on %s is successed", name_.c_str());
initialized_ = true;
}
}
bool WheelPlugin::Ready()
{
return is_ready_;
}
double WheelPlugin::GetVelocityLimit(unsigned int _index)
{
throw std::bad_function_call();
}
void WheelPlugin::SetVelocityLimit(double _velocity)
{
throw std::bad_function_call();
}
double WheelPlugin::GetVelocity()
{
boost::lock_guard<boost::mutex> publish_lockguard(callback_mutex_);
double result = 0.0;
if(m_measurement_)
{
result = m_measurement_->data;
}
return result;
}
void WheelPlugin::SetVelocity(double _vel)
{
if (!std::isfinite(_vel))
{
ROS_WARN_THROTTLE(1.0, "Received NaN in velocity %s command. Ignoring.", name_.c_str());
return;
}
command_struct_.vel_wheel = _vel;
command_struct_.stamp = ros::Time::now();
command_.writeFromNonRT(command_struct_);
ROS_DEBUG_STREAM_NAMED(name_,
"Added values to command."
<< "vel_wheel: " << command_struct_.vel_wheel << ", "
<< "Stamp: " << command_struct_.stamp);
// ROS_INFO_STREAM_NAMED(name_,
// "Added values to command."
// << "vel_wheel: " << command_struct_.vel_wheel << ", "
// << "Stamp: " << command_struct_.stamp);
}
double WheelPlugin::Position()
{
throw std::bad_function_call();
}
void WheelPlugin::SetPosition(const double _position)
{
throw std::bad_function_call();
}
void WheelPlugin::DLS_Callback(const std_msgs::Float32::ConstPtr & msg)
{
boost::lock_guard<boost::mutex> publish_lockguard(callback_mutex_);
// check that we don't have multiple publishers on the command topic
if (!allow_multiple_command_publishers_ && mesurement_sub_.getNumPublishers() > 1)
{
ROS_ERROR_STREAM_THROTTLE_NAMED(1.0, name_, "Detected " << mesurement_sub_.getNumPublishers()
<< " publishers. Only 1 publisher is allowed. Going to brake.");
this->brake();
return;
}
if (!std::isfinite(msg->data))
{
ROS_WARN_THROTTLE(1.0, "Received NaN in velocity %s encoder. Ignoring.", name_.c_str());
return;
}
m_measurement_ = msg;
}
void WheelPlugin::DoStuff()
{
ros::Rate rate(update_rate_);
is_ready_ = true;
ROS_INFO_NAMED("WheelPlugin","...Threading on %s is ready", name_.c_str());
bool stoped;
while (ros::ok())
{
WheelCommand curr_cmd = *(command_.readFromRT());
ros::Time current_time = ros::Time::now();
double dt = ros::Duration(current_time - command_struct_.stamp).toSec();
if(dt <= command_timeout_ && fabs(curr_cmd.vel_wheel) > 0.001)
{
if (wheel_pub_ && wheel_pub_->trylock())
{
wheel_pub_->msg_.data = curr_cmd.vel_wheel;
wheel_pub_->unlockAndPublish();
}
stoped = false;
}
else
{
if(!stoped)
{
for(int i = 0; i < 3; i++)
{
if (wheel_pub_ && wheel_pub_->trylock())
{
wheel_pub_->msg_.data = 0;
wheel_pub_->unlockAndPublish();
}
ros::Duration(0.1).sleep();
}
stoped = true;
}
}
rate.sleep();
ros::spinOnce();
}
}
}; //namespace diff_wheel_plugin
PLUGINLIB_EXPORT_CLASS(diff_wheel_plugin::WheelPlugin, models::BaseSteerDrive)