git commit -m "first commit for v2"

2025-12-29 16:21:22 +07:00
commit aa3d832d5c
1807 changed files with 307078 additions and 0 deletions
--- a/Devices/Packages/msle_tf_base_link/CMakeLists.txt
+++ b/Devices/Packages/msle_tf_base_link/CMakeLists.txt
@@ -0,0 +1,209 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(msle_tf_base_link)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## 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
+  sick_line_guidance
+  tf2
+  tf2_ros
+)
+
+## 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
+# )
+
+################################################
+## 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 msle_tf_base_link
+#  CATKIN_DEPENDS roscpp std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+#  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+#add_library(${PROJECT_NAME}
+#  src/mlse_tf_base_link_subscriber.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} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(mlse_base_link_broadcaster src/mlse_tf_base_link_broadcaster.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(mlse_base_link_broadcaster ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(mlse_base_link_broadcaster
+  ${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 mlse_base_link_broadcaster
+  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 
+  launch
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## 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_msle_tf_base_link.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/Devices/Packages/msle_tf_base_link/launch/msle_tf_base_link.launch
+++ b/Devices/Packages/msle_tf_base_link/launch/msle_tf_base_link.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+
+<launch>
+    <arg name="yaml" default="$(find sick_line_guidance)/sick_line_guidance_mls.yaml"/>
+    <node pkg="msle_tf_base_link" type="mlse_base_link_broadcaster" name="mlse_base_link_broadcaster" output="screen" >
+        <rosparam command="load" file="$(arg yaml)" />  
+    </node>
+</launch>
--- a/Devices/Packages/msle_tf_base_link/package.xml
+++ b/Devices/Packages/msle_tf_base_link/package.xml
@@ -0,0 +1,75 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>msle_tf_base_link</name>
+  <version>0.0.0</version>
+  <description>The msle_tf_base_link 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/msle_tf_base_link</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_depend>std_msgs</build_depend>
+  <build_depend>sick_line_guidance</build_depend>
+  <build_depend>tf2</build_depend>
+  <build_depend>tf2_ros</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>sick_line_guidance</build_export_depend>
+  <build_export_depend>tf2</build_export_depend>
+  <build_export_depend>tf2_ros</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sick_line_guidance</exec_depend>
+  <exec_depend>tf2</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/Devices/Packages/msle_tf_base_link/src/mlse_tf_base_link_broadcaster.cpp
+++ b/Devices/Packages/msle_tf_base_link/src/mlse_tf_base_link_broadcaster.cpp
@@ -0,0 +1,66 @@
+#include <ros/ros.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <sick_line_guidance/MLS_Measurement.h>
+#include <std_msgs/UInt8MultiArray.h>
+
+template<class T> static T readMember(XmlRpc::XmlRpcValue & value, const std::string & member, const T & defaultvalue)
+{
+  if(value.hasMember(member))
+    return value[member];
+  return defaultvalue;
+}
+
+
+std_msgs::UInt8MultiArray measurement_array;
+
+void msleCallback(const sick_line_guidance::MLS_MeasurementConstPtr& msg)
+{
+  if(((msg->lcp & 0x02) >> 1) == 0x01)
+  {
+    static tf2_ros::TransformBroadcaster br;
+    geometry_msgs::TransformStamped transformStamped;
+    int sign = msg->header.frame_id[0] == 'f' ? 1 : -1;
+
+    transformStamped.header.stamp = ros::Time::now();
+    transformStamped.header.frame_id = "base_link";
+    transformStamped.child_frame_id = msg->header.frame_id;
+    transformStamped.transform.translation.x = sign * 0.476;
+    transformStamped.transform.translation.y = msg->position[1];
+    transformStamped.transform.translation.z = 0.0;
+    tf2::Quaternion q;
+    q.setRPY(0, 0, 0);
+    transformStamped.transform.rotation.x = q.x();
+    transformStamped.transform.rotation.y = q.y();
+    transformStamped.transform.rotation.z = q.z();
+    transformStamped.transform.rotation.w = q.w();
+    br.sendTransform(transformStamped);
+  }
+}
+
+int main(int argc, char **argv)
+{
+  /* Khoi tao Node */
+  ros::init(argc, argv, "mlse_base_link_broadcaster");
+  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());
+  XmlRpc::XmlRpcValue nodes;
+  if(!nh->getParam(node_name + "/nodes", nodes) || nodes.size() < 1)
+  {
+    ROS_ERROR("%s: no driver found in yaml-file, please check configuration. Aborting...", node_name.c_str());
+    return 1;
+  }
+  std::vector<ros::Subscriber> mlse_subscribers;
+  for(XmlRpc::XmlRpcValue::iterator object_iter = nodes.begin(); object_iter != nodes.end(); ++object_iter)
+  {
+    std::string topic_name    = readMember<std::string>(object_iter->second, "sick_topic", "");
+    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);
+    ros::Subscriber sub = nh->subscribe(topic_name, subscribe_queue_size, &msleCallback);
+    mlse_subscribers.push_back(sub);
+  }  
+  ros::spin();  
+  return 0;
+}