Added movement examples

.gitignore

@@ -107,3 +107,5 @@ venv.bak/
 
 # mypy
 .mypy_cache/
+
+mdk/share/python/miro2/dashboard

mdk/share/python/miro2/examples/joints.py

@@ -0,0 +1,49 @@
+#!/usr/bin/python
+
+# These message definitions tell ROSPy how to encode and decode data for MiRo's ROS nodes
+# See http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Technical_Interfaces_ROS_interface for details
+# on data types used by each node and some examples
+from std_msgs.msg import Float32MultiArray, UInt32MultiArray, UInt16MultiArray, UInt8MultiArray, UInt16, Int16MultiArray, String
+from geometry_msgs.msg import TwistStamped
+from sensor_msgs.msg import JointState, BatteryState, Imu, Range, CompressedImage
+
+# Other imports
+import os
+import math
+import rospy
+import numpy as np
+import miro2 as miro
+
+# Set robot name
+topic_root = "/" + os.getenv("MIRO_ROBOT_NAME")
+
+# Python needs to initialise a ROS node for publishing data
+rospy.init_node("python_pubisher", anonymous=True)
+
+# Define ROS publisher
+pub_kin = rospy.Publisher(topic_root + "/control/kinematic_joints", JointState, queue_size=0)
+
+# Create object to hold published data
+kin_joints = JointState()
+kin_joints.name = ["tilt", "lift", "yaw", "pitch"]
+kin_joints.position = [0.0, math.radians(34.0), 0.0, 0.0]
+
+# Generate fake enumerator for joint arrays
+tilt, lift, yaw, pitch = range(4)
+
+# I haven't checked if these random number generators outputs reasonable or valid angles
+# Minimum and maximum values are listed in mdk/share/python/miro2/constants.py
+lift_val = np.random.uniform(-20, 20, 1)
+pitch_val = np.random.uniform(-20, 20, 1)
+yaw_val = np.random.uniform(-20, 20, 1)
+
+# Set joint values
+kin_joints.position[lift] = math.radians(lift_val)
+kin_joints.position[pitch] = math.radians(pitch_val)
+kin_joints.position[yaw] = math.radians(yaw_val)
+
+# Publish joint changes
+while True:
+	pub_kin.publish(kin_joints)
+
+# Take a look at the client_gui.py code (mdk/bin/shared/client_gui.py) for a more detailed use of ROSPy

mdk/share/python/miro2/examples/movement.py

@@ -0,0 +1,44 @@
+#!/usr/bin/python
+
+# These message definitions tell ROSPy how to encode and decode data for MiRo's ROS nodes
+# See http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Technical_Interfaces_ROS_interface for details
+# on data types used by each node and some examples
+from std_msgs.msg import Float32MultiArray, UInt32MultiArray, UInt16MultiArray, UInt8MultiArray, UInt16, Int16MultiArray, String
+from geometry_msgs.msg import TwistStamped
+from sensor_msgs.msg import JointState, BatteryState, Imu, Range, CompressedImage
+
+# Other imports
+import os
+import rospy
+import numpy as np
+import miro2 as miro
+
+# Set robot name
+topic_root = "/" + os.getenv("MIRO_ROBOT_NAME")
+
+# Python needs to initialise a ROS node for publishing data
+rospy.init_node("python_pubisher", anonymous=True)
+
+# Define ROS publisher
+pub_cmd_vel = rospy.Publisher(topic_root + "/control/cmd_vel", TwistStamped, queue_size=10)
+
+# Create object to hold published data
+velocity = TwistStamped()
+
+# Set left/right wheels speeds in m/s
+l_val =  np.random.uniform(-1, 1, 1)
+r_val =  np.random.uniform(-1, 1, 1)
+wheel_speed = [l_val, r_val]
+
+# Convert to command velocity
+(dr, dtheta) = miro.utils.wheel_speed2cmd_vel(wheel_speed)
+
+# Set velocity values
+velocity.twist.linear.x = dr
+velocity.twist.angular.z = dtheta
+
+# Publish command velocity
+while True:
+	pub_cmd_vel.publish(velocity)
+
+# Take a look at the client_gui.py code (mdk/bin/shared/client_gui.py) for a more detailed use of ROSPy