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Emiliano Borghi
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Add fix for real RPLidar A2
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11 files changed

+217
-10
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11 files changed

+217
-10
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‎ca_bringup/launch/minimal.launch‎

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<arg name="raspicam_receiver_IP" default="" doc="Raspicam client IP"/>
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<arg name="laser" default="$(optenv LASER)" doc="Laser for mapping the environment"/>
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<arg name="rviz" default="$(optenv RVIZ false)" doc="Flag to use RViz"/>
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<arg name="rviz_config" value="$(optenv RVIZ_CONFIG)" doc="RViz configuration file"/>
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<include file="$(find ca_node)/launch/create_2.launch"/>
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<!-- RViz -->
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<!-- TODO: HAVE A PLACE IN COMMON WITH GAZEBO -->
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<include if="$(eval arg('rviz') or arg('rviz_config')!='' )"
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file="$(find ca_tools)/launch/rviz.launch">
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<arg name="config_file" value="$(arg rviz_config)"/>
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</include>
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<!-- raspicam -->
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<include if="$(eval arg('raspicam_receiver_IP') != '')" file="$(find ca_visual_odometry)/launch/raspicam_stream.launch">
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<arg name="IP" value="$(arg raspicam_receiver_IP)"/>

‎ca_bringup/scripts/create_udev_rules.sh‎

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#!/bin/bash
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2017, Tokyo Opensource Robotics Kyokai Association
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the
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# names of its contributors may be used to endorse or promote products
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# derived from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Ryosuke Tajima
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# TODO: MAKE A FUNCTION WITH DUPLICATED CODE!!!
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echo "remap the device serial port(ttyUSBX) to /dev/roomba"
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echo "roomba usb connection as /dev/roomba, check it using the command : ls -l /dev|grep ttyUSB"
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echo "start copy roomba.rules to /etc/udev/rules.d/"
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echo "roomba.rules"
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# sudo cp `rospack find ca_bringup`/scripts/roomba.rules /etc/udev/rules.d
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sudo cp roomba.rules /etc/udev/rules.d
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echo "remap the device serial port(ttyUSBX) to rplidar"
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echo "rplidar usb connection as /dev/rplidar , check it using the command : ls -l /dev|grep ttyUSB"
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echo "start copy rplidar.rules to /etc/udev/rules.d/"
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echo "rplidar.rules"
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# sudo cp `rospack find ca_bringup`/scripts/rplidar.rules /etc/udev/rules.d
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sudo cp rplidar.rules /etc/udev/rules.d
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echo " "
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echo "Restarting udev"
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echo ""
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sudo service udev reload
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sudo service udev restart
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echo "finish "

‎ca_bringup/scripts/delete_udev_rules.sh‎

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#!/bin/bash
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2017, Tokyo Opensource Robotics Kyokai Association
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
11+
#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
17+
# with the distribution.
18+
# * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the
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# names of its contributors may be used to endorse or promote products
20+
# derived from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Ryosuke Tajima
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echo "delete remap the device serial port(ttyUSBX) to roomba"
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echo "sudo rm /etc/udev/rules.d/roomba.rules"
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sudo rm /etc/udev/rules.d/roomba.rules
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echo "delete remap the device serial port(ttyUSBX) to rplidar"
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echo "sudo rm /etc/udev/rules.d/rplidar.rules"
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sudo rm /etc/udev/rules.d/rplidar.rules
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echo " "
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echo "Restarting udev"
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echo ""
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sudo service udev reload
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sudo service udev restart
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echo "finish delete"

‎ca_bringup/scripts/roomba.rules‎

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# set the udev rule , make the device_port be fixed by roomba
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#
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2017, Tokyo Opensource Robotics Kyokai Association
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
9+
# modification, are permitted provided that the following conditions
10+
# are met:
11+
#
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# * Redistributions of source code must retain the above copyright
13+
# notice, this list of conditions and the following disclaimer.
14+
# * Redistributions in binary form must reproduce the above
15+
# copyright notice, this list of conditions and the following
16+
# disclaimer in the documentation and/or other materials provided
17+
# with the distribution.
18+
# * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the
19+
# names of its contributors may be used to endorse or promote products
20+
# derived from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24+
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25+
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27+
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28+
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29+
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Ryosuke Tajima
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KERNEL=="ttyUSB*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0777", SYMLINK+="roomba"
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KERNEL=="ttyUSB*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE:="0777", SYMLINK+="roomba"

‎ca_bringup/scripts/rplidar.rules‎

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# set the udev rule , make the device_port be fixed by rplidar
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#
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2017, Tokyo Opensource Robotics Kyokai Association
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# All rights reserved.
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#
8+
# Redistribution and use in source and binary forms, with or without
9+
# modification, are permitted provided that the following conditions
10+
# are met:
11+
#
12+
# * Redistributions of source code must retain the above copyright
13+
# notice, this list of conditions and the following disclaimer.
14+
# * Redistributions in binary form must reproduce the above
15+
# copyright notice, this list of conditions and the following
16+
# disclaimer in the documentation and/or other materials provided
17+
# with the distribution.
18+
# * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the
19+
# names of its contributors may be used to endorse or promote products
20+
# derived from this software without specific prior written permission.
21+
#
22+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23+
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24+
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25+
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26+
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27+
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28+
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29+
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31+
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32+
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Ryosuke Tajima
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KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"

‎ca_driver/config/default.yaml‎

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# Robot model
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robot_model: "CREATE_2"
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# The device path for the robot
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dev: "/dev/ttyUSB0"
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dev: "/dev/roomba"
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# Baud rate. Passing this parameter overwrites the inferred value based on the robot_model
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# baud: 115200
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baud: 115200
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# Base frame ID
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base_frame: "base_footprint"

‎ca_node/launch/create_2.launch‎

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<rosparam command="load" file="$(arg config)" />
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<param name="namespace" value="$(arg ns)"/>
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<param name="robot_model" value="CREATE_2" />
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<param name="tf_prefix" value="$(arg tf_prefix)"/>
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</node>
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‎docker/docker_utils.py‎

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if (os.path.isdir(directory)): return
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run_command("mkdir -p {}".format(directory))
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run_command("sudo chown {0}:{0} {1}".format(get_user(), directory))
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def mount_resource(device):
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# Mount hardware resource if it exists in the host
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if os.path.isdir(device):
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return "--volume=\"{0}:{0}:shared\"".format(device)
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return ""

‎docker/run‎

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# VSCode needs HOME to be defined in order to work in the container
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docker_args.append("-e HOME=/home/{}".format(user_docker))
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# USB devices and dialout group for the real robot
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docker_args.append("--volume=\"/dev/bus:/dev/bus:shared\"")
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docker_args.append("--group-add=dialout")
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# USB devices for the real robot
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docker_args.append(ut.mount_resource("/dev/roomba"))
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docker_args.append(ut.mount_resource("/dev/rplidar"))
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# To allow installing packages
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docker_args.append("--group-add=sudo")

‎sensors/ca_camera/config/rplidar.yaml‎

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serial_port: "/dev/rplidar"
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serial_baudrate: 115200
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inverted: False
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angle_compensate: True

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