Merge pull request #16 from Gold-Rush-Robotics/hardware_cmake

Hardware cmake

.github/workflows/build.yml

@@ -10,7 +10,5 @@ jobs:
             - uses: actions/checkout@v2
             - name: build docker container
               run: docker buildx build -t local .
-            - name: rosdep install
-              run: docker run local rosdep install --from-paths src -y --ignore-src --rosdistro humble
-            - name: colcon build
-              run: docker run local colcon build
+            - name: rosdep install and colcon build
+              run: docker run local /bin/bash -c "source /opt/ros/humble/setup.bash && rosdep install --from-paths src -y --ignore-src --rosdistro humble && colcon build --symlink-install"

.gitignore

@@ -53,3 +53,5 @@ CATKIN_IGNORE
 
 install/
 log/
+
+bloodstone.urdf

.vscode/c_cpp_properties.json

@@ -1,22 +1,18 @@
 {
-  "configurations": [
-    {
-      "browse": {
-        "databaseFilename": "${default}",
-        "limitSymbolsToIncludedHeaders": false
-      },
-      "includePath": [
-        "/workspaces/DevEnv/repos/Robot2023/install/grr_hardware/include/**",
-        "/workspaces/DevEnv/repos/Robot2023/install/grr_cmake_controller/include/**",
-        "/opt/ros/humble/include/**",
-        "/usr/include/**"
-      ],
-      "name": "ROS",
-      "intelliSenseMode": "gcc-x64",
-      "compilerPath": "/usr/bin/gcc",
-      "cStandard": "gnu11",
-      "cppStandard": "c++14"
-    }
-  ],
-  "version": 4
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "~/miniforge3/envs/ros_env/include/**",
+                "/robotics/bcm2835-1.73/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-arm64"
+        }
+    ],
+    "version": 4
 }

.vscode/settings.json

@@ -1,21 +1,90 @@
 {
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "cfenv": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp"
+    },
     "ros.distro": "humble",
     "python.autoComplete.extraPaths": [
-        "/workspaces/DevEnv/repos/Robot2023/build/grr_test",
         "/workspaces/DevEnv/repos/Robot2023/install/grr_test/lib/python3.10/site-packages",
-        "/workspaces/DevEnv/repos/Robot2023/build/grr_python_controllers",
         "/workspaces/DevEnv/repos/Robot2023/install/grr_python_controllers/lib/python3.10/site-packages",
-        "/workspaces/DevEnv/repos/Robot2023/build/grr_bringup",
         "/workspaces/DevEnv/repos/Robot2023/install/grr_bringup/lib/python3.10/site-packages",
         "/opt/ros/humble/lib/python3.10/site-packages",
         "/opt/ros/humble/local/lib/python3.10/dist-packages"
     ],
     "python.analysis.extraPaths": [
-        "/workspaces/DevEnv/repos/Robot2023/build/grr_test",
         "/workspaces/DevEnv/repos/Robot2023/install/grr_test/lib/python3.10/site-packages",
-        "/workspaces/DevEnv/repos/Robot2023/build/grr_python_controllers",
         "/workspaces/DevEnv/repos/Robot2023/install/grr_python_controllers/lib/python3.10/site-packages",
-        "/workspaces/DevEnv/repos/Robot2023/build/grr_bringup",
         "/workspaces/DevEnv/repos/Robot2023/install/grr_bringup/lib/python3.10/site-packages",
         "/opt/ros/humble/lib/python3.10/site-packages",
         "/opt/ros/humble/local/lib/python3.10/dist-packages"

Dockerfile

@@ -1,6 +1,6 @@
 # This is an auto generated Dockerfile for ros:ros-base
 # generated from docker_images_ros2/create_ros_image.Dockerfile.em
-FROM ros:humble-ros-core-jammy
+FROM ros:humble-ros-base-jammy
 
 # install bootstrap tools
 RUN apt-get update && apt-get install --no-install-recommends -y \
@@ -13,21 +13,10 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     && rm -rf /var/lib/apt/lists/*
 
 # bootstrap rosdep
-RUN rosdep init && \
-  rosdep update --rosdistro $ROS_DISTRO
-
-# setup colcon mixin and metadata
-RUN colcon mixin add default \
-      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
-
+RUN rosdep update --rosdistro $ROS_DISTRO
 # install ros2 packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-humble-ros-base=0.10.0-1* \
-    && rm -rf /var/lib/apt/lists/*
+    ros-humble-ros-base=0.10.0-1*
 
 COPY src /workspace/src 
 

src/grr_bringup/config/controllers.yaml

@@ -0,0 +1,63 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 1  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    grr_cmake_controller:
+      type: grr_cmake_controller/MecanumController
+
+joint_state_broadcaster:
+  ros__parameters:
+    extra_joints: [
+      "rear_right_roller_0_joint",
+      "rear_right_roller_1_joint",
+      "rear_right_roller_2_joint",
+      "rear_right_roller_3_joint",
+      "rear_right_roller_4_joint",
+      "rear_right_roller_5_joint",
+      "rear_right_roller_6_joint",
+      "rear_right_roller_7_joint",
+      "rear_right_roller_8_joint",
+      "rear_left_roller_0_joint",
+      "rear_left_roller_1_joint",
+      "rear_left_roller_2_joint",
+      "rear_left_roller_3_joint",
+      "rear_left_roller_4_joint",
+      "rear_left_roller_5_joint",
+      "rear_left_roller_6_joint",
+      "rear_left_roller_7_joint",
+      "rear_left_roller_8_joint",
+      "front_left_roller_0_joint",
+      "front_left_roller_1_joint",
+      "front_left_roller_2_joint",
+      "front_left_roller_3_joint",
+      "front_left_roller_4_joint",
+      "front_left_roller_5_joint",
+      "front_left_roller_6_joint",
+      "front_left_roller_7_joint",
+      "front_left_roller_8_joint",
+      "front_right_roller_0_joint",
+      "front_right_roller_1_joint",
+      "front_right_roller_2_joint",
+      "front_right_roller_3_joint",
+      "front_right_roller_4_joint",
+      "front_right_roller_5_joint",
+      "front_right_roller_6_joint",
+      "front_right_roller_7_joint",
+      "front_right_roller_8_joint"]
+
+grr_cmake_controller:
+  ros__parameters:
+    front_left_joint: "front_left_mecanum_joint"
+    front_right_joint: "front_right_mecanum_joint"
+    rear_left_joint: "rear_left_mecanum_joint"
+    rear_right_joint: "rear_right_mecanum_joint"
+
+    chassis_center_to_axle: 0.104775 #4.125 in to m
+    axle_center_to_wheel: 0.10795 #4.25 in
+    wheel_radius: 0.0375 #1.5 in
+
+    cmd_vel_timeout: 0.5
+    use_stamped_vel: false