sender with yaml config

consai2r2_examples/launch/joystick_example.launch.py

@@ -18,6 +18,8 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
+import os
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
@@ -49,7 +51,9 @@ def generate_launch_description():
 
     start_sender_cmd = Node(
         package='consai2r2_sender', node_executable='sim_sender',
-        output='screen'
+        output='screen',
+        parameters=[os.path.join(get_package_share_directory(
+            'consai2r2_sender'), 'config', 'grsim.yaml')]
     )
 
     ld = LaunchDescription()

consai2r2_examples/package.xml

@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
   <exec_depend>joy</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

consai2r2_sender/CMakeLists.txt

@@ -49,6 +49,16 @@ install(TARGETS sim_sender
   EXPORT export_${PROJECT_NAME}
   DESTINATION lib/${PROJECT_NAME})
 
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

consai2r2_sender/README.md

@@ -0,0 +1,53 @@
+# consai2_sender
+
+ロボット(grSim)へ動作司令を送信するパッケージです。
+<!-- ロボット(実機/grSim)へ動作司令を送信するパッケージです。 -->
+
+
+## ノードの起動方法
+
+次のコマンドでsenderが起動します。
+
+```sh
+ros2 launch consai2r2_sender sender.launch.py
+```
+
+<!--
+## 実機 / grSim の切り替え方法
+
+`consai2_sender/launch/sender.launch`を編集するか、
+launchファイルの引数で設定できます。
+
+```sh
+# 例:実機のロボットに動作司令を送信する
+roslaunch consai2_sender sender.launch sim:=false
+
+# 例:grSimのロボットに動作司令を送信する
+roslaunch consai2_sender sender.launch sim:=true
+```
+-->
+
+<!--
+## grSimのサーバアドレス・ポートの変更方法
+
+`consai2_description/param/game.yaml`を編集します。
+-->
+
+<!--
+## 実機送信機のデバイス・ボーレートの変更方法
+
+`consai2_description/param/game.yaml`を編集します。
+
+## Subsribe Topics
+- sim_sender
+  - consai2_control/robot_commands' (consai2_msgs/RobotCommands)
+    - ロボットの動作司令
+- real_sender
+  - consai2_control/robot_commands' (consai2_msgs/RobotCommands)
+    - ロボットの動作司令
+-->
+
+## 参考ページ
+### Google proto files -->
+- grSim
+  - https://github.com/RoboCup-SSL/grSim/tree/master/src/proto

consai2r2_sender/config/grsim.yaml

@@ -0,0 +1,4 @@
+consai2r2_sim_sender:
+  ros__parameters:
+    grsim_addr: '127.0.0.1'
+    grsim_port: 20011

consai2r2_sender/launch/sender.launch.py

@@ -0,0 +1,39 @@
+# Copyright (c) 2019 SSL-Roots
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    start_sender_cmd = Node(
+        package='consai2r2_sender', node_executable='sim_sender',
+        output='screen',
+        parameters=[os.path.join(get_package_share_directory(
+            'consai2r2_sender'), 'config', 'grsim.yaml')]
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(start_sender_cmd)
+
+    return ld

consai2r2_sender/package.xml

@@ -8,13 +8,16 @@
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>python_cmake_module</buildtool_depend>
 
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>consai2r2_msgs</depend>
   <depend>protobuf-dev</depend>
   <depend>boost</depend>
 
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

consai2r2_sender/src/sim_sender.cpp

@@ -32,6 +32,7 @@
 #include "grSim_Replacement.pb.h"
 
 using std::placeholders::_1;
+using namespace std::chrono_literals;
 
 namespace asio = boost::asio;
 
@@ -63,14 +64,10 @@ class SimSender : public rclcpp::Node
   SimSender()
   : Node("consai2r2_sim_sender")
   {
-    std::string host;
-    int port;
-
     this->declare_parameter("grsim_addr", "127.0.0.1");
     this->declare_parameter("grsim_port", 20011);
-
-    this->get_parameter("grsim_addr", host);
-    this->get_parameter("grsim_port", port);
+    auto host = this->get_parameter("grsim_addr").as_string();
+    auto port = this->get_parameter("grsim_port").as_int();
 
     sub_commands_ = this->create_subscription<consai2r2_msgs::msg::RobotCommands>(
       "robot_commands", 10, std::bind(&SimSender::send_commands, this, std::placeholders::_1));