sentry navigation initialization

BJHYZJ · Nov 12, 2024 · 4728fe7 · 4728fe7
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diff --git a/.gitignore b/.gitignore
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+.vscode
+build
+*/build/
+devel
+.catkin_workspace
+*.pcd
+*.pgm
diff --git a/CMakeLists.txt b/CMakeLists.txt
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+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
diff --git a/LICENSE b/LICENSE
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+MIT License
+
+Copyright (c) 2023 Hanlin Cai
+
+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.
diff --git a/README.md b/README.md
diff --git a/doc/37_degree_adjust.png b/doc/37_degree_adjust.png
diff --git a/doc/Filter-11-10.png b/doc/Filter-11-10.png
diff --git a/doc/Slope_down_37_degrees.png b/doc/Slope_down_37_degrees.png
diff --git a/doc/Slope_down_37_degrees_mapping.png b/doc/Slope_down_37_degrees_mapping.png
diff --git a/doc/fast_lio_1.png b/doc/fast_lio_1.png
diff --git a/doc/fast_lio_2.png b/doc/fast_lio_2.png
diff --git a/doc/rosgraph-11-10.png b/doc/rosgraph-11-10.png
diff --git a/doc/sentry_navigation.mp4 b/doc/sentry_navigation.mp4
diff --git a/doc/sentry_navigation.png b/doc/sentry_navigation.png
diff --git a/doc/sentry_navigation_1.gif b/doc/sentry_navigation_1.gif
diff --git a/doc/tftree.png b/doc/tftree.png
diff --git a/doc/tftree_nav.png b/doc/tftree_nav.png
diff --git a/doc/topic-11-10-down.png b/doc/topic-11-10-down.png
diff --git a/doc/topic-11-10-up.png b/doc/topic-11-10-up.png
diff --git a/sentry_comm/README.md b/sentry_comm/README.md
diff --git a/sentry_comm/sentry_serial/CMakeLists.txt b/sentry_comm/sentry_serial/CMakeLists.txt
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+cmake_minimum_required(VERSION 3.0.2)
+project(sentry_serial)
+
+## 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
+  rospy
+  serial
+  std_msgs
+  geometry_msgs
+)
+
+## 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 sentry_serial
+#  CATKIN_DEPENDS roscpp rospy serial 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/${PROJECT_NAME}/sentry_serial.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(sentry_send src/serial_send.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(sentry_send
+  ${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 ${PROJECT_NAME}_node
+#   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 ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   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_sentry_serial.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)
diff --git a/sentry_comm/sentry_serial/launch/sentry_serial.launch b/sentry_comm/sentry_serial/launch/sentry_serial.launch
@@ -0,0 +1,9 @@
+<launch>
+    <param name="cmd_vel_topic" type="string" value="cmd_vel"/>
+    <node pkg="sentry_serial" type="sentry_send" name="sentry_send" output="screen" 
+    args="/dev/ttyACM0">
+
+    </node>
+
+
+</launch>
diff --git a/sentry_comm/sentry_serial/package.xml b/sentry_comm/sentry_serial/package.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>sentry_serial</name>
+  <version>0.0.0</version>
+  <description>The sentry_serial package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="rm@todo.todo">rm</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/sentry_serial</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>rospy</build_depend>
+  <build_depend>serial</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>serial</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>serial</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/sentry_comm/sentry_serial/src/serial_send.cpp b/sentry_comm/sentry_serial/src/serial_send.cpp
@@ -0,0 +1,70 @@
+#include "ros/ros.h"  
+#include "serial_send.h"
+
+
+#include <sstream>  
+#include <geometry_msgs/Twist.h>
+#include <string>
+#include <iostream>
+
+// 接收到订阅的消息后，会进入消息回调函数
+void callback(const geometry_msgs::Twist& cmd_vel)
+{
+    // receive the msg from cmd_vel
+    ROS_INFO("Receive a /cmd_vel msg\n");
+    ROS_INFO("The linear  velocity: x=%f, y=%f, z=%f\n",cmd_vel.linear.x,cmd_vel.linear.y,cmd_vel.linear.z);
+    ROS_INFO("The augular velocity: roll=%f, pitch=%f, yaw=%f\n",cmd_vel.angular.x, cmd_vel.angular.y, cmd_vel.angular.z);
+    // put the data in union
+    Serial_Package serial_package;
+    serial_package.header = 0xA5;
+    serial_package.linear_x = cmd_vel.linear.x;
+    serial_package.linear_y = cmd_vel.linear.y;
+    serial_package.angular_z = cmd_vel.angular.z;
+
+    sentry_ser.flush ();
+    sentry_ser.write(serial_package.Send_Buffer,data_len);
+    ROS_INFO("\nSend date finished!\n");
+}
+
+
+int main (int argc, char** argv){
+
+    ros::init(argc, argv, "sentry_send");
+
+    ros::NodeHandle n;
+    n.getParam("cmd_vel_topic", cmd_vel_topic);
+    std::cout<<argv[1]<<std::endl;
+    std::cout<<argc<<std::endl;
+    try
+    {
+        std::string serial_port;
+        if(argc == 2){
+            serial_port = argv[1];
+        }
+        else{
+            serial_port = "/dev/ttyUSB0";
+        }
+        std::cout<<serial_port<<std::endl;
+        sentry_ser.setPort(serial_port);
+        sentry_ser.setBaudrate(115200);
+        serial::Timeout to = serial::Timeout::simpleTimeout(1000);
+        sentry_ser.setTimeout(to);
+        sentry_ser.open();
+    }
+    catch (serial::IOException& e)
+    {
+        ROS_ERROR_STREAM("Unable to open port ");
+        return -1;
+    }
+    if(sentry_ser.isOpen()){
+        ROS_INFO_STREAM("Serial Port opened");
+    }else{
+        return -1;
+    }
+    ROS_INFO_STREAM("Init Finished!");
+
+    // 创建一个Subscriber，订阅名为data_chatter的topic，注册回调函数chatterCallback 
+    ros::Subscriber sub = n.subscribe(cmd_vel_topic, 1000, callback); 
+
+    ros::spin();
+}
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		/opt/ros/noetic/share/catkin/cmake/toplevel.cmake