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PanosMavPanosMav
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1st commit. Based on original ilias_ws. 1)Code added in callbacks in phase_space nodes and other cepheus nodes ,in order to calculate latency in communication. 2)Round Robin scheduling policy is set to base planner and controller. 3)Asyncronous spinners added in order to let threads handle callbacks. 4)Independent callback queue added in base_controller devoted to phase_space callbacks. --The latency of the wifi-network is measured with ping at 5ms. --Future work: only the last phase_space message will be held from controller in order to avoid the reading of past frames held in the queue.
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‎.catkin_workspace

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# This file currently only serves to mark the location of a catkin workspace for tool integration

‎.gitignore

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build/
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devel/

‎DM35820_driver_load.sh

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#!/bin/bash
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#
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# Script to load RTD DM35820 encoder and IO card drivers module
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#
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# Ilias Patsiaouras
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# Mo 3 Nov 2015
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#
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#
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#
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printf "\033[1;34m \nDM35820 IO card drivers loading script started\033[0m\n"
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make -C $(rospack find cepheus_robot)/DM7820*/driver
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make -C $(rospack find cepheus_robot)/DM7820*/driver unload
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make -C $(rospack find cepheus_robot)/DM7820*/driver load
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printf "\033[1;34m DM35820 IO card drivers loading script ended\033[0m\n\n"

‎cmd.sh

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sudo apt-get update
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sudo apt-get upgrade
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sudo apt autoremove
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sudo apt-get dist-upgrade
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cd Downloads/t4uh_drivers/
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cd rtl8812AU_8821AU_linux/
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sudo make clean
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sudo make
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sudo make install
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sudo modprobe -a rtl8812au
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cd
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cd catkin_ws/
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source devel/setup.bash
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sudo cp $(rospack find cepheus_robot)/DM7820_Linux_*/driver/rtd-dm7820.ko /lib/modules/$(uname -r)/kernel/drivers/
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sudo depmod
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cd
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ls
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cd catkin_ws/
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ls
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source devel/setup.bash
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ls /lib/modules/$(uname -r)/kernel/drivers/
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echo 'rtd_dm7820.ko' | sudo tee -a /etc/modules
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sudo depmod
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cd src/cepheus_robot/DM7820_Linux_v03.00.00/
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ls
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cd driver/
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ls
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make unload
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make clean
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sudo make unload
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sudo make clean
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sudo make
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sudo make load
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ls
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cd ..
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ls
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cd lib/
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ls
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make clean
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make all
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sudo make clean
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sudo make all
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cd
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cd catkin_ws/src/cepheus_robot/DM7820_Linux_v03.00.00/
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ls
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cd driver/
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ls
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sudo make unload
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sudo make clean
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sudo make
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sudo make load
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sudo make unload
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sudo make clean
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sudo make
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sudo make load
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cd ../lib/
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sudo make clean
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sudo make
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cd
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su
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reset
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cd catkin_ws/
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ls
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source devel/setup.bash
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ls
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cd src/
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ls
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cd cepheus_robot
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cd DM7820_Linux_v03.00.00/
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ls
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cd driver/
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ls
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sudo make unload
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sudo make clean
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sudo make
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sudo make load
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sudo make unload
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sudo make load
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sudo cp rtd-dm7820.ko /lib/modules/$(uname -r)/kernel/drivers/
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echo 'rtd_dm7820' | sudo tee -a /etc/modules
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sudo depmod
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cd ../lib/
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sudo make clean
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sudo make
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sudo vim /etc/modules

‎commands

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roslaunch cepheus_robot launch_cepheus_robot.launch 2>&1 | tee log.txt
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grep -i "error" log.txt | wc -l > nerr.txt
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roslaunch cepheus_robot launch_cepheus_robot.launch 2>/dev/pts/18

‎run.sh

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#!/bin/bash
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handle() {
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kill -2 "$child"
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}
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trap "handle" SIGINT
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echo "" > stdout.log
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echo "" > stderr.log
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echo "Running trap handler..."
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./trap.sh &
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child=$!
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echo "Running roslaunch..."
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$1 $2 $3 > \
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>(tee -a stdout.log) 2> \
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>(tee -a stderr.log >/dev/null)
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echo "Waiting for child..."
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wait "$child"

‎src/CMakeLists.txt

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/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

‎src/DM35820_driver_load.sh

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#!/bin/bash
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#
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# Script to load RTD DM35820 encoder and IO card drivers module
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#
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# Ilias Patsiaouras
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# Mo 3 Nov 2015
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#
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#
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#
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printf "\033[1;34m \nDM35820 IO card drivers loading script started\033[0m\n"
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make -C $(rospack find cepheus_robot)/DM7820*/driver
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make -C $(rospack find cepheus_robot)/DM7820*/driver unload
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make -C $(rospack find cepheus_robot)/DM7820*/driver load
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printf "\033[1;34m DM35820 IO card drivers loading script ended\033[0m\n\n"

‎src/assist_space_robot/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(assist_robot)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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nav_msgs
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geometry_msgs
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sensor_msgs
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rospy
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urdf
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tf
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control_msgs
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trajectory_msgs
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kdl_parser
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES assist_robot
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CATKIN_DEPENDS ros_control roscpp std_msgs rospy
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DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(include)
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include_directories( ${catkin_INCLUDE_DIRS} )
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## Declare a C++ library
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(cepheus_robot ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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add_executable(camera_odom_node src/camera_odom.cpp)
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(cepheus_robot_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(camera_odom_node ${catkin_LIBRARIES})
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS cepheus_robot cepheus_robot_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_cepheus_robot.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎src/assist_space_robot/README.md

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# DESCREPTION

‎src/assist_space_robot/launch/launch_assist_robot.launch

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<launch>
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<param name="assist_robot_description" command="cat $(find assist_robot)/model/assist_robot.urdf" />
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<param name="granite_description" command="cat $(find assist_robot)/model/granite.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
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<!--param name="tf_prefix" value="servicer" /-->
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<!--param name="publish_frequency" value="50" -->
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<remap from="robot_description" to="assist_robot_description"/>
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</node>
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<!--node name="mouse_odom_publisher" pkg="assist_robot" type="mouse_odom_node" output="screen">
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<param name="left_dev_event" value="/dev/input/by-path/pci-0000:00:1f.5-usb-0:4.3:1.0-event-mouse"/>
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<param name="right_dev_event" value="/dev/input/by-path/pci-0000:00:1f.5-usb-0:4.4:1.0-event-mouse"/>
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</node-->
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<!--node name="camera_odom_publisher" pkg="assist_robot" type="camera_odom_node" output="screen">
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<param name="robot_id" value="12" />
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<param name="udp_port" value="25000" />
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</node-->
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</launch>

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