Merge pull request #2 from tinymovr/develop

Finalize Tinymovr ROS ahead of release

.github/workflows/industrial_ci.yaml

@@ -0,0 +1,16 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic, ROS_REPO: main}
+          - {ROS_DISTRO: melodic, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

CMakeLists.txt

@@ -109,7 +109,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
- INCLUDE_DIRS include
+ INCLUDE_DIRS include include/tinymovr
  LIBRARIES tinymovr_ros
  CATKIN_DEPENDS controller_interface controller_manager roscpp rospy std_msgs sensor_msgs
 # DEPENDS system_lib
@@ -123,16 +123,32 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
   include
+  include/tinymovr
   ${catkin_INCLUDE_DIRS}
 )
 
+set(TINYMOVR_SOURCES
+  src/tinymovr/can.cpp
+  src/tinymovr/comms.cpp
+  src/tinymovr/controller.cpp
+  src/tinymovr/current.cpp
+  src/tinymovr/encoder.cpp
+  src/tinymovr/motor.cpp
+  src/tinymovr/position.cpp
+  src/tinymovr/scheduler.cpp
+  src/tinymovr/tinymovr.cpp
+  src/tinymovr/traj_planner.cpp
+  src/tinymovr/velocity.cpp
+  src/tinymovr/voltage.cpp
+  src/tinymovr/watchdog.cpp
+  )
+
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
 #   src/${PROJECT_NAME}/tinymovr_ros.cpp
 # )
 
-add_library(${PROJECT_NAME}_hw_iface src/socketcan_cpp.cpp src/tinymovr_can.cpp src/tm_hw_iface.cpp)
-add_library(${PROJECT_NAME}_diffbot_hw_iface src/socketcan_cpp.cpp src/tinymovr_can.cpp src/diffbot_hw_iface.cpp)
+add_library(${PROJECT_NAME}_joint_iface ${TINYMOVR_SOURCES} src/socketcan_cpp/socketcan_cpp.cpp src/tm_joint_iface.cpp)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
@@ -142,8 +158,7 @@ add_library(${PROJECT_NAME}_diffbot_hw_iface src/socketcan_cpp.cpp src/tinymovr_
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/tm_hw_iface_node.cpp)
-add_executable(${PROJECT_NAME}_diffbot_node src/diffbot_hw_iface_node.cpp)
+add_executable(tinymovr_joint_iface_node src/tm_joint_iface_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -156,13 +171,8 @@ add_executable(${PROJECT_NAME}_diffbot_node src/diffbot_hw_iface_node.cpp)
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 # Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
-  ${PROJECT_NAME}_hw_iface
-  ${catkin_LIBRARIES}
-)
-
-target_link_libraries(${PROJECT_NAME}_diffbot_node
-  ${PROJECT_NAME}_diffbot_hw_iface
+target_link_libraries(tinymovr_joint_iface_node
+  ${PROJECT_NAME}_joint_iface
   ${catkin_LIBRARIES}
 )
 

README.md

@@ -1,8 +1,76 @@
+__Tinymovr ROS Hardware Interface__
 
-https://catkin-tools.readthedocs.io/en/latest/installing.html
+A ROS package that provides hardware interfacing for Tinymovr devices. This interface allows for seamless integration of Tinymovr devices with ROS-based robotic systems, offering joint state and control through ROS topics and services.
 
-https://www.howtoinstall.me/ubuntu/18-04/liburdfdom-headers-dev/
+## Features
+- Real-time reading of joint positions, velocities, and efforts.
+- Ability to send joint command setpoints.
+- Error handling and robust exception management.
+- Compatible with standard ROS controllers, enabling a plug-and-play experience.
 
-https://github.com/siposcsaba89/socketcan-cpp
+## Prerequisites
 
-https://stackoverflow.com/questions/17808084/fatal-error-libudev-h-no-such-file-or-directory
+- ROS (Robot Operating System) - Tested with ROS Noetic, but should be compatible with other versions.
+- SocketCAN tools and utilities installed.
+- Tinymovr devices properly set up and calibrated.
+
+## Installation
+
+1. Navigate to your catkin workspace's source folder:
+
+```bash
+cd ~/catkin_ws/src/
+```
+
+2. Clone the repository:
+
+```bash
+git clone git@github.com:tinymovr/Tinymovr-ROS.git
+```
+
+3. Build your catkin workspace:
+
+```bash
+cd ~/catkin_ws/
+catkin_make
+```
+
+4. Source the workspace:
+
+```bash
+source devel/setup.bash
+```
+
+## Run the Diffbot demo!
+
+1. Ensure your Tinymovr instances are calibrated and well tuned, test functioning using Tinymovr Studio or CLI.
+
+2. Configure your hardware in `config/hardware.yaml` and diff drive config in `config/diff_drive_config.yaml`
+
+3. Start the `tinymovr_diffbot_demo_node` node:
+
+```bash
+roslaunch tinymovr_ros tinymovr_diffbot_demo_node.launch
+```
+
+4. Spin up a keyboard teleop and drive your robot:
+
+```bash
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel
+```
+
+## Configuration
+
+To customize the behavior of the Tinymovr ROS, adjust the parameters in the `config` directory. Here, you can set specifics about each joint, including joint names, IDs, and other parameters relevant to your hardware setup.
+
+## API Documentation
+
+Further details about the API and individual functions can be found in the generated Doxygen documentation. Please refer to the documentation for advanced use cases.
+
+## Contributing
+
+Contributions to improve and expand the functionality of Tinymovr ROS are welcome! Please open an issue or submit a pull request on the GitHub repository.
+
+## License
+
+This package is licensed under the [MIT License](LICENSE).

avlos_config.yaml

@@ -0,0 +1,11 @@
+
+# All paths relative to this config file
+
+generators:
+  generator_cpp:
+    enabled: true
+    paths:
+      output_helpers: ./include/tinymovr/helpers.hpp
+      output_header: ./include/tinymovr/tinymovr.hpp
+      output_impl: ./src/tinymovr/tinymovr.cpp
+

config/diff_drive_config.yaml

@@ -0,0 +1,10 @@
+diff_drive_controller:
+  type: "diff_drive_controller/DiffDriveController"
+  left_wheel: "wheel_1"
+  right_wheel: "wheel_2"
+  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+  publish_rate: 50.0
+  wheel_separation: 0.4
+  wheel_radius: 0.12
+  cmd_vel_timeout: 0.5

config/hardware.yaml

@@ -0,0 +1,19 @@
+tinymovr_joint_iface:
+  joints:
+    wheel_2:
+      # hardware ID of the actuator
+      id: 2
+      offset: 3.14159265359 # in rad
+      delay_us: 200
+      #max-speed: 4.0 # in rad/s
+      rads_to_ticks: 14.323944878 # how many ticks in a rad
+      command_interface: velocity
+    wheel_1:
+      # hardware ID of the actuator
+      id: 1
+      offset: 3.14159265359 # in rad
+      delay_us: 200
+      #max-speed: 4.0 # in rad/s
+      rads_to_ticks: 14.323944878 # how many ticks in a rad
+      command_interface: velocity
+

include/socketcan_cpp/socketcan_cpp.hpp

@@ -60,4 +60,4 @@ namespace scpp
         std::string m_interface;
         SocketMode m_socket_mode;
     };
-}
+}

include/tinymovr/can.hpp

@@ -0,0 +1,24 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Can_ : Node
+{
+    public:
+
+        Can_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        uint32_t get_rate(void);
+        void set_rate(uint32_t value);
+        uint32_t get_id(void);
+        void set_id(uint32_t value);
+
+};

include/tinymovr/comms.hpp

@@ -0,0 +1,23 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+#include <can.hpp>
+
+class Comms_ : Node
+{
+    public:
+
+        Comms_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , can(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        Can_ can;
+
+};

include/tinymovr/controller.hpp

@@ -0,0 +1,44 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+#include <position.hpp>
+#include <velocity.hpp>
+#include <current.hpp>
+#include <voltage.hpp>
+
+class Controller_ : Node
+{
+    public:
+
+        Controller_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , position(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , velocity(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , current(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , voltage(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        uint8_t get_state(void);
+        void set_state(uint8_t value);
+        uint8_t get_mode(void);
+        void set_mode(uint8_t value);
+        uint8_t get_warnings(void);
+        uint8_t get_errors(void);
+        Position_ position;
+        Velocity_ velocity;
+        Current_ current;
+        Voltage_ voltage;
+        void calibrate();
+        void idle();
+        void position_mode();
+        void velocity_mode();
+        void current_mode();
+        float set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint);
+
+};

include/tinymovr/current.hpp

@@ -0,0 +1,33 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Current_ : Node
+{
+    public:
+
+        Current_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        float get_Iq_setpoint(void);
+        void set_Iq_setpoint(float value);
+        float get_Id_setpoint(void);
+        float get_Iq_limit(void);
+        void set_Iq_limit(float value);
+        float get_Iq_estimate(void);
+        float get_bandwidth(void);
+        void set_bandwidth(float value);
+        float get_Iq_p_gain(void);
+        float get_max_Ibus_regen(void);
+        void set_max_Ibus_regen(float value);
+        float get_max_Ibrake(void);
+        void set_max_Ibrake(float value);
+
+};

include/tinymovr/encoder.hpp

@@ -0,0 +1,28 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Encoder_ : Node
+{
+    public:
+
+        Encoder_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        float get_position_estimate(void);
+        float get_velocity_estimate(void);
+        uint8_t get_type(void);
+        void set_type(uint8_t value);
+        float get_bandwidth(void);
+        void set_bandwidth(float value);
+        bool get_calibrated(void);
+        uint8_t get_errors(void);
+
+};