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add agv_pro_base

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X-lanni
2025-06-05 15:03:20 +08:00
parent 90d106d936
commit ecddd82219
5 changed files with 429 additions and 0 deletions
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agv_pro_base/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(agv_pro_base)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(serial_driver REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
add_executable(agv_pro_node src/agv_pro_node.cpp)
target_include_directories(agv_pro_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_features(agv_pro_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
ament_target_dependencies(agv_pro_node
rclcpp
std_msgs
geometry_msgs
serial_driver
)
install(TARGETS agv_pro_node
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()
agv_pro_base/include/agv_pro_base/agv_pro_driver.h
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#ifndef AGV_PRO_DRIVER_H
#define AGV_PRO_DRIVER_H
#include <algorithm>
#include "serial_driver/serial_driver.hpp"
#include "rclcpp/rclcpp.hpp"
#include <nav_msgs/msg/odometry.hpp>
#include <std_msgs/msg/float32.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#define RECEIVE_DATA_SIZE 13 //The length of the data sent by the esp32
#define SEND_DATA_SIZE 13 //The length of data sent by ROS to the esp32
#define RETURN_COMMAND 0x25
std::array<double, 36> odom_pose_covariance = {
{1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9} };
std::array<double, 36> odom_twist_covariance = {
{1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9} };
class AGV_PRO : public rclcpp::Node
{
public:
AGV_PRO(std::string node_name);
~AGV_PRO();
private:
void Control();
bool readData();
void publisherOdom(double dt);
void publisherVoltage();
void clearSerialBuffer();
void cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg);
std::string frame_id_of_odometry_;
std::string child_frame_id_of_odometry_;
std::string frame_id_of_imu_;
std::string name_space_;
std::string device_name_;
double x= 0.0;
double y= 0.0;
double theta= 0.0;
double vx= 0.0;
double vy= 0.0;
double vtheta= 0.0;
double linearX = 0.0;
double linearY = 0.0;
double angularZ = 0.0;
uint8_t motor_status = 0;
uint8_t motor_error = 0;
uint8_t enable_status = 0;
float battery_voltage = 0.0f;
rclcpp::Time currentTime, lastTime;
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odom;
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr pub_imu;
rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr pub_voltage;
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_sub;
std::unique_ptr<tf2_ros::TransformBroadcaster> odomBroadcaster;
std::shared_ptr<drivers::serial_driver::SerialDriver> serial_driver_;
std::shared_ptr<drivers::common::IoContext> io_context_;
};
#endif
agv_pro_base/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>agv_pro_base</name>
<version>1.0.0</version>
<description>Control Nodes for AGV Pro</description>
<maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
<license>BSD-3-Clause license</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>serial_driver</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
agv_pro_base/src/agv_pro_node.cpp
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#include "agv_pro_base/agv_pro_driver.h"
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<AGV_PRO>("agv_pro_base_node");
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}
agv_pro_base/src/agv_pro_ros.cpp
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#include "agv_pro_base/agv_pro_driver.h"
AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
{
this->declare_parameter<std::string>("port_name","/dev/ttyS0");
this->declare_parameter<std::string>("odometry.frame_id", "odom");
this->declare_parameter<std::string>("odometry.child_frame_id", "base_footprint");
this->declare_parameter<std::string>("imu.frame_id", "imu_link");
this->declare_parameter<std::string>("namespace", "");
this->get_parameter_or<std::string>("port_name",device_name_,std::string(""));
this->get_parameter_or<std::string>("odometry.frame_id",frame_id_of_odometry_,std::string("odom"));
this->get_parameter_or<std::string>("odometry.child_frame_id",child_frame_id_of_odometry_,std::string("base_footprint"));
this->get_parameter_or<std::string>("imu.frame_id",frame_id_of_imu_,std::string("imu_link"));
this->get_parameter_or<std::string>("namespace",name_space_,std::string(""));
if (name_space_ != "") {
frame_id_of_odometry_ = name_space_ + "/" + frame_id_of_odometry_;
child_frame_id_of_odometry_ = name_space_ + "/" + child_frame_id_of_odometry_;
frame_id_of_imu_ = name_space_ + "/" + frame_id_of_imu_;
}
odomBroadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(this);
pub_imu = this->create_publisher<sensor_msgs::msg::Imu>("imu", 20);
pub_odom = this->create_publisher<nav_msgs::msg::Odometry>("odom", 50);
pub_voltage = create_publisher<std_msgs::msg::Float32>("voltage", 10);
cmd_sub = this->create_subscription<geometry_msgs::msg::Twist>(
"/cmd_vel", 10, std::bind(&AGV_PRO::cmdCallback, this, std::placeholders::_1));
drivers::serial_driver::SerialPortConfig config(
115200,
drivers::serial_driver::FlowControl::NONE,
drivers::serial_driver::Parity::NONE,
drivers::serial_driver::StopBits::ONE
);
try{
io_context_ = std::make_shared<drivers::common::IoContext>(1);
serial_driver_ = std::make_shared<drivers::serial_driver::SerialDriver>(*io_context_);
serial_driver_->init_port(device_name_, config);
serial_driver_->port()->open();
RCLCPP_INFO(this->get_logger(), "Serial port initialized successfully");
RCLCPP_INFO(this->get_logger(), "Using device: %s", serial_driver_->port().get()->device_name().c_str());
RCLCPP_INFO(this->get_logger(), "Baud_rate: %d", config.get_baud_rate());
}
catch (const std::exception &ex){
RCLCPP_ERROR(this->get_logger(), "Failed to initialize serial port: %s", ex.what());
return;
}
AGV_PRO::Control();//Loop through data collection and publish the topic
}
AGV_PRO::~AGV_PRO()
{
}
uint16_t crc16_ibm(const uint8_t* data, size_t length) {
uint16_t crc = 0xFFFF;
for (size_t i = 0; i < length; ++i) {
crc ^= static_cast<uint16_t>(data[i]);
for (int j = 0; j < 8; ++j) {
if (crc & 0x0001)
crc = (crc >> 1) ^ 0xA001;
else
crc = crc >> 1;
}
}
return crc;
}
void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
{
linearX = std::clamp(msg->linear.x, -1.5, 1.5);
linearY = std::clamp(msg->linear.y, -1.0, 1.0);
angularZ = std::clamp(msg->angular.z, -1.0, 1.0);
int16_t x_send = static_cast<int16_t>(linearX * 1000);
int16_t y_send = static_cast<int16_t>(linearY * 1000);
int16_t rot_send = static_cast<int16_t>(angularZ * 1000);
uint8_t buf[13] = { 0xfe,0xfe,0x21 };
buf[3] = x_send & 0xff;
buf[4] = (x_send >> 8) & 0xff;
buf[5] = y_send & 0xff;
buf[6] = (y_send >> 8) & 0xff;
buf[7] = rot_send & 0xff;
buf[8] = (rot_send >> 8) & 0xff;
uint16_t crc = crc16_ibm(buf, 9);
buf[9] = crc & 0xff;
buf[10] = (crc >> 8) & 0xff;
std::vector<uint8_t> data_vec(buf, buf + sizeof(buf));
auto port = serial_driver_->port();
try
{
size_t bytes_transmit_size = port->send(data_vec);
// std::stringstream ss;
// for (auto b : data_vec) {
// ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)
// << static_cast<int>(b) << " ";
// }
// RCLCPP_INFO(this->get_logger(), "Sent %ld bytes: [%s]", bytes_transmit_size, ss.str().c_str());
}
catch(const std::exception &ex)
{
RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port:%s",ex.what());
}
}
void AGV_PRO::clearSerialBuffer()
{
auto port = serial_driver_->port();
std::vector<uint8_t> temp_buf(64);
size_t total_discarded = 0;
while (true) {
size_t n = port->receive(temp_buf);
if (n == 0) {
break;
}
total_discarded += n;
}
RCLCPP_WARN(this->get_logger(), "Serial buffer flushed, %zu bytes discarded.", total_discarded);
}
bool AGV_PRO::readData()
{
std::vector<uint8_t> buf_header(1);
std::vector<uint8_t> recv_buf(RECEIVE_DATA_SIZE);
auto port = serial_driver_->port();
while (true)
{
size_t ret = port->receive(buf_header);
if (ret != 1 || buf_header[0] != 0xfe) {
continue;
}
ret = port->receive(buf_header);
if (ret == 1 && buf_header[0] == 0xfe) {
break;
}
}
std::vector<uint8_t> remaining_buf(RECEIVE_DATA_SIZE - 2);
size_t ret = port->receive(remaining_buf);
if (ret != (RECEIVE_DATA_SIZE - 2)) {
RCLCPP_ERROR(this->get_logger(), "The received length is incorrect:%zu", ret);
clearSerialBuffer();
return false;
}
recv_buf[0] = 0xFE;
recv_buf[1] = 0xFE;
std::copy(remaining_buf.begin(), remaining_buf.end(), recv_buf.begin() + 2);
if (recv_buf[2] != 0x25) {
RCLCPP_WARN(this->get_logger(), "Command error:0x%02X", recv_buf[2]);
clearSerialBuffer();
return false;
}
uint16_t received_crc = recv_buf[11] | (recv_buf[12] << 8);
uint16_t computed_crc = crc16_ibm(recv_buf.data(), 11);
if (received_crc != computed_crc) {
RCLCPP_ERROR(this->get_logger(), "CRC error: received 0x%04X, calculated 0x%04X", received_crc, computed_crc);
return false;
}
vx = (static_cast<double>(recv_buf[3]) - 128.0) * 0.01;
vy = (static_cast<double>(recv_buf[4]) - 128.0) * 0.01;
vtheta = (static_cast<double>(recv_buf[5]) - 128.0) * 0.01;
motor_status = recv_buf[6];
motor_error = recv_buf[7];
battery_voltage = static_cast<float>(recv_buf[8]) / 10.0f;
enable_status = recv_buf[9];
return true;
}
void AGV_PRO::publisherVoltage()
{
std_msgs::msg::Float32 voltage_msg,voltage_backup_msg;
voltage_msg.data = battery_voltage;
pub_voltage->publish(voltage_msg);
}
void AGV_PRO::publisherOdom(double dt)
{
geometry_msgs::msg::TransformStamped odom_trans;
odom_trans.header.stamp = this->get_clock()->now();
odom_trans.header.frame_id = "odom";
odom_trans.child_frame_id = "base_footprint";
tf2::Quaternion quat;
quat.setRPY(0.0, 0.0, theta);
geometry_msgs::msg::Quaternion odom_quat = tf2::toMsg(quat);
double delta_x = (vx * cos(theta) - vy * sin(theta)) * dt;
double delta_y = (vx * sin(theta) + vy * cos(theta)) * dt;
double delta_th = vtheta * dt;
x += delta_x;
y += delta_y;
theta += delta_th;
odom_trans.transform.translation.x = x;
odom_trans.transform.translation.y = y;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = odom_quat;
odomBroadcaster->sendTransform(odom_trans);
nav_msgs::msg::Odometry odom;
odom.header.stamp = this->get_clock()->now();;
odom.header.frame_id = "odom";
odom.child_frame_id = "base_footprint";
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;
odom.pose.covariance = odom_pose_covariance;
odom.twist.twist.linear.x = vx;
odom.twist.twist.linear.y = vy;
odom.twist.twist.angular.z = vtheta;
odom.twist.covariance = odom_twist_covariance;
pub_odom->publish(odom);
}
void AGV_PRO::Control()
{
lastTime = this->get_clock()->now();
while(rclcpp::ok())
{
currentTime = this->get_clock()->now();
double dt = (currentTime - lastTime).seconds();
if (true == readData())
{
publisherOdom(dt);
//RCLCPP_INFO(this->get_logger(), "dt:%f", dt);
publisherVoltage();
}
lastTime = currentTime;
}
}