update agv_pro_base/src/agv_pro_ros.cpp

agv_pro_base/include/agv_pro_base/agv_pro_driver.h

@@ -39,8 +39,6 @@ private:
   std::string name_space_;
   std::string device_name_;
   
-  std::thread control_thread_;
-
   double x= 0.0;
   double y= 0.0;
   double theta= 0.0;
@@ -60,6 +58,7 @@ private:
   float battery_voltage = 0.0f;
 
   rclcpp::Time currentTime, lastTime;
+  rclcpp::TimerBase::SharedPtr control_timer_;
   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;

agv_pro_base/package.xml

@@ -2,7 +2,7 @@
 <?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>
+  <version>1.0.2</version>
   <description>Control Nodes for AGV Pro</description>
   <maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
   <license>BSD-3-Clause license</license>

agv_pro_base/src/agv_pro_ros.cpp

@@ -197,14 +197,7 @@ void AGV_PRO::publisherVoltage()
 
 void AGV_PRO::publisherOdom(double dt)
 {
-  geometry_msgs::msg::TransformStamped odom_trans;
+  currentTime = this->get_clock()->now();
-  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;
@@ -214,18 +207,26 @@ void AGV_PRO::publisherOdom(double dt)
   y += delta_y;
   theta += delta_th;
 
+  geometry_msgs::msg::TransformStamped odom_trans;
+  odom_trans.header.stamp = currentTime;
+  odom_trans.header.frame_id = frame_id_of_odometry_;
+  odom_trans.child_frame_id = child_frame_id_of_odometry_;
+
+  tf2::Quaternion quat;
+  quat.setRPY(0.0, 0.0, theta);
+  geometry_msgs::msg::Quaternion odom_quat = tf2::toMsg(quat);
+
   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.stamp = currentTime;
-  odom.header.frame_id = "odom";
+  odom.header.frame_id = frame_id_of_odometry_;
-  odom.child_frame_id = "base_footprint";
+  odom.child_frame_id = child_frame_id_of_odometry_;
 
   odom.pose.pose.position.x = x;
   odom.pose.pose.position.y = y;
@@ -243,18 +244,18 @@ void AGV_PRO::publisherOdom(double dt)
 
 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);
+    currentTime = this->get_clock()->now();
-      //RCLCPP_INFO(this->get_logger(), "dt:%f", dt);
+    double dt = 0.0;
-      publisherVoltage();
+    if (lastTime.nanoseconds() != 0) {
+      dt = (currentTime - lastTime).seconds();
     }
+
     lastTime = currentTime;
+    publisherOdom(dt);
+    // RCLCPP_INFO(this->get_logger(), "dt:%f", dt);
+    publisherVoltage();
   }
 }
 
@@ -285,6 +286,8 @@ AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
   cmd_sub = this->create_subscription<geometry_msgs::msg::Twist>(
     "/cmd_vel", 10, std::bind(&AGV_PRO::cmdCallback, this, std::placeholders::_1));
 
+  lastTime = this->get_clock()->now();
+      
   drivers::serial_driver::SerialPortConfig config(
     1000000,
     drivers::serial_driver::FlowControl::NONE,
@@ -309,7 +312,11 @@ AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
     return;
   }
   
-  control_thread_ = std::thread(&AGV_PRO::Control, this);
+  control_timer_ = this->create_wall_timer(
+  std::chrono::milliseconds(20),
+  std::bind(&AGV_PRO::Control, this)
+  );
+
 }
 
 AGV_PRO::~AGV_PRO()

agv_pro_bringup/launch/agv_pro_bringup.launch.py

@@ -1,8 +1,8 @@
 import os
 from launch import LaunchDescription
-from launch_ros.actions import Node
+from launch_ros.actions import Node,PushRosNamespace
 from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import Command,LaunchConfiguration,PythonExpression
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
@@ -17,8 +17,12 @@ def generate_launch_description():
         'agv_pro.urdf'
     )
 
-    with open(urdf_file, 'r') as file:
+    robot_description_content = Command([
-        robot_description_content = file.read()
+        'xacro ',
+        urdf_file,
+        ' namespace:=',
+        PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
+    ])
 
     return LaunchDescription([
         DeclareLaunchArgument(
@@ -26,6 +30,13 @@ def generate_launch_description():
             default_value=port_name_arg,
             description='port name, e.g. ttyACM0'),
 
+        DeclareLaunchArgument(
+            'namespace',
+            default_value='',
+            description='Namespace for nodes'),
+
+        PushRosNamespace(namespace),
+
         Node(
             package='agv_pro_base',
             executable='agv_pro_node',
@@ -35,6 +46,7 @@ def generate_launch_description():
                 'port_name': port_name_arg,
                 'namespace': namespace,             
             }],
+            remappings=[('cmd_vel', '/cmd_vel')]
         ),
 
         Node(
@@ -47,7 +59,8 @@ def generate_launch_description():
             package='robot_state_publisher',
             executable='robot_state_publisher',
             name='robot_state_publisher',
-            parameters=[{'robot_description': robot_description_content}]
+            parameters=[{'robot_description': robot_description_content}],
+            output='screen'
         ),
 
         IncludeLaunchDescription(

agv_pro_description/CMakeLists.txt

@@ -14,7 +14,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(DIRECTORY meshes urdf
+install(DIRECTORY meshes urdf launch rviz
   DESTINATION share/${PROJECT_NAME}
 )
 

agv_pro_description/launch/agv_pro_display.launch.py

@@ -0,0 +1,63 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node,PushRosNamespace
+from launch.conditions import IfCondition
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command,LaunchConfiguration,PythonExpression
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    namespace = LaunchConfiguration('namespace', default='')
+
+    use_rviz = LaunchConfiguration('use_rviz', default='true')
+
+    rviz_config_dir = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'rviz',
+        'agvpro_display.rviz')
+
+    urdf_file = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'urdf',
+        'agv_pro.urdf'
+    )
+
+    robot_description_content = Command([
+        'xacro ',
+        urdf_file,
+        ' namespace:=',
+        PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
+    ])
+
+    return LaunchDescription([
+
+        DeclareLaunchArgument(
+            'namespace',
+            default_value='',
+            description='Namespace for nodes'),
+
+        PushRosNamespace(namespace),
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            parameters=[{'robot_description': robot_description_content}]
+        ),
+        
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config_dir],
+            condition=IfCondition(use_rviz),
+            output='screen')
+
+    ])

agv_pro_description/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>agv_pro_description</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>
     <p>URDF Description package for AGV pro</p>
   </description>

agv_pro_description/rviz/agvpro_display.rviz

@@ -0,0 +1,234 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_front_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_rear_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_front_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_rear_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        laser_link:
+          Value: true
+        left_front_wheel_link:
+          Value: true
+        left_rear_wheel_link:
+          Value: true
+        right_front_wheel_link:
+          Value: true
+        right_rear_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        base_footprint:
+          base_link:
+            laser_link:
+              {}
+            left_front_wheel_link:
+              {}
+            left_rear_wheel_link:
+              {}
+            right_front_wheel_link:
+              {}
+            right_rear_wheel_link:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.6701574325561523
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1200
+  X: 720
+  Y: 343

agv_pro_description/urdf/agv_pro.urdf

@@ -1,15 +1,18 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <link name="base_footprint"/>
+  <xacro:arg name="namespace" default=""/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
-  <joint name="base_joint" type="fixed">
+  <link name="${namespace}base_footprint"/>
-    <parent link="base_footprint"/>
+
-    <child link="base_link" />
+  <joint name="${namespace}base_joint" type="fixed">
+    <parent link="${namespace}base_footprint"/>
+    <child link="${namespace}base_link" />
     <origin xyz="0 0 0.020" rpy="0 0 0"/>
   </joint>
 
-  <link name="base_link">
+  <link name="${namespace}base_link">
     <inertial>
       <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
       <mass value="19.236" />
@@ -37,7 +40,7 @@
     </collision>
   </link>
 
-  <link name="right_rear_wheel_link">
+  <link name="${namespace}right_rear_wheel_link">
     <inertial>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <mass value="0.21659" />
@@ -66,14 +69,14 @@
     </collision>
   </link>
   
-  <joint name="right_rear_wheel_joint" type="continuous">
+  <joint name="${namespace}right_rear_wheel_joint" type="continuous">
     <origin xyz="-0.171806101587598 -0.179900399999999 0.0518836514526621" rpy="0 0 0" />
-    <parent link="base_link" />
+    <parent link="${namespace}base_link" />
-    <child link="right_rear_wheel_link" />
+    <child link="${namespace}right_rear_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="right_front_wheel_link">
+  <link name="${namespace}right_front_wheel_link">
     <inertial>
       <origin xyz="6.6563E-05 -0.019725 8.3836E-05" rpy="0 0 0" />
       <mass value="0.21659122149244" />
@@ -100,15 +103,15 @@
     </collision>
   </link>
   
-  <joint name="right_front_wheel_joint" type="continuous">
+  <joint name="${namespace}right_front_wheel_joint" type="continuous">
     <origin xyz="-0.17181 0.1799 0.051884"
       rpy="0 0 0" />
-    <parent link="base_link" />
+    <parent link="${namespace}base_link" />
-    <child link="right_front_wheel_link" />
+    <child link="${namespace}right_front_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="left_front_wheel_link">
+  <link name="${namespace}left_front_wheel_link">
     <inertial>
       <origin xyz="1.4671E-06 -0.019803 4.3218E-06" rpy="0 0 0" />
       <mass value="0.3015" />
@@ -135,15 +138,15 @@
     </collision>
   </link>
   
-  <joint name="left_front_wheel_joint" type="continuous">
+  <joint name="${namespace}left_front_wheel_joint" type="continuous">
     <origin xyz="0.17128 0.1799 0.052"
       rpy="0 0 0" />
-    <parent link="base_link" />
+    <parent link="${namespace}base_link" />
-    <child link="left_front_wheel_link" />
+    <child link="${namespace}left_front_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="left_rear_wheel_link">
+  <link name="${namespace}left_rear_wheel_link">
     <inertial>
       <origin xyz="-2.4454E-06 0.019725 -4.3121E-06" rpy="0 0 0" />
       <mass value="0.29613" />
@@ -170,14 +173,14 @@
     </collision>
   </link>
   
-  <joint name="left_rear_wheel_joint" type="continuous">
+  <joint name="${namespace}left_rear_wheel_joint" type="continuous">
     <origin xyz="0.17128 -0.1799 0.052" rpy="0 0 0" />
-    <parent link="base_link" />
+    <parent link="${namespace}base_link" />
-    <child link="left_rear_wheel_link" />
+    <child link="${namespace}left_rear_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="laser_link">
+  <link name="${namespace}laser_link">
     <inertial>
       <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
       <mass value="0.049095" />
@@ -204,11 +207,9 @@
     </collision>
   </link>
   
-  <joint name="lidar_joint" type="fixed">
+  <joint name="${namespace}lidar_joint" type="fixed">
-    <origin xyz="0.17891 0 0.20928"
+    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
-      rpy="0 0 0" />
+    <parent link="${namespace}base_link" />
-    <parent link="base_link" />
+    <child link="${namespace}laser_link" />
-    <child link="laser_link" />
-    <axis xyz="0 0 0" />
   </joint>
 </robot>