Migrate to a new physical robot

Uses the mecanum controller properly across physical and virtual
There is a timing issue with i2c which is why the control update is limited to 10hz
The sonar and LED's arent yet working, this will come soon.

raspbot_v2/src/raspbot_v2_bringup/CMakeLists.txt

@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(raspbot_v2_bringup)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${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()

raspbot_v2/src/raspbot_v2_bringup/LICENSE

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+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.

raspbot_v2/src/raspbot_v2_bringup/launch/raspbot_v2_bringup.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch_ros.actions import Node, PushRosNamespace
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    enable_camera = LaunchConfiguration('enable_camera')
+    enable_lidar = LaunchConfiguration('enable_lidar')
+    enable_sonar = LaunchConfiguration('enable_sonar')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_hardware = LaunchConfiguration('use_hardware')
+
+    declared_args = [
+        DeclareLaunchArgument(
+            'namespace', default_value='',
+            description='ROS namespace for all robot nodes (e.g. "robot1").'
+        ),
+
+        DeclareLaunchArgument(
+            'use_sim_time', default_value='false',
+            description='Use simulation time.'
+        ),
+
+        DeclareLaunchArgument(
+            'use_hardware', default_value='false',
+            description='Use hardware nodes.'
+        ),
+
+        DeclareLaunchArgument(
+            'enable_camera', default_value='true',
+            description='Enable the camera node.'
+        ),
+        
+        DeclareLaunchArgument(
+            'enable_lidar', default_value='true',
+            description='Enable the LiDAR node.'
+        ),
+        
+        DeclareLaunchArgument(
+            'enable_sonar', default_value='true',
+            description='Enable the sonar node.'
+        )
+    ]
+    
+    controller_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('raspbot_v2_control'), 'launch', 'controller_manager.launch.py'
+            ])
+        ]),
+        launch_arguments={
+            'namespace': namespace,
+            'use_sim_time': LaunchConfiguration('use_sim_time')
+        }.items()
+    )
+    
+    hardware_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('raspbot_v2_hardware'), 'launch', 'hardware.launch.py'
+            ]),
+        ]),
+        condition=IfCondition(use_hardware),
+        launch_arguments={
+            'namespace': namespace,
+        }.items(),
+    )
+            
+        
+    return LaunchDescription([
+        *declared_args,
+        PushRosNamespace(namespace),
+        controller_launch,
+        hardware_launch,
+    ])

raspbot_v2/src/raspbot_v2_bringup/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>raspbot_v2_bringup</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="matthew@thespencers.me.uk">Matt Spencer</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>