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Commit 2c8d64aa authored by Paul Bovbel's avatar Paul Bovbel
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Move packages into monorepo for kinetic; strip out ur packages

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.gitignore
View file @ 2c8d64aa
build/
bin/
lib/
msg_gen/
srv_gen/
msg/*Action.msg
msg/*ActionFeedback.msg
msg/*ActionGoal.msg
msg/*ActionResult.msg
msg/*Feedback.msg
msg/*Goal.msg
msg/*Result.msg
msg/_*.py
# Generated by dynamic reconfigure
*.cfgc
/cfg/cpp/
/cfg/*.py
# Ignore generated docs
*.dox
*.wikidoc
# eclipse stuff
.project
.cproject
# qcreator stuff
CMakeLists.txt.user
srv/_*.py
*.pcd
*.pyc
qtcreator-*
*.user
/planning/cfg
/planning/docs
/planning/src
*~
# Emacs
.#*
# Catkin custom files
CATKIN_IGNORE
*.pyc
README.md
View file @ 2c8d64aa
......@@ -8,8 +8,35 @@ real robot operation.
- husky_description : Robot description (URDF)
- husky_msgs : Message definitions
- husky_navigation : Navigation configurations and demos
- husky_ur5_moveit_config : MoveIt configuration and demos
For Husky instructions and tutorials, please see [Robots/Husky](http://wiki.ros.org/Robots/Husky).
To create a custom Husky description or simulation, please fork [husky_customization](https://github.com/husky/husky_customization).
husky_desktop
=============
Desktop ROS packages for the Clearpath Husky, which may pull in graphical dependencies.
- husky_viz : Visualization (rviz) configuration and bringup
For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky
husky_robot
===========
Robot ROS packages for the Clearpath Husky, for operating robot hardware.
- husky_bringup : Bringup launch files and scripts.
- husky_base : Hardware driver for communicating with the onboard MCU.
For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky
husky_simualtor
==============
Simulator ROS packages for the Clearpath Husky.
- husky_gazebo : Gazebo plugin definitions and extensions to the robot URDF.
For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky
husky_base/CHANGELOG.rst 0 → 100644
View file @ 2c8d64aa
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package husky_base
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.2.6 (2016-10-03)
------------------
* Adding support for the UM7 IMU.
* Contributors: Tony Baltovski
0.2.5 (2015-12-31)
------------------
* Fix absolute value to handle negative rollover readings effectively
* Another bitwise fix, now for x86.
* Formatting
* Fix length complement check.
There's a subtle difference in how ~ is implemented in aarch64 which
causes this check to fail. The new implementation should work on x86
and ARM.
* Contributors: Mike Purvis, Paul Bovbel
0.2.4 (2015-07-08)
------------------
0.2.3 (2015-04-08)
------------------
* Integrate husky_customization workflow
* Contributors: Paul Bovbel
0.2.2 (2015-03-23)
------------------
* Fix package urls
* Contributors: Paul Bovbel
0.2.1 (2015-03-23)
------------------
* Add missing dependencies
* Contributors: Paul Bovbel
0.2.0 (2015-03-23)
------------------
* Add UR5_ENABLED envvar
* Contributors: Paul Bovbel
0.1.5 (2015-02-19)
------------------
* Fix duration cast
* Contributors: Paul Bovbel
0.1.4 (2015-02-13)
------------------
* Correct issues with ROS time discontinuities - now using monotonic time source
* Implement a sane retry policy for communication with MCU
* Contributors: Paul Bovbel
0.1.3 (2015-01-30)
------------------
* Update description and maintainers
* Contributors: Paul Bovbel
0.1.2 (2015-01-20)
------------------
* Fix library install location
* Contributors: Paul Bovbel
0.1.1 (2015-01-13)
------------------
* Add missing description dependency
* Contributors: Paul Bovbel
0.1.0 (2015-01-12)
------------------
* Fixed encoder overflow issue
* Ported to ros_control for Indigo release
* Contributors: Mike Purvis, Paul Bovbel, finostro
0.0.5 (2013-10-04)
------------------
* Mark the config directory to install.
0.0.4 (2013-10-03)
------------------
* Parameterize husky port in env variable.
0.0.3 (2013-09-24)
------------------
* Add launchfile check.
* removing imu processing by dead_reckoning.py
* removing dynamic reconfigure from dead_reckoning because it was only there for handling gyro correction
* adding diagnostic aggregator and its related config file under config/diag_agg.yaml
0.0.2 (2013-09-11)
------------------
* Fix diagnostic_msgs dependency.
0.0.1 (2013-09-11)
------------------
* New husky_base package for Hydro, which contains the nodes
formerly in husky_bringup.
husky_base/CMakeLists.txt 0 → 100644
View file @ 2c8d64aa
cmake_minimum_required(VERSION 2.8.3)
project(husky_base)
find_package(catkin REQUIRED COMPONENTS controller_manager hardware_interface husky_msgs
diagnostic_updater roslaunch roslint roscpp sensor_msgs)
find_package(Boost REQUIRED COMPONENTS chrono)
catkin_package(
INCLUDE_DIRS include
LIBRARIES horizon_legacy
CATKIN_DEPENDS diagnostic_updater hardware_interface husky_msgs roscpp sensor_msgs
DEPENDS Boost
)
include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
add_library(horizon_legacy
src/horizon_legacy/crc.cpp
src/horizon_legacy/Logger.cpp
src/horizon_legacy/Message.cpp
src/horizon_legacy/Message_data.cpp
src/horizon_legacy/Message_request.cpp
src/horizon_legacy/Message_cmd.cpp
src/horizon_legacy/Transport.cpp
src/horizon_legacy/Number.cpp
src/horizon_legacy/linux_serial.cpp
)
add_executable(husky_node
src/husky_base.cpp
src/husky_hardware.cpp
src/husky_diagnostics.cpp
src/horizon_legacy_wrapper.cpp)
target_link_libraries(husky_node horizon_legacy ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(husky_node husky_msgs_gencpp)
roslint_cpp(
src/husky_base.cpp
src/husky_hardware.cpp
src/husky_diagnostics.cpp
include/husky_base/husky_diagnostics.h
include/husky_base/husky_hardware.h
)
roslaunch_add_file_check(launch)
install(TARGETS horizon_legacy husky_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(DIRECTORY launch config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
husky_base/config/diagnostics.yaml 0 → 100644
View file @ 2c8d64aa
analyzers:
husky:
type: diagnostic_aggregator/GenericAnalyzer
path: Husky A200
find_and_remove_prefix: 'husky_base: '
expected: ['husky_base: power_status','husky_base: system_status','husky_base: safety_status','husky_base: software_status']
timeout: 5.0
husky_base/include/husky_base/horizon_legacy/Exception.h 0 → 100644
View file @ 2c8d64aa
/**
* _____
* / _ \
* / _/ \ \
* / / \_/ \
* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _
* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | |
* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ |
* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ |
* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_|
* ROBOTICS™
*
* File: Exception.h
* Desc: Provides the clearpath::Exception class, which is the parent class
* for all clearpath exceptions.
* Auth: Iain Peet
*
* Copyright (c) 2010, Clearpath Robotics, Inc.
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Clearpath Robotics, Inc. nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* Please send comments, questions, or patches to skynet@clearpathrobotics.com
*
*/
#ifndef CPR_EXCEPTION_H
#define CPR_EXCEPTION_H
#include <iostream>
namespace clearpath
{
class Exception
{
public:
const char *message;
protected:
Exception(const char *msg = "none") : message(msg)
{
}
};
}; // namespace clearpath
#endif // CPR_EXCEPTION_H
husky_base/include/husky_base/horizon_legacy/Logger.h 0 → 100644
View file @ 2c8d64aa
/**
* _____
* / _ \
* / _/ \ \
* / / \_/ \
* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _
* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | |
* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ |
* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ |
* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_|
* ROBOTICS™
*
* File: Logger.h
* Desc: Provides the Logger singleton which is used within the Clearpath API
* for log / trace message control
* Auth: Iain Peet
*
* Copyright (c) 2010, Clearpath Robotics, Inc.
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Clearpath Robotics, Inc. nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* Please send comments, questions, or patches to skynet@clearpathrobotics.com
*
*/
#ifndef CPR_LOGGER_H
#define CPR_LOGGER_H
#include <iostream>
namespace clearpath
{
class Logger
{
private:
bool enabled;
int level;
std::ostream *stream;
std::ofstream *nullStream; //i.e /dev/null
public:
enum logLevels
{
ERROR_LEV,
EXCEPTION,
WARNING,
INFO,
DETAIL
};
static const char *levelNames[]; // strings indexed by enumeration.
private:
Logger();
~Logger();
void close();
public:
static Logger &instance();
std::ostream &entry(enum logLevels level, const char *file = 0, int line = -1);
void setEnabled(bool enabled);
void setLevel(enum logLevels newLevel);
void setStream(std::ostream *stream);
void hookFatalSignals();
friend void loggerTermHandler(int signal);
};
void loggerTermHandler(int signal);
}; // namespace clearpath
// convenience macros
#define CPR_LOG(level) (clearpath::Logger::instance().entry((level), __FILE__, __LINE__ ))
#define CPR_ERR() CPR_LOG(clearpath::Logger::ERROR)
#define CPR_EXCEPT() (clearpath::Logger::instance().entry(clearpath::Logger::EXCEPTION))
#define CPR_WARN() CPR_LOG(clearpath::Logger::WARNING)
#define CPR_INFO() CPR_LOG(clearpath::Logger::INFO)
#define CPR_DTL() CPR_LOG(clearpath::Logger::DETAIL)
#endif //CPR_LOGGER_H
husky_base/include/husky_base/horizon_legacy/Message.h 0 → 100644
View file @ 2c8d64aa
/**
* _____
* / _ \
* / _/ \ \
* / / \_/ \
* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _
* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | |
* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ |
* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ |
* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_|
* ROBOTICS�
*
* File: Message.h
* Desc: Definition for the Message class. This class represents a
* single message which is sent or received from a platform
* Auth: R. Gariepy, Iain Peet
*
* Copyright (c) 2010, Clearpath Robotics, Inc.
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Clearpath Robotics, Inc. nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* Please send comments, questions, or patches to skynet@clearpathrobotics.com
*
*/
#ifndef CLEARPATH_MESSAGE_H
#define CLEARPATH_MESSAGE_H
#include <iostream>
#include <cstdlib>
#include <stdint.h>
#include "husky_base/horizon_legacy/Exception.h"
namespace clearpath
{
class MessageException : public Exception
{
public:
enum errors
{
ERROR_BASE = 0,
INVALID_LENGTH
};
public:
enum errors type;
MessageException(const char *msg, enum errors ex_type = ERROR_BASE);
};
class Message
{
public:
static const size_t MAX_MSG_LENGTH = 256;
protected:
static const size_t CRC_LENGTH = 2;
static const uint16_t CRC_INIT_VAL = 0xFFFF;
static const size_t HEADER_LENGTH = 12;
// Offsets of fields within data
enum dataOffsets
{
SOH_OFST = 0,
LENGTH_OFST,
LENGTH_COMP_OFST,
VERSION_OFST,
TIMESTAMP_OFST,
FLAGS_OFST = 8,
TYPE_OFST,
STX_OFST = 11,
PAYLOAD_OFST
};
uint8_t data[MAX_MSG_LENGTH];
// Total length (incl. full header & checksum)
size_t total_len;
// Whether this Message has ever been sent by the Transport()
// (Updated by Transport::send())
bool is_sent;
friend class Transport; // Allow Transport to read data and total_len directly
public:
static const size_t MIN_MSG_LENGTH = HEADER_LENGTH + CRC_LENGTH;
static const uint8_t SOH = 0xAA;
static const uint8_t STX = 0x55;
protected:
size_t crcOffset()
{
return total_len - CRC_LENGTH;
};
void setLength(uint8_t len);
void setVersion(uint8_t version);
void setTimestamp(uint32_t timestamp);
void setFlags(uint8_t flags);
void setType(uint16_t type);
uint8_t *getPayloadPointer(size_t offset = 0);
void setPayload(void *buf, size_t buf_size);
void setPayloadLength(uint8_t len);
void makeValid();
public:
Message();
Message(void *input, size_t msg_len);
Message(const Message &other);
Message(uint16_t type, uint8_t *payload, size_t payload_len,
uint32_t timestamp = 0, uint8_t flags = 0, uint8_t version = 0);
virtual ~Message();
void send();
uint8_t getLength(); // as reported by packet length field.
uint8_t getLengthComp();
uint8_t getVersion();
uint32_t getTimestamp();
uint8_t getFlags();
uint16_t getType();
uint16_t getChecksum();
size_t getPayloadLength()
{
return total_len - HEADER_LENGTH - CRC_LENGTH;
}
size_t getPayload(void *buf, size_t max_size);
size_t getTotalLength()
{
return total_len;
}
size_t toBytes(void *buf, size_t buf_size);
bool isValid(char *whyNot = NULL, size_t strLen = 0);
bool isCommand()
{
return getType() < 0x4000;
}
bool isRequest()
{
return (getType() >= 0x4000) && (getType() < 0x8000);
}