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@ -39,13 +39,22 @@ if($ENV{ROS_VERSION} EQUAL 1)
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)
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endif()
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# Install Python scripts for both ROS 1
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if($ENV{ROS_VERSION} EQUAL 1)
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catkin_install_python(
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PROGRAMS
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src/bellande_controller.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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endif()
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# Install Python scripts, configuration files, and launch files
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if($ENV{ROS_VERSION} EQUAL "1")
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install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(PROGRAMS src/bellande_controller.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
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install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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elseif($ENV{ROS_VERSION} EQUAL "2")
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install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS src/bellande_controller.py DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
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install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
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endif()
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@ -1,61 +0,0 @@
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
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# Construct the ROS 1 launch commandi
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roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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# Declare launch arguments
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x1_arg = DeclareLaunchArgument('x1')
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y1_arg = DeclareLaunchArgument('y1')
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x2_arg = DeclareLaunchArgument('x2')
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y2_arg = DeclareLaunchArgument('y2')
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limit_arg = DeclareLaunchArgument('limit')
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# Create a list to hold all nodes to be launched
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nodes_to_launch = []
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# ROS2 specific configurations
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ros_launch_arguments = [
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x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
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]
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nodes_to_launch.append(Node(
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package='ros_web_api_bellande_step',
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executable='bellande_step_api_2d.py',
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name='bellande_step_api_2d_node',
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output='screen',
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parameters=[
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{'x1': LaunchConfiguration('x1')},
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{'y1': LaunchConfiguration('y1')},
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{'x2': LaunchConfiguration('x2')},
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{'y2': LaunchConfiguration('y2')},
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{'limit': LaunchConfiguration('limit')},
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],
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))
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# Return the LaunchDescription containing all nodes and arguments
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return LaunchDescription(ros_launch_arguments + nodes_to_launch)
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if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -0,0 +1,71 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
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# Construct the ROS 1 launch command
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roslaunch_command = ["roslaunch", "ros_web_api_bellande_adaptive_continuious_controller", "bellande_controller.launch"] + args
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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# Declare launch arguments
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setpoint_arg = DeclareLaunchArgument('setpoint')
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kp_arg = DeclareLaunchArgument('kp')
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ki_arg = DeclareLaunchArgument('ki')
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kd_arg = DeclareLaunchArgument('kd')
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# Create a list to hold all nodes to be launched
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nodes_to_launch = []
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# ROS2 specific configurations
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ros_launch_arguments = [
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setpoint_arg, kp_arg, ki_arg, kd_arg,
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]
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nodes_to_launch.append(Node(
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package='ros_web_api_bellande_adaptive_continuious_controller',
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executable='bellande_controller.py',
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name='bellande_controller_node',
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output='screen',
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parameters=[
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{'setpoint': LaunchConfiguration('setpoint')},
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{'kp': LaunchConfiguration('kp')},
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{'ki': LaunchConfiguration('ki')},
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{'kd': LaunchConfiguration('kd')},
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],
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))
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# Return the LaunchDescription containing all nodes and arguments
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return LaunchDescription(ros_launch_arguments + nodes_to_launch)
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if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -15,18 +15,18 @@ License for the specific language governing permissions and limitations under
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the License.
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-->
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<launch>
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<arg name="x1" />
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<arg name="y1" />
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<arg name="x2" />
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<arg name="y2" />
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<arg name="limit" />
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<!-- Define arguments -->
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<arg name="setpoint" default="0" />
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<arg name="kp" default="1.0" />
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<arg name="ki" default="0.1" />
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<arg name="kd" default="0.05" />
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<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
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name="bellande_step_api_2d_node" output="screen">
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<param name="x1" value="$(arg x1)" />
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<param name="y1" value="$(arg y1)" />
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<param name="x2" value="$(arg x2)" />
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<param name="y2" value="$(arg y2)" />
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<param name="limit" value="$(arg limit)" />
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<!-- Launch the BellandeController node -->
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<node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller"
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type="bellande_controller.py" output="screen">
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<param name="setpoint" value="$(arg setpoint)" />
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<param name="kp" value="$(arg kp)" />
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<param name="ki" value="$(arg ki)" />
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<param name="kd" value="$(arg kd)" />
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</node>
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</launch>
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@ -1,10 +1,25 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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from distutils.core import setup
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from catkin_pkg.python_setup import generate_distutils_setup
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# fetch values from package.xml
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setup_args = generate_distutils_setup(
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scripts=['src/bellande_step_api_2d.py'],
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packages=['ros_web_api_bellande_step'],
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scripts=['src/bellande_controller.py'],
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packages=['ros_web_api_bellande_adaptive_continuious_controller'],
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package_dir={'': 'src'},
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)
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