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This commit is contained in:
Ronaldson Bellande 2024-07-25 23:03:02 -04:00
parent f047386e47
commit e1bdebb248
6 changed files with 111 additions and 77 deletions

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@ -39,13 +39,22 @@ if($ENV{ROS_VERSION} EQUAL 1)
) )
endif() endif()
# Install Python scripts for both ROS 1
if($ENV{ROS_VERSION} EQUAL 1)
catkin_install_python(
PROGRAMS
src/bellande_controller.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
endif()
# Install Python scripts, configuration files, and launch files # Install Python scripts, configuration files, and launch files
if($ENV{ROS_VERSION} EQUAL "1") if($ENV{ROS_VERSION} EQUAL "1")
install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) install(PROGRAMS src/bellande_controller.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config) install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
elseif($ENV{ROS_VERSION} EQUAL "2") elseif($ENV{ROS_VERSION} EQUAL "2")
install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION lib/${PROJECT_NAME}) install(PROGRAMS src/bellande_controller.py DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config) install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch) install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
endif() endif()

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@ -1,61 +0,0 @@
import os
import sys
import subprocess
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def ros1_launch_description():
# Get command-line arguments
args = sys.argv[1:]
# Construct the ROS 1 launch commandi
roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
# Execute the launch command
subprocess.call(roslaunch_command)
def ros2_launch_description():
# Declare launch arguments
x1_arg = DeclareLaunchArgument('x1')
y1_arg = DeclareLaunchArgument('y1')
x2_arg = DeclareLaunchArgument('x2')
y2_arg = DeclareLaunchArgument('y2')
limit_arg = DeclareLaunchArgument('limit')
# Create a list to hold all nodes to be launched
nodes_to_launch = []
# ROS2 specific configurations
ros_launch_arguments = [
x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
]
nodes_to_launch.append(Node(
package='ros_web_api_bellande_step',
executable='bellande_step_api_2d.py',
name='bellande_step_api_2d_node',
output='screen',
parameters=[
{'x1': LaunchConfiguration('x1')},
{'y1': LaunchConfiguration('y1')},
{'x2': LaunchConfiguration('x2')},
{'y2': LaunchConfiguration('y2')},
{'limit': LaunchConfiguration('limit')},
],
))
# Return the LaunchDescription containing all nodes and arguments
return LaunchDescription(ros_launch_arguments + nodes_to_launch)
if __name__ == "__main__":
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
ros1_launch_description()
elif ros_version == "2":
ros2_launch_description()
else:
print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
sys.exit(1)

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@ -0,0 +1,71 @@
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
import os
import sys
import subprocess
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def ros1_launch_description():
# Get command-line arguments
args = sys.argv[1:]
# Construct the ROS 1 launch command
roslaunch_command = ["roslaunch", "ros_web_api_bellande_adaptive_continuious_controller", "bellande_controller.launch"] + args
# Execute the launch command
subprocess.call(roslaunch_command)
def ros2_launch_description():
# Declare launch arguments
setpoint_arg = DeclareLaunchArgument('setpoint')
kp_arg = DeclareLaunchArgument('kp')
ki_arg = DeclareLaunchArgument('ki')
kd_arg = DeclareLaunchArgument('kd')
# Create a list to hold all nodes to be launched
nodes_to_launch = []
# ROS2 specific configurations
ros_launch_arguments = [
setpoint_arg, kp_arg, ki_arg, kd_arg,
]
nodes_to_launch.append(Node(
package='ros_web_api_bellande_adaptive_continuious_controller',
executable='bellande_controller.py',
name='bellande_controller_node',
output='screen',
parameters=[
{'setpoint': LaunchConfiguration('setpoint')},
{'kp': LaunchConfiguration('kp')},
{'ki': LaunchConfiguration('ki')},
{'kd': LaunchConfiguration('kd')},
],
))
# Return the LaunchDescription containing all nodes and arguments
return LaunchDescription(ros_launch_arguments + nodes_to_launch)
if __name__ == "__main__":
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
ros1_launch_description()
elif ros_version == "2":
ros2_launch_description()
else:
print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
sys.exit(1)

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@ -15,18 +15,18 @@ License for the specific language governing permissions and limitations under
the License. the License.
--> -->
<launch> <launch>
<arg name="x1" /> <!-- Define arguments -->
<arg name="y1" /> <arg name="setpoint" default="0" />
<arg name="x2" /> <arg name="kp" default="1.0" />
<arg name="y2" /> <arg name="ki" default="0.1" />
<arg name="limit" /> <arg name="kd" default="0.05" />
<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py" <!-- Launch the BellandeController node -->
name="bellande_step_api_2d_node" output="screen"> <node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller"
<param name="x1" value="$(arg x1)" /> type="bellande_controller.py" output="screen">
<param name="y1" value="$(arg y1)" /> <param name="setpoint" value="$(arg setpoint)" />
<param name="x2" value="$(arg x2)" /> <param name="kp" value="$(arg kp)" />
<param name="y2" value="$(arg y2)" /> <param name="ki" value="$(arg ki)" />
<param name="limit" value="$(arg limit)" /> <param name="kd" value="$(arg kd)" />
</node> </node>
</launch> </launch>

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@ -1,10 +1,25 @@
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
from distutils.core import setup from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml # fetch values from package.xml
setup_args = generate_distutils_setup( setup_args = generate_distutils_setup(
scripts=['src/bellande_step_api_2d.py'], scripts=['src/bellande_controller.py'],
packages=['ros_web_api_bellande_step'], packages=['ros_web_api_bellande_adaptive_continuious_controller'],
package_dir={'': 'src'}, package_dir={'': 'src'},
) )