Revert to the previous state

Signed-off-by: Reiji Nakano <[email protected]>

Restored to the latest state due to data loss.

Signed-off-by: kozenikanta <[email protected]>

Organize directory structure due to inconsistencies

Signed-off-by: kozenikanta <[email protected]>

Made changes for the pull request

Signed-off-by: Reiji Nakano <[email protected]>

change can_all_node to cabot_can_node

Signed-off-by: Daisuke Sato <[email protected]>

Remove unnecessary variables

Signed-off-by: kozenikanta <[email protected]>

cabot_base/launch/cabot3.launch.py

@@ -456,7 +456,7 @@ def has_flag(flag_name):
             ),
             Node(
                 package='cabot_can',
-                executable='can_all_node',
+                executable='cabot_can_node',
                 namespace='/cabot',
                 name='cabot_can',
                 output=output,

cabot_can/CMakeLists.txt

@@ -10,11 +10,34 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+add_executable(cabot_can_node
+  src/cabot_can_node.cpp
+)
+ament_target_dependencies(cabot_can_node
+  diagnostic_updater
+  rclcpp
+  std_msgs
+  sensor_msgs
+  std_srvs
+)
 
-add_executable(can_all_node src/can_all_node.cpp)
-ament_target_dependencies(can_all_node rclcpp std_msgs sensor_msgs std_srvs)
+if(BUILD_TESTING)
+  find_package(ament_cmake_copyright REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(ament_cmake_xmllint REQUIRED)
 
-install(TARGETS can_all_node
+  set(MAX_LINE_LENGTH 200)
+  ament_copyright()
+  ament_cpplint(MAX_LINE_LENGTH ${MAX_LINE_LENGTH})
+  ament_lint_cmake()
+  ament_uncrustify(MAX_LINE_LENGTH ${MAX_LINE_LENGTH})
+  ament_xmllint()
+endif()
+
+install(TARGETS cabot_can_node
   DESTINATION lib/${PROJECT_NAME})
 
 ament_package()

cabot_can/README.md

@@ -0,0 +1,36 @@
+# cabot_can
+## Node
+- cabot_can_node
+### Services
+- **run_imu_calibration** (std_srvs::srv::Trigger)
+    - This service will publish data from '/calibration' by sending the service if all 4 bits of the data received from CAN ID: 037 are equal to 3.
+### Parameters
+- **publish_rate** (int) - default=`200`
+    - publish_rate
+- **can_interface** (string) - default=`can0`
+    - can interface numberinterface
+- **imu_frame_id** (string) - default=`imu_frame`
+    - imu frame id
+- **calibration_params** (int[22]) - default=`(22,0)`
+    - Can be set by setting parameters in calibration_params of params.yaml
+### Publishers
+- **/calibration** (int[22]): only publishes values when `/run_imu_calibration` is true
+- **/imu** (sensor_msgs/msg/Imu): IMU data - 100Hz
+- **/pressure**,**/bme/pressure** (sensor_msgs/msg/FluidPressure): Pressure data - 2Hz
+- **/pushed** (std_msgs/msg/Int8): button status (bit0-4 represents each button) - 50Hz
+- **/temparature_1**,**/temparature_2**,**/temparature_3**,**/temparature_4**,**/temparature_5**,**/bme/temperature**(sensor_msgs/msg/Temperature): Temperature data - 2Hz
+- **/touch**, (std_msgs/msg/Int16): `1` if touched else `0`,
+TOF Sensor and Capacitive Sensor Integration - 50Hz
+- **/capacitive/touch**(std_msgs/msg/Int16): `1` if touched else `0`, Capacitive sensor's - 50Hz
+- **/tof/touch**(std_msgs/msg/Int16): `1` if touched else `0`, Tof sensor's - 50Hz
+- **/capacitive/touch_raw** (std_msgs/msg/Int16): capacitive sensor's raw value (for debug) - 50Hz
+- **/tof/touch_raw** (std_msgs/msg/Int16): tof sensor's raw value (for debug) - 50Hz
+- **/wifi** (std_msgs/msg/String): wifi scan string - depends on how often WiFi signal is scanned
+- **/servo_pos** (std_msgs/msg/Int16): current position of directional indicator - 50Hz
+### Subscribers
+- **/vibrator1** (std_msgs/msg/UInt8): front
+- **/vibrator3** (std_msgs/msg/UInt8): left
+- **/vibrator4** (std_msgs/msg/UInt8): right
+    - if you publish a `value`, it vibrates corresponding vibrator for `value` x 10 milliseconds (0 - 2550 milliseconds)
+- **/servo_target** (std_msgs/msg/Int16): if you publish a `value`, it rotates directional indicator (value: -179 ~ +179)
+- **/servo_free** (std_msgs/msg/Bool): `false` -> set free, `true` -> no operation

cabot_can/config/params.yaml

@@ -0,0 +1,7 @@
+cabot_can_node:
+  ros__parameters:
+    calibration_params : [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+    can_interface : "can0"
+    publish_rate : 200
+    imu_frame_id : "imu_frame"
+    #vibrator_power : 100