Merge branch 'main'

Signed-off-by: Masayuki Murata <[email protected]>

.gitignore

@@ -1,3 +1,4 @@
 .env
+cabot-base
 cabot-common
 cabot-description

dependency-override.repos

@@ -0,0 +1,11 @@
+#
+# this file is used by -o option of setup-dependency.repos (alternative option of deprecated -s option)
+# it is intended to use only for multi-repos dependency updates
+# developer can commit this file, but it may cause conflict during merge
+# 
+
+repositories:
+  cabot-common:
+    type: git
+    url: https://github.com/CMU-cabot/cabot-common
+    version: daisukes/separate-common-and-base

dependency-release.repos

@@ -0,0 +1,13 @@
+repositories:
+  cabot-common:
+    type: git
+    url: https://github.com/CMU-cabot/cabot-common
+    version: a5f2524ef5ff3537aa1ce63f2c04f98f309fae15
+  cabot-description:
+    type: git
+    url: https://github.com/CMU-cabot/cabot-description
+    version: 12e472d5c70b6e6149b962cf52e084e1f1f379a2
+  docker/driver/ros_odrive:
+    type: git
+    url: https://github.com/CMU-cabot/ros_odrive.git
+    version: 0a3cc6e8e94388eeebb7b80841df6f9e70ceaffd

docker-compose-base.yaml

@@ -63,7 +63,6 @@ services:
 # code from dependencies
       - ./cabot-common/cabot_common:/home/developer/driver_ws/src/cabot_common
       - ./cabot-common/cabot_msgs:/home/developer/driver_ws/src/cabot_msgs
-      - ./cabot-common/docker/humble-custom/people:/home/developer/driver_ws/src/people
       - ./cabot-description/cabot_description:/home/developer/driver_ws/src/cabot_description
 # code
       - ./cabot_base:/home/developer/driver_ws/src/cabot_base

docker/driver/Dockerfile

@@ -130,7 +130,6 @@ USER $USERNAME
 
 COPY --from=src ./cabot-common/cabot_common $HOME/driver_ws/src/cabot_common
 COPY --from=src ./cabot-common/cabot_msgs $HOME/driver_ws/src/cabot_msgs
-COPY --from=src ./cabot-common/docker/humble-custom/people $HOME/driver_ws/src/people
 COPY --from=src ./cabot-description/cabot_description $HOME/driver_ws/src/cabot_description
 COPY --from=src ./cabot_base $HOME/driver_ws/src/cabot_base
 COPY --from=src ./cabot_serial $HOME/driver_ws/src/cabot_serial

power_controller/power_controller_kx/src/power_controller.cpp

@@ -66,11 +66,10 @@ class PowerController : public rclcpp::Node
     // number of batteries
     this->declare_parameter<int>("number_of_batteries", 4);
     this->declare_parameter<std::string>("can_interface", "can0");
-    this->declare_parameter<int>("low_temperature", 25);
-    this->declare_parameter<int>("high_temperature", 50);
-    this->declare_parameter<int>("max_fan", 100);
-    this->declare_parameter<int>("min_fan", 10);
-    this->declare_parameter<float>("temperature_to_fan", (20 / 11.0));
+    this->declare_parameter<float>("low_temperature", 25.0);
+    this->declare_parameter<float>("high_temperature", 50.0);
+    this->declare_parameter<float>("max_fan", 100.0);
+    this->declare_parameter<float>("min_fan", 40.0);
     // service
     service_server_24v_odrive_ = this->create_service<std_srvs::srv::SetBool>(
       "set_24v_power_odrive",
@@ -315,7 +314,6 @@ class PowerController : public rclcpp::Node
     id_ = CanId::fan_id;
     double d_pwm = data_ * DUTY;
     uint8_t pwm = static_cast<uint8_t>(std::round(d_pwm));
-    RCLCPP_WARN(this->get_logger(), ANSI_COLOR_CYAN "pwm is %d", pwm);
     std::memcpy(&send_can_value_, &pwm, sizeof(bool));
     send_can_value_list_.push_back({id_, send_can_value_});
     mtx_.unlock();
@@ -324,10 +322,7 @@ class PowerController : public rclcpp::Node
   {
     std_msgs::msg::UInt8 fan_msg;
     double framos_temperature = temp_msg.temperature;
-    RCLCPP_WARN(this->get_logger(), ANSI_COLOR_CYAN "temperature is %f", framos_temperature);
-    int HIGHTEMPERATURE, LOWTEMPERATURE, MINFAN, MAXFAN;
-    float TEMPERATURETOFAN;
-    this->get_parameter("temperature_to_fan", TEMPERATURETOFAN);
+    float TEMPERATURETOFAN, HIGHTEMPERATURE, LOWTEMPERATURE, MINFAN, MAXFAN;
     this->get_parameter("high_temperature", HIGHTEMPERATURE);
     this->get_parameter("low_temperature", LOWTEMPERATURE);
     this->get_parameter("min_fan", MINFAN);
@@ -337,7 +332,9 @@ class PowerController : public rclcpp::Node
     } else if (framos_temperature <= LOWTEMPERATURE) {
       fan_msg.data = MINFAN;
     } else {
-      fan_msg.data = framos_temperature * TEMPERATURETOFAN;
+      float slope = (MAXFAN - MINFAN) / (HIGHTEMPERATURE - LOWTEMPERATURE);
+      float intercept = MAXFAN - (HIGHTEMPERATURE * slope);
+      fan_msg.data = framos_temperature * slope + intercept;
     }
     fan_publisher_->publish(fan_msg);
   }
@@ -360,7 +357,6 @@ class PowerController : public rclcpp::Node
     }
     send_can_value_list_.pop_front();
     mtx_.unlock();
-    RCLCPP_WARN(this->get_logger(), ANSI_COLOR_CYAN "send data");
   }
   float convertUnit(uint16_t data, bool temperature_flag = false)
   {

setup-dependency.sh

@@ -26,39 +26,61 @@ function blue {
     echo -en "\033[0m"  ## reset color
 }
 
+
 function help {
     echo "Usage: $0 <option>"
     echo ""
     echo "-h                    show this help"
     echo "-c                    clean (rm -rf) dependency repositories"
-    echo "-n <count>            max count for recursive check (default=2)"
+    echo "-n <count>            max count for recursive check (default=3)"
     echo "-r                    update depedency-release.repos"
-    echo "-s <sed cmd>          apply sed to dependency.repos file with the command"
+    echo "-d                    use dependency.repos and dependency-dev.repos not dependency-release.repos"
+    echo "-o                    use dependency-override.repos"
+    echo "-s                    **DEPRECATED** use -o option instead"
+    echo ""
+    echo "# dependency.repos          # refer sub repos by mainly branches, cyclic"
+    echo "# dependency-override.repos # override dependency.repos for dev branches (you can commit)"
+    echo "# dependency-release.repose # freezed one, including all sub-sub repos, non-cyclic"
+    echo ""
+    echo "example"
+    echo "$0                  # most common"
+    echo "$0 -d               # for development"
+    echo ""
+    echo "edit dependency-override.repos  # override reuqired repos branches"
+    echo "$0 -d -o            # use dependency.repos overwritten by dependency-override.repos"
 }
 
 clean=0
 count=3
 release=0
-sed_cmd=
+development=0
+override=0
 
-while getopts "hcn:rs:" arg; do
+while getopts "hcdn:or" arg; do
     case $arg in
-	h)
-	    help
-	    exit
-	    ;;
-	c)
-	    clean=1
-	    ;;
-	n)
-	    count=$OPTARG
-	    ;;
-	r)
-	    release=1
-	    ;;
-	s)
-	    sed_cmd=$OPTARG
-	    ;;
+        h)
+            help
+            exit
+            ;;
+        c)
+            clean=1
+            ;;
+        d)
+            development=1
+            ;;
+        n)
+            count=$OPTARG
+            ;;
+        o)
+            override=1
+            ;;
+        r)
+            release=1
+            ;;
+        *)
+            help
+            exit
+            ;;
     esac
 done
 
@@ -72,23 +94,25 @@ fi
 
 
 if [[ $clean -eq 1 ]]; then
-	pwd=$(pwd)
+    pwd=$(pwd)
     find * -name ".git" | while read -r line; do
-		pushd $line/../
-		if git diff --quiet && ! git ls-files --others --exclude-standard | grep -q .; then
-			echo "rm -rf $pwd/$(dirname $line)"
-			#rm -rf $pwd/$(dirname $line)
-		else
-			blue "There are unstaged/untracked changes in $line"
-		fi
-		popd
+        if [[ -d $line/../ ]]; then
+            pushd $line/../
+            if git diff --quiet && ! git ls-files --others --exclude-standard | grep -q .; then
+                echo "rm -rf $pwd/$(dirname $line)"
+                rm -rf $pwd/$(dirname $line)
+            else
+                blue "There are unstaged/untracked changes in $line"
+            fi
+            popd
+        fi
     done
     exit
 fi
 
 
 ## for release
-if [[ -e dependency-release.repos ]]; then
+if [[ -e dependency-release.repos ]] && [[ $development -eq 0 ]]; then
     echo "setup dependency from release"
     vcs import < dependency-release.repos
     exit
@@ -100,32 +124,30 @@ declare -A visited
 
 for (( i=1; i<=count; i++ ))
 do
-    files=$(find . -name "dependency.repos")
+    files=$(find . -name "dependency.repos" | awk '{print length, $0}' | sort -n | cut -d' ' -f2-)
 
     flag=0
     for line in ${files[@]}; do
-	if [[ -z ${visited[$line]} ]]; then
-	    flag=1
-	    visited[$line]=1
-
-	    temp_file=$(mktemp)
-	    echo "Temporary file created: $temp_file"
-	    cat $line > $temp_file
-	    if [[ ! -z $sed_cmd ]]; then
-		com="sed -i '$sed_cmd' $temp_file"
-		echo $com
-		eval $com
-		if [[ $? -ne 0 ]]; then
-		    exit 1
-		fi
-	    fi
-	    blue "$(dirname $line)/ vcs import < $temp_file"
-	    pushd $(dirname $line)
-	    vcs import < $temp_file
-	    popd
-	fi
+        if [[ -z ${visited[$line]} ]]; then
+            flag=1
+            visited[$line]=1
+
+            temp_file=$(mktemp)
+            echo "Temporary file created: $temp_file"
+            cat $line > $temp_file
+            if [[ $override -eq 1 ]]; then
+                override_file=${line/.repos/-override.repos}
+                if [[ -e $override_file ]]; then
+                    cat $override_file | sed s/repositories:// >> $temp_file
+                fi
+            fi
+            blue "$(dirname $line)/ vcs import < $temp_file"
+            pushd $(dirname $line)
+            vcs import < $temp_file
+            popd
+        fi
     done
     if [[ $flag -eq 0 ]]; then
-	break
+        break
     fi
 done