diff --git a/ros2_hexapod/src/hexapod/servo/LICENSE b/ros2_hexapod/src/hexapod/servo/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/ros2_hexapod/src/hexapod/servo/package.xml b/ros2_hexapod/src/hexapod/servo/package.xml new file mode 100644 index 0000000..597278c --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/package.xml @@ -0,0 +1,20 @@ + + + + servo + 0.0.0 + TODO: Package description + wuselfuzz + MIT + + servo_interface + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/ros2_hexapod/src/hexapod/servo/resource/servo b/ros2_hexapod/src/hexapod/servo/resource/servo new file mode 100644 index 0000000..e69de29 diff --git a/ros2_hexapod/src/hexapod/servo/servo/__init__.py b/ros2_hexapod/src/hexapod/servo/servo/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/c1.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/c1.json new file mode 100644 index 0000000..0e35ca5 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/c1.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 591.0714285714287, + "slope": 11.178571428571427 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/c2.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/c2.json new file mode 100644 index 0000000..81263b8 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/c2.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 572.1428571428573, + "slope": 11.595238095238093 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/c3.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/c3.json new file mode 100644 index 0000000..025b711 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/c3.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 558.2142857142858, + "slope": 11.511904761904761 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/c4.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/c4.json new file mode 100644 index 0000000..c4016b9 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/c4.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 641.0714285714287, + "slope": 11.845238095238093 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/c5.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/c5.json new file mode 100644 index 0000000..6ce4809 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/c5.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 578.2142857142858, + "slope": 11.511904761904761 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/c6.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/c6.json new file mode 100644 index 0000000..e332925 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/c6.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 521.0714285714287, + "slope": 11.845238095238093 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/f1.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/f1.json new file mode 100644 index 0000000..b1492d2 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/f1.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 701.4285714285713, + "slope": 10.952380952380953 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/f2.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/f2.json new file mode 100644 index 0000000..f9d2c93 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/f2.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 609.6428571428572, + "slope": 10.892857142857142 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/f3.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/f3.json new file mode 100644 index 0000000..b2002a7 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/f3.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 620.3571428571429, + "slope": 11.202380952380953 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/f4.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/f4.json new file mode 100644 index 0000000..d647717 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/f4.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 746.7857142857143, + "slope": 10.892857142857142 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/f5.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/f5.json new file mode 100644 index 0000000..4be06bd --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/f5.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 705.0000000000002, + "slope": 10.928571428571427 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/f6.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/f6.json new file mode 100644 index 0000000..59c752a --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/f6.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 600.0, + "slope": 10.904761904761903 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/t1.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/t1.json new file mode 100644 index 0000000..a41b55b --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/t1.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 607.4999999999999, + "slope": 10.964285714285715 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/t2.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/t2.json new file mode 100644 index 0000000..259c6be --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/t2.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 682.1428571428572, + "slope": 11.071428571428571 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/t3.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/t3.json new file mode 100644 index 0000000..c7418a2 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/t3.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 806.0714285714287, + "slope": 11.25 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/t4.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/t4.json new file mode 100644 index 0000000..c035a11 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/t4.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 769.6428571428571, + "slope": 10.797619047619047 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/t5.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/t5.json new file mode 100644 index 0000000..adf4cb9 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/t5.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 593.9285714285716, + "slope": 10.94047619047619 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/calibration/t6.json b/ros2_hexapod/src/hexapod/servo/servo/calibration/t6.json new file mode 100644 index 0000000..9a335c7 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/calibration/t6.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 740.7142857142857, + "slope": 11.214285714285715 +} \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/servo_calibration.py b/ros2_hexapod/src/hexapod/servo/servo/servo_calibration.py new file mode 100644 index 0000000..ffbacd3 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/servo_calibration.py @@ -0,0 +1,9 @@ +import pkgutil +import json + +import servo.servo_mapping + +servo_calibration = {} +for label in servo.servo_mapping.servo_mapping: + calibration_data = pkgutil.get_data(__name__, f"calibration/{label}.json") + servo_calibration[label] = json.loads(calibration_data) \ No newline at end of file diff --git a/ros2_hexapod/src/hexapod/servo/servo/servo_mapping.json b/ros2_hexapod/src/hexapod/servo/servo/servo_mapping.json new file mode 100644 index 0000000..eb6bcd5 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/servo_mapping.json @@ -0,0 +1,79 @@ +{ + "t1": { + "address": 64, + "channel": 15 + }, + "f1": { + "address": 64, + "channel": 14 + }, + "c1": { + "address": 64, + "channel": 13 + }, + + "t2": { + "address": 64, + "channel": 11 + }, + "f2": { + "address": 64, + "channel": 10 + }, + "c2": { + "address": 64, + "channel": 9 + }, + + "t3": { + "address": 64, + "channel": 0 + }, + "f3": { + "address": 64, + "channel": 1 + }, + "c3": { + "address": 64, + "channel": 2 + }, + + "t4": { + "address": 65, + "channel": 15 + }, + "f4": { + "address": 65, + "channel": 14 + }, + "c4": { + "address": 65, + "channel": 13 + }, + + "t5": { + "address": 65, + "channel": 4 + }, + "f5": { + "address": 65, + "channel": 5 + }, + "c5": { + "address": 65, + "channel": 6 + }, + + "t6": { + "address": 65, + "channel": 0 + }, + "f6": { + "address": 65, + "channel": 1 + }, + "c6": { + "address": 65, + "channel": 2 + } +} diff --git a/ros2_hexapod/src/hexapod/servo/servo/servo_mapping.py b/ros2_hexapod/src/hexapod/servo/servo/servo_mapping.py new file mode 100644 index 0000000..d33d408 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/servo_mapping.py @@ -0,0 +1,11 @@ +import pkgutil +import json + + +#servo_mapping_filename = "/home/wuselfuzz/hexapod_ng/configuration/servo_mapping.json" + +#with open(servo_mapping_filename, "r") as f: +# servo_mapping = json.load(f) + +servo_mapping_data = pkgutil.get_data(__name__, "servo_mapping.json") +servo_mapping = json.loads(servo_mapping_data) diff --git a/ros2_hexapod/src/hexapod/servo/servo/servo_node.py b/ros2_hexapod/src/hexapod/servo/servo/servo_node.py new file mode 100644 index 0000000..db6fc4d --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/servo/servo_node.py @@ -0,0 +1,93 @@ +import rclpy +import rclpy.node + +import servo_interface.msg + +import servo.servo_mapping +import servo.servo_calibration + +import board +import busio +import adafruit_pca9685 + + +class ServoNode(rclpy.node.Node): + def __init__(self): + super().__init__('servo_node') + self.subscription = self.create_subscription( + servo_interface.msg.SetServo, + 'set_servo', + self.listener_callback, + 10 + ) + + self.i2c = busio.I2C(board.SCL, board.SDA) + + self.pca9685 = {} + self.pwm = {} + + for label in servo.servo_mapping.servo_mapping: + m = servo.servo_mapping.servo_mapping[label] + + address = m['address'] + channel = m['channel'] + + if address not in self.pca9685: + self.get_logger().info(f'Creating PCA9685 object for i2c address {address}') + self.pca9685[address] = adafruit_pca9685.PCA9685(self.i2c, address=address) + self.pca9685[address].frequency = 50 + + self.get_logger().debug(f'Adding {address}:{channel} as {label}') + self.pwm[label] = self.pca9685[address].channels[channel] + + self.calibration = servo.servo_calibration.servo_calibration + self.get_logger().debug(f'Calibration for {label}: {self.calibration[label]}') + + + def listener_callback(self, msg): + self.get_logger().info(f'label: {msg.label} powered: {msg.powered} angle: {msg.angle}') + + if msg.label not in self.pwm: + self.get_logger().warn(f'no pwm channel associated to {msg.label}') + return + + label = msg.label + powered = msg.powered + angle = msg.angle + + pwm_channel = self.pwm[label] + calibration = servo.servo_calibration.servo_calibration[label] + + if angle < 0: + self.get_logger().warn(f'angle must be between 0 and 180: {angle}, forcing 0') + angle = 0 + if angle > 180: + self.get_logger().warn(f'angle must be between 0 and 180: {angle}, forcing 180') + angle = 180 + + + usec = calibration['intercept'] + angle * calibration['slope'] + self.get_logger().info(f'usec: {usec}') + + duty_cycle = int(usec * (0xffff / 20000)) + self.get_logger().info(f'duty_cycle: {duty_cycle}') + + if powered: + pwm_channel.duty_cycle = duty_cycle + else: + pwm_channel.duty_cycle = 0 + + + + + +def main(args=None): + rclpy.init(args=args) + servo_node = ServoNode() + rclpy.spin(servo_node) + servo_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros2_hexapod/src/hexapod/servo/setup.cfg b/ros2_hexapod/src/hexapod/servo/setup.cfg new file mode 100644 index 0000000..b642aa9 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/servo +[install] +install_scripts=$base/lib/servo diff --git a/ros2_hexapod/src/hexapod/servo/setup.py b/ros2_hexapod/src/hexapod/servo/setup.py new file mode 100644 index 0000000..1294694 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'servo' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='wuselfuzz', + maintainer_email='marcus@grieger.xyz', + description='TODO: Package description', + license='MIT', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'servo_node = servo.servo_node:main' + ], + }, +) diff --git a/ros2_hexapod/src/hexapod/servo/test/test_copyright.py b/ros2_hexapod/src/hexapod/servo/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/ros2_hexapod/src/hexapod/servo/test/test_flake8.py b/ros2_hexapod/src/hexapod/servo/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/ros2_hexapod/src/hexapod/servo/test/test_pep257.py b/ros2_hexapod/src/hexapod/servo/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/ros2_hexapod/src/hexapod/servo_interface/CMakeLists.txt b/ros2_hexapod/src/hexapod/servo_interface/CMakeLists.txt new file mode 100644 index 0000000..59d87f9 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo_interface/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.8) +project(servo_interface) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/SetServo.msg" +) + +ament_package() diff --git a/ros2_hexapod/src/hexapod/servo_interface/LICENSE b/ros2_hexapod/src/hexapod/servo_interface/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo_interface/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/ros2_hexapod/src/hexapod/servo_interface/msg/SetServo.msg b/ros2_hexapod/src/hexapod/servo_interface/msg/SetServo.msg new file mode 100644 index 0000000..911d311 --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo_interface/msg/SetServo.msg @@ -0,0 +1,3 @@ +string label +bool powered +float64 angle diff --git a/ros2_hexapod/src/hexapod/servo_interface/package.xml b/ros2_hexapod/src/hexapod/servo_interface/package.xml new file mode 100644 index 0000000..557cd5f --- /dev/null +++ b/ros2_hexapod/src/hexapod/servo_interface/package.xml @@ -0,0 +1,22 @@ + + + + servo_interface + 0.0.0 + TODO: Package description + wuselfuzz + MIT + + ament_cmake + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + +