ros2 driver initial commit

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.

ros2_hexapod/src/hexapod/servo/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>servo</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="marcus@grieger.xyz">wuselfuzz</maintainer>
+  <license>MIT</license>
+
+  <depend>servo_interface</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2_hexapod/src/hexapod/servo/servo/calibration/c1.json

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+{
+    "description": "",
+    "intercept": 591.0714285714287,
+    "slope": 11.178571428571427
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/c2.json

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+{
+    "description": "",
+    "intercept": 572.1428571428573,
+    "slope": 11.595238095238093
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/c3.json

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+{
+    "description": "",
+    "intercept": 558.2142857142858,
+    "slope": 11.511904761904761
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/c4.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 641.0714285714287,
+    "slope": 11.845238095238093
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/c5.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 578.2142857142858,
+    "slope": 11.511904761904761
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/c6.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 521.0714285714287,
+    "slope": 11.845238095238093
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/f1.json

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+{
+    "description": "",
+    "intercept": 701.4285714285713,
+    "slope": 10.952380952380953
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/f2.json

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+{
+    "description": "",
+    "intercept": 609.6428571428572,
+    "slope": 10.892857142857142
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/f3.json

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+{
+    "description": "",
+    "intercept": 620.3571428571429,
+    "slope": 11.202380952380953
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/f4.json

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+{
+    "description": "",
+    "intercept": 746.7857142857143,
+    "slope": 10.892857142857142
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/f5.json

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+{
+    "description": "",
+    "intercept": 705.0000000000002,
+    "slope": 10.928571428571427
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/f6.json

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+{
+    "description": "",
+    "intercept": 600.0,
+    "slope": 10.904761904761903
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/t1.json

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+{
+    "description": "",
+    "intercept": 607.4999999999999,
+    "slope": 10.964285714285715
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/t2.json

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+{
+    "description": "",
+    "intercept": 682.1428571428572,
+    "slope": 11.071428571428571
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/t3.json

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+{
+    "description": "",
+    "intercept": 806.0714285714287,
+    "slope": 11.25
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/t4.json

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+{
+    "description": "",
+    "intercept": 769.6428571428571,
+    "slope": 10.797619047619047
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/t5.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 593.9285714285716,
+    "slope": 10.94047619047619
+}

ros2_hexapod/src/hexapod/servo/servo/calibration/t6.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 740.7142857142857,
+    "slope": 11.214285714285715
+}

ros2_hexapod/src/hexapod/servo/servo/servo_calibration.py

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+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)

ros2_hexapod/src/hexapod/servo/servo/servo_mapping.json

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+{
+    "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
+    }
+}

ros2_hexapod/src/hexapod/servo/servo/servo_mapping.py

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+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)

ros2_hexapod/src/hexapod/servo/servo/servo_node.py

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+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()

ros2_hexapod/src/hexapod/servo/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/servo
+[install]
+install_scripts=$base/lib/servo

ros2_hexapod/src/hexapod/servo/setup.py

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+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'
+        ],
+    },
+)

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'

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)

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'

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(<dependency> 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()

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.

ros2_hexapod/src/hexapod/servo_interface/msg/SetServo.msg

@@ -0,0 +1,3 @@
+string 	label
+bool 	powered
+float64 angle

ros2_hexapod/src/hexapod/servo_interface/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>servo_interface</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="marcus@grieger.xyz">wuselfuzz</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>