add remote manager

naviton/nvt_core/config/planning/planner/dwa_planner_remote.yaml

@@ -0,0 +1,38 @@
+frequency: 20.0
+
+# ROS params
+local_goal_topic: /naviton/waypoint/wpManager/nowWpPose_local
+local_map_topic: /naviton/planning/costmap/obstacle_costmap_generator/local_costmap
+odom_topic: /naviton/mobile_base_controller/odom
+
+cmd_vel_topic: /naviton/mobile_base_controller/cmd_vel/ros
+
+publish_trajectory: true
+#trajectory_topic: 
+
+# DWA params
+target_velocity: 0.0
+
+velocity_resolution: 16
+yawrate_resolution: 16
+
+predict_time: 4.0
+
+error_cost_gain: 10.0
+speed_cost_gain: 0.0
+costmap_cost_gain: 0.0
+
+obstacle_distance_threshould: 0.6 # [m]
+
+# Robot params
+min_linear_speed  : 0.15
+min_angular_speed : 0.33
+min_velocity      : -0.15
+max_velocity      : 0.7
+
+min_yawrate       : 0.3
+max_yawrate       : 0.8
+
+max_d_yawrate     : 4.5
+
+max_acceleration  : 3.5

naviton/nvt_core/launch/include/planning_remote.launch

@@ -0,0 +1,28 @@
+<launch>
+
+    <!-- ======== Parameters ======== -->
+    <arg name="param_file_obstacle_costmap_generator" default="$(find nvt_core)/config/planning/costmap/obstacle_costmap_generator.yaml" />
+    <arg name="param_file_dwa_planner" default="$(find nvt_core)/config/planning/planner/dwa_planner_remote.yaml" />
+
+    <!-- ======== Planning ======== -->
+    <group ns="planning">
+
+        <!-- ======== Costmap ======== -->
+        <group ns="costmap">
+            <!-- Obstacle Costmap Generator -->
+            <include file="$(find obstacle_costmap_generator)/launch/obstacle_costmap_generator.launch">
+                <arg name="param_file" value="$(arg param_file_obstacle_costmap_generator)" />
+            </include>
+        </group>
+
+        <!-- ======== Planner ======== -->
+        <group ns="planner">
+            <!-- DWA Planner -->
+            <include file="$(find nvt_dwa_planner)/launch/dwa_planner.launch">
+                <arg name="param_file" value="$(arg param_file_dwa_planner)" />
+            </include>
+        </group>
+
+    </group>
+
+</launch>

naviton/nvt_core/launch/include/remote_manager.launch

@@ -0,0 +1,5 @@
+<launch>
+
+    <include file="$(find remote_manager)/launch/main.launch" />
+
+</launch>

naviton/nvt_core/launch/main.launch

@@ -4,6 +4,7 @@
     <!-- Mode-->
     <arg name="sim" default="true" />
     <arg name="mode" default="true" />    <!-- false: Recording, true: Tracking -->
+    <arg name="remote" default="false" />
 
     <!-- Basic -->
     <arg name="model" default="naviton" />
@@ -56,7 +57,15 @@
             <node pkg="nvt_core" type="launch_delayed.sh" args="5 roslaunch nvt_core perception.launch" name="nvt_perception" output="screen" />
 
             <!-- ======== Planning ======== -->
+            <group unless="$(arg remote)">
             <node pkg="nvt_core" type="launch_delayed.sh" args="5 roslaunch nvt_core planning.launch" name="nvt_planning" output="screen" />
+            </group>
+            <group if="$(arg remote)">
+                <node pkg="nvt_core" type="launch_delayed.sh" args="5 roslaunch nvt_core planning_remote.launch" name="nvt_planning" output="screen" />
+
+                <!-- ======== Remote Manager ======== -->
+                <include file="$(find remote_manager)/launch/main.launch" />    
+            </group>
 
             <!-- ======== Core ======== -->
             <node pkg="nvt_core" type="launch_delayed.sh" args="5 roslaunch nvt_core core.launch" name="nvt_core" output="screen" />

remote_manager/CMakeLists.txt

@@ -0,0 +1,211 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(remote_manager)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+  geometry_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES remote_manager
+ CATKIN_DEPENDS roscpp std_msgs geometry_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/remote_manager.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/remote_manager_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+# RemoteManager
+set(HEADERS include/remote_manager/remote_manager.h)
+add_executable(remote_manager_node src/remote_manager src/nodes/remote_manager_node)
+target_link_libraries(remote_manager_node ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_remote_manager.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

remote_manager/include/remote_manager/remote_manager.h

@@ -0,0 +1,51 @@
+#ifndef REMOTE_MANAGER_H
+#define REMOTE_MANAGER_H
+
+#include <ros/ros.h>
+#include <time.h>
+
+#include <geometry_msgs/Twist.h>
+
+#include <std_msgs/Int32.h>
+#include <std_msgs/Bool.h>
+
+class RemoteManager
+{
+    public:
+        RemoteManager(ros::NodeHandle &nh, ros::NodeHandle &pn);
+        void init();
+        void update();
+
+        void Drive(const geometry_msgs::Twist& cmd_vel_used);
+        void Stop();
+        void Pause();
+        // void Accelerate();
+        // void DecelerateStop();
+
+        void cmd_vel_ros_cb(const geometry_msgs::Twist& ros_msg);
+        void cmd_vel_remote_cb(const geometry_msgs::Twist& remote_msg);
+        void emg_switch_cb(const std_msgs::Bool& emg_msg);
+        void mode_switch_cb(const std_msgs::Int32& mode_msg);
+
+    private:
+        ros::Subscriber _cmd_vel_ros_sub;
+        ros::Subscriber _cmd_vel_remote_sub;
+        ros::Subscriber _emg_switch_sub;
+        ros::Subscriber _mode_switch_sub;
+        ros::Publisher _cmd_vel_pub;
+
+        geometry_msgs::Twist _cmd_vel_ros;
+        geometry_msgs::Twist _cmd_vel_remote;
+        bool _emg_switch;
+        int _mode_switch;
+        geometry_msgs::Twist _cmd_vel;
+
+        const geometry_msgs::Twist cmd_vel_zero;
+
+        bool _cmd_vel_ros_updated;
+        bool _cmd_vel_remote_updated;
+        bool _emg_switch_updated;
+        bool _mode_switch_updated;
+};
+
+#endif

remote_manager/launch/main.launch

@@ -0,0 +1,7 @@
+<launch>
+    <!-- Remote Manager -->      
+    <node name="remote_manager" pkg="remote_manager" type="remote_manager_node" output="screen" /> 
+
+    <!-- MQTT Communication -->
+    <include file="$(find mqtt_client)/launch/standalone.launch"/>
+</launch>