description pkg working

README.md

@@ -3,62 +3,45 @@
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 ## Overview
-
 ROS device driver for the scanCONTROL series of laser line scanners of Micro Epsilon using the [scanCONTROL Linux C++ SDK 1.0]. The driver allows to connect to a (specific) scanCONTROL device, configure the sensor using predefined settings or at runtime and publishes the sensor data as point clouds. 
 
-**Author: D. Kroezen, E. Bernardi<br />
-Affiliation: [SAM XL](https://samxl.com/), [TU Delft](https://tudelft.nl/)<br />
-Maintainer: D. Kroezen, [email protected]**
+Author: **D. Kroezen** \
+Affiliation: [SAM XL](https://samxl.com/), [TU Delft](https://tudelft.nl/) \
+Maintainers: 
+**D. Kroezen, [email protected]**
+**E. Brnardi, [email protected]**
+
+> [!WARNING]  
+> This micro_epsilon_scancontrol package branch **is under development** for [ROS2 Humble](https://docs.ros.org/en/humble/index.html) and Ubuntu 22.04 Jammy!
 
-The micro_epsilon_scancontrol package has been tested under [ROS2 Humble](https://docs.ros.org/en/humble/index.html) and Ubuntu 22.04.3 Jammy LTS.
 
 ## Installation
 
 #### Dependencies
-
 - [Aravis 0.8.x](https://github.com/AravisProject/aravis/releases) [[docs]](https://aravisproject.github.io/aravis/)
 - [scanCONTROL Linux C++ SDK 1.0.x](https://www.micro-epsilon.com/2D_3D/laser-scanner/Software/downloads/) 
 
 #### Building
+To build from source, clone the latest version from this repository into your workspace and compile the package:
 
-To build from source, clone the latest version from this repository into your catkin workspace and compile the package using:
-
-	cd catkin_ws/src
-	git clone https://github.com/sam-xl/micro_epsilon_scancontrol.git
-	cd ../
-	catkin build
-
-
-<!-- ### Unit Tests
-
-Run the unit tests with
-
-	catkin_make run_tests_ros_package_template
- -->
-
-## Usage
-
-Run the main driver node with:
-
-	roslaunch micro_epsilon_scancontrol_driver load_driver.launch
-
-<!-- ## Config files
-
-* **partial_profile.yaml** Configure custom partial profile settings at start-up. The default values only extract the xyz values from the measurement buffer. Adjust at your own risk! 
-	- start_point: 
-	- start_point_data: 
-	- point_count - Number of data points, defaults to -1 (Inherit from resolution)
-	- data_width:  -->
-
-## Launch files
-
-* **driver.launch:** Launch a single scanCONTROL driver node and the configuration window. 
-<!-- 
-     Arguments
-
-     - **`show_rqt_plugin`** Display the rqt plugin to reconfigure the sensor on start-up. Default: `true`. -->
+```bash
+mkdir -p ros2_ws/src && cd ros2_ws/src
+git clone https://github.com/sam-xl/micro_epsilon_scancontrol.git -b ros2-devel
+cd ..
+colcon build
+```
 
 ## Nodes
+### scancontrol_description_node
+Visualise the scanCONTROL models
+```bash
+ros2 launch micro_epsilon_scancontrol_description load_scancontrol.launch.py
+```
+
+Possible models passed as arguments with `scancontrol_type:=`
+- `scancontrol_26x0_29x0_25.xacro` (default)
+- `scancontrol_27x0_100.xacro`
+- `scancontrol_30xx_25.xacro`
 
 ### scancontrol_driver_node
 
@@ -72,7 +55,8 @@ The scancontrol_driver_node connects to the scanCONTROL device and allows contro
 
 
 #### Services
-Most servives are wrappers of the scanCONTROL API. For more information on the available settings and values see the documentation as part of the [scanCONTROL Linux C++ SDK 0.2](https://www.micro-epsilon.com/2D_3D/laser-scanner/Software/downloads/). The rqt plugin uses these services to change the settings during runtime. 
+Most servives are wrappers of the scanCONTROL API.
+The rqt plugin uses these services to change the settings during runtime. 
 
 * **`~set_feature`** ([micro_epsilon_scancontrol_msgs/SetFeature])
 

micro_epsilon_scancontrol_description/launch/load_scancontrol.launch.py

@@ -1,47 +1,102 @@
+# Copyright 2023 SAM XL (Eugenio Bernardi)
+#
+# 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 launch import LaunchDescription
-from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import (
+    LaunchConfiguration,
+    Command,
+    PathJoinSubstitution,
+    FindExecutable,
+)
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 import os
 
-# Declare an argument for the URDF file
-args =[ 
-    DeclareLaunchArgument(
-        'model',
-        default_value='scancontrol_26x0_29x0_25.macro.xacro',
-        description='URDF file to visualize'
-        ),
-]
 
 def generate_launch_description():
+    declared_arguments = []
+    # General arguments
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_package",
+            default_value="micro_epsilon_scancontrol_description",
+            description="Description package with URDF/XACRO files. Usually the argument \
+        is not set, it enables use of a custom description.",
+        )
+    )
+    # Declare argument for the URDF file selection
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "scancontrol_type",
+            default_value="scancontrol_26x0_29x0_25.xacro",
+            description="scanCONTROL URDF type file to visualize",
+            choices=[
+                "scancontrol_26x0_29x0_25.xacro",
+                "scancontrol_27x0_100.xacro",
+                "scancontrol_30xx_25.xacro",
+            ],
+        )
+    )
 
+    # General arguments
+    description_package = LaunchConfiguration("description_package")
+    # Initialize Arguments
+    scancontrol_type = LaunchConfiguration("scancontrol_type")
 
     # Get the path to the URDF file
-    urdf_file_path = os.path.join(get_package_share_directory('micro_epsilon_scancontrol_description'), 'urdf')
-    robot_description = Command(['xacro', ' ', xacro_path, '/', 'samxl_eef_acf.xacro', ' ', 'fixed:=', LaunchConfiguration("fixed")])
-
+    urdf_file_path = os.path.join(
+        get_package_share_directory("micro_epsilon_scancontrol_description"), "urdf"
+    )
+    robot_description = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare(description_package), "urdf", scancontrol_type]
+            )
+        ]
+    )
 
     # Node to publish the URDF to the robot_description parameter
     robot_state_publisher_node = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        name='robot_state_publisher',
-        #output='both',
-        output='screen',
-        parameters=[{'robot_description': robot_description}],
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        # output='both',
+        output="screen",
+        parameters=[{"robot_description": robot_description}],
     )
 
     # Node to start RViz2
     rviz_node = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        output='log',
-        arguments=['-d', get_package_share_directory('micro_epsilon_scancontrol_description') + '/config/rviz.rviz'],
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=[
+            "-d",
+            get_package_share_directory("micro_epsilon_scancontrol_description")
+            + "/config/rviz.rviz",
+        ],
     )
 
-    return LaunchDescription(args + [ 
-        robot_state_publisher_node,
-        rviz_node,
-    ])
+    return LaunchDescription(
+        declared_arguments
+        + [
+            robot_state_publisher_node,
+            rviz_node,
+        ]
+    )

micro_epsilon_scancontrol_description/package.xml

@@ -3,9 +3,9 @@
   <name>micro_epsilon_scancontrol_description</name>
   <version>0.1.0</version>
   <description>URDFs for the Micro-Epsilon scanCONTROL laser profile sensors.</description>
-  <maintainer email="[email protected]">Rik Tonnaer (Delft University of Technology)</maintainer>
+  <maintainer email="[email protected]">Eugenio Bernardi (Delft University of Technology)</maintainer>
 
-  <license>BSD</license> 
+  <license>Apache 2.0</license> 
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro

@@ -7,7 +7,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/visual/visual.dae"/>
+          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/visual/26x0_29x0_25.dae"/>
        </geometry>
        <material name="microepsilon_silver">
          <color rgba="0.7 0.7 0.7 1.0"/>
@@ -16,7 +16,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/collision/collision.stl"/>
+          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/collision/26x0_29x0_25.stl"/>
         </geometry>
       </collision>
     </link>