From 819f3b4a18ad3d2c33458d6f488822929fad5472 Mon Sep 17 00:00:00 2001 From: Eugenio Bernardi Date: Wed, 14 Feb 2024 10:55:03 +0000 Subject: [PATCH] description pkg working --- README.md | 70 +++++------ .../launch/load_scancontrol.launch.py | 111 +++++++++++++----- .../load_scancontrol_26x0_29x0_25.launch | 3 - .../launch/load_scancontrol_27x0_100.launch | 3 - .../launch/load_scancontrol_30xx_25.launch | 3 - .../test_scancontrol_26x0_29x0_25.launch | 8 -- .../launch/test_scancontrol_27x0_100.launch | 8 -- .../launch/test_scancontrol_30xx_25.launch | 8 -- .../{collision.stl => 26x0_29x0_25.stl} | Bin .../visual/{visual.dae => 26x0_29x0_25.dae} | 0 .../package.xml | 4 +- .../urdf/scancontrol_26x0_29x0_25_macro.xacro | 4 +- 12 files changed, 114 insertions(+), 108 deletions(-) delete mode 100644 micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch delete mode 100644 micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch rename micro_epsilon_scancontrol_description/meshes/collision/{collision.stl => 26x0_29x0_25.stl} (100%) rename micro_epsilon_scancontrol_description/meshes/visual/{visual.dae => 26x0_29x0_25.dae} (100%) diff --git a/README.md b/README.md index 5a42192..457ab88 100644 --- a/README.md +++ b/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
-Affiliation: [SAM XL](https://samxl.com/), [TU Delft](https://tudelft.nl/)
-Maintainer: D. Kroezen, d.kroezen@tudelft.nl** +Author: **D. Kroezen** \ +Affiliation: [SAM XL](https://samxl.com/), [TU Delft](https://tudelft.nl/) \ +Maintainers: +**D. Kroezen, d.kroezen@tudelft.nl** +**E. Brnardi, e.bernardi@tudelft.nl** + +> [!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 - - - - -## Usage - -Run the main driver node with: - - roslaunch micro_epsilon_scancontrol_driver load_driver.launch - - - -## Launch files - -* **driver.launch:** Launch a single scanCONTROL driver node and the configuration window. - +```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]) diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol.launch.py b/micro_epsilon_scancontrol_description/launch/load_scancontrol.launch.py index ead839a..222968f 100644 --- a/micro_epsilon_scancontrol_description/launch/load_scancontrol.launch.py +++ b/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, - ]) \ No newline at end of file + return LaunchDescription( + declared_arguments + + [ + robot_state_publisher_node, + rviz_node, + ] + ) diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch deleted file mode 100644 index e9af850..0000000 --- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch deleted file mode 100644 index 3959768..0000000 --- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch deleted file mode 100644 index b52b016..0000000 --- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch deleted file mode 100644 index d3ba2bc..0000000 --- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch deleted file mode 100644 index 03bc79d..0000000 --- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch deleted file mode 100644 index a454e1e..0000000 --- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/micro_epsilon_scancontrol_description/meshes/collision/collision.stl b/micro_epsilon_scancontrol_description/meshes/collision/26x0_29x0_25.stl similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/collision/collision.stl rename to micro_epsilon_scancontrol_description/meshes/collision/26x0_29x0_25.stl diff --git a/micro_epsilon_scancontrol_description/meshes/visual/visual.dae b/micro_epsilon_scancontrol_description/meshes/visual/26x0_29x0_25.dae similarity index 100% rename from micro_epsilon_scancontrol_description/meshes/visual/visual.dae rename to micro_epsilon_scancontrol_description/meshes/visual/26x0_29x0_25.dae diff --git a/micro_epsilon_scancontrol_description/package.xml b/micro_epsilon_scancontrol_description/package.xml index 4bda097..2ec48f0 100644 --- a/micro_epsilon_scancontrol_description/package.xml +++ b/micro_epsilon_scancontrol_description/package.xml @@ -3,9 +3,9 @@ micro_epsilon_scancontrol_description 0.1.0 URDFs for the Micro-Epsilon scanCONTROL laser profile sensors. - Rik Tonnaer (Delft University of Technology) + Eugenio Bernardi (Delft University of Technology) - BSD + Apache 2.0 ament_cmake diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro b/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro index 1986fe0..cdcdcd5 100644 --- a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro +++ b/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro @@ -7,7 +7,7 @@ - + @@ -16,7 +16,7 @@ - +