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KKalemKKalem
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Merge pull request #183 from KKalem/dji_cap_upgrades
Dji cap upgrades
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‎.gitignore

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mpc_codegen
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c_generated_code
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COLCON_IGNORE

‎.gitmodules

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[submodule "utilities/serial_ping_pkg"]
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path = utilities/serial_ping_pkg
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url = https://github.com/NinjaTuna007/serial_ping_pkg.git
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[submodule "external_equipment/PlayStation-JoyInterface-ROS2"]
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path = external_equipment/PlayStation-JoyInterface-ROS2
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url = https://github.com/HarvestX/PlayStation-JoyInterface-ROS2
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branch = humble

‎external_equipment/PlayStation-JoyInterface-ROS2

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‎messages/dji_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(dji_msgs)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Find necessary dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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# Generate drone-related message and service interfaces
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/Topics.msg" # Topics for the drone
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"msg/Links.msg" #links for drone
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DEPENDENCIES geometry_msgs sensor_msgs std_msgs
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)
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# Add build tests (if testing is enabled)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# Skipping linting for copyright and cpplint
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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‎messages/dji_msgs/msg/Links.msg

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#
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# DJI Drone links and relevant frames
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# Most are published by the dji_captain node
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#
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string UTM = 'utm'
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string MAP = 'map'
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string ODOM = 'odom'
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string HOME_POINT = 'home_point'
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string BASE_LINK = 'base_link'
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string BASE_FLAT = 'base_flat_link'
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string BASE_ENU = 'base_ENU_link'
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‎messages/dji_msgs/msg/Topics.msg

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# Used by the dji_captain, namespaced as needed.
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# Usually under /M350
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string MOVE_TO_SETPOINT_TOPIC = 'move_to_setpoint'
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string CONTROLLER_INPUT_TOPIC = 'joy'
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string CONTROLLER_VIBRATION_TOPIC = 'joy/set_feedback'
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string TTS_TOPIC = 'speak'
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‎messages/dji_msgs/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dji_msgs</name>
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<version>0.1.0</version>
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<description>The dji_msgs package</description>
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<maintainer email="[email protected]">aryan</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<depend>geometry_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>std_msgs</depend>
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<!-- Message gen depends -->
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎scripts/smarc_bringups/launch/speaking_joy.launch

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<launch>
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<arg name="robot_name" default="M350"/>
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<group>
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<push-ros-namespace namespace="$(var robot_name)"/>
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<node name="joy" pkg="joy" exec="game_controller_node" output="screen"/>
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<node name="speaker" pkg="smarc_utilities" exec="simple_tts" output="screen"/>
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</group>
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</launch>

‎scripts/smarc_bringups/scripts/dji_bringup.sh

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tmux send-keys "ros2 topic echo /$ROBOT_NAME/captain_status std_msgs/msg/String --field data" C-m
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tmux select-pane -t $SESSION:0.3
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tmux send-keys "cd ~ && ./record_bag_ex_camComp.sh" C-m
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# tmux send-keys "cd ~ && ./record_bag_ex_camComp.sh" C-m
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tmux send-keys "fast-discovery-server -i 0" C-m
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else
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tmux select-window -t $SESSION:0
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tmux send-keys "ros2 topic pub /$ROBOT_NAME/smarc/vehicle_health std_msgs/msg/Int8 \"data: 0\" -r 5" C-m

‎scripts/smarc_bringups/scripts/quad_bringup.sh

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