Integrate ToF Sensor, Implement emergency Brake, and repellent field #4

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ronggurmahendra wants to merge 90 commits into wifi-with-cytron from an_ToF

.gitignore

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     software/build
     /*cache*
+    **/__pycache__
     **/*.swp
     **/*.swo

scripts/assistedNavigation.bash

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+    # this script run all the necessary setup to run the assisted navigation program using the teleop keyboard
+    export ROS_HOSTNAME=192.168.0.114
+    # if you use other ip for ros master then do  “export ROS_MASTER_URI=http://{ROS_MASTER_IP}:11311”
+    export ROS_MASTER_URI=http://192.168.1.105:11311
+    python3 ../src/drive_controller.py
+    python3 ../src/tof_handler.py
+    python3 ../src/twist_to_pwm.py
+    #run gazebo world of your choice
+    roslaunch gazebo_ros shapes_world.launch
+    # on a new terminal to spawn the robody entity
+    roslaunch robody_sim spawn.launch
+    roslaunch robody_sim spawndefault.launch
+    rosrun gazebo spawn_model -file /home/ronggurmwp/robody_nav_ws/src/robody_sim/urdf/human.urdf -urdf -z 1 -model my_object
+    rosrun gazebo spawn_model -file "/home/ronggurmwp/robody_nav_ws/src/robody_sim/urdf/human.urdf" -urdf -z 1 -model my_object
+    rosrun teleop_twist_keyboard teleop_twist_keyboard.py

scripts/assistedNavigation_aio.bash

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+    # this script run all the necessary setup to run the assisted navigation program using the teleop keyboard
+    export ROS_HOSTNAME=192.168.0.114
+    # if you use other ip for ros master then do  “export ROS_MASTER_URI=http://{ROS_MASTER_IP}:11311”
+    export ROS_MASTER_URI=http://192.168.1.105:11311
+    python3 ../src/assistedNavigation_aio.py
+    python3 ../src/twist_to_pwm.py
+    rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+    rosrun teleop_twist_keyboard teleop_twist_keyboard.py

software/README.md

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src/README.md

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+    # Assisted Navigation
+    ## Prerequisites
+    - ROS1 Melodic
+    ## Building
+. To start building, first clone the repository using the following command, specifying the "an_ToF" branch:
+    ```
+    git clone -b an_ToF https://github.com/Roboy/esp-wheelchair.git
+    ```
+. Next, navigate to the "src" folder within the repository.
+. Copy the "assisted_navigation" package to your workspace.
+. Build the workspace using the "catkin_make" command.
+. Finally, source the setup bash file by running the following command:
+    ```
+    source /devel/setup.sh
+    ```
+    With these steps, you should be ready to proceed with the build process.
+    ## Running
+. To execute the sensor, you can use either of the following commands:
+    ```
+    rosrun roboy_state_estimator ir_sensor_publisher.py
+    ```
+    or
+    ```
+    rosrun assisted_navigation ir_sensor_publisher.py
+    ```
+. These commands will run the "ir_sensor_publisher.py" script, which is responsible for publishing data from the IR sensor.
+. To launch the middleware, you can use the following command:
+    ```
+    rosrun assisted_navigation ir_drive_controller.py
+    ```
+    This will start the middleware module, allowing it to handle the communication and processing of data between different components of the system.
+    With these commands, you should be able to run the sensor and middleware components of the system as needed.
+    ## Teleop_twist_keyboard
+. Make sure Teleop_twist_keyboard is installed
+. make sure node Ir_drive_controller is running
+. run twist_to_pwm node using the following command
+    ```
+    rosrun assisted_navigation twist_to_pwm.py
+    ```
+. In another terminal run the teleop node using the following command
+    ```
+    rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+    ```
+    Use the instruction in the terminal
+    ## Simulation
+. Make sure Gazebo is installed
+. Make sure USE_SIMULATION is TRUE in the src/ir_drive_controller.py
+    *if its false then set to true then redo all the building steps
+    ```
+    USE_SIMULATION = True
+    ```
+. Run Gazebo using the following command
+    ```
+    gazebo
+    ```
+. Spawn the robot using the following command
+    ```
+    roslaunch assisted_navigation spawn.launch
+    ```
+    Use the teleop or joystick to control the robot

src/assisted_navigation/CMakeLists.txt

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+    cmake_minimum_required(VERSION 3.0.2)
+    project(assisted_navigation)
+    ## 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
+      gazebo_ros
+      geometry_msgs
+      roscpp
+      rospy
+      std_msgs
+      urdf
+    )
+    ## 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
+    #   geometry_msgs#   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 assisted_navigation
+    #  CATKIN_DEPENDS gazebo_ros geometry_msgs roscpp rospy std_msgs urdf
+    #  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/${PROJECT_NAME}/assisted_navigation.cpp
+    # )
+    ## Add cmake target dependencies of the library
+    ## as an example, code may need to be generated before libraries
+    ## either from message generation or dynamic reconfigure
+    # add_dependencies(${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/assisted_navigation_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}
+    # )
+    #############
+    ## 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}
+    # )
+    catkin_install_python(PROGRAMS
+      src/ir_drive_controller.py
+      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    )
+    catkin_install_python(PROGRAMS
+      src/twist_to_pwm.py
+      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_assisted_navigation.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)

src/assisted_navigation/launch/rviz.launch

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+    <?xml version="1.0"?>
+    <launch>
+      <param name="robot_description" command="cat '$(find robody_sim)/urdf/robody.xacro'"/>
+      <!-- send fake joint values -->
+      <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+        <param name="use_gui" value="False"/>
+      </node>
+      <!-- Combine joint values -->
+      <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+      <!-- Show in Rviz   -->
+      <node name="rviz" pkg="rviz" type="rviz" />
+    </launch>

src/assisted_navigation/launch/spawn.launch

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+    <?xml version="1.0"?>
+    <launch>
+      <param name="robot_description" command="cat '$(find robody_sim)/urdf/m2wr.xacro'"/>
+      <arg name="x" default="3"/>
+      <arg name="y" default="0"/>
+      <arg name="z" default="0.5"/>
+      <node name="robody_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
+            args="-urdf -param robot_description -model robody -x $(arg x) -y $(arg y) -z $(arg z)"/>
+    </launch>

src/assisted_navigation/launch/spawndefault.launch

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+    <?xml version="1.0"?>
+    <launch>
+      <param name="robot_description" command="cat '$(find robody_sim)/urdf/m2wr.xacro'"/>
+      <arg name="x" default="3"/>
+      <arg name="y" default="0"/>
+      <arg name="z" default="0.5"/>
+      <node name="m2wr_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
+            args="-urdf -param robot_description -model m2wr -x $(arg x) -y $(arg y) -z $(arg z)"/>
+    </launch>

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