Integrating DBC file for interfacing

.github/workflows/linting_auto.yml

@@ -26,7 +26,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v1
         with:
-          python-version: '3.10.19'
+          python-version: '3.10.20'
 
       - name: Install Python dependencies
         run: pip install autopep8 clang-format

autonomy/interfacing/can/CMakeLists.txt

@@ -15,18 +15,25 @@ find_package(ament_index_cpp REQUIRED) # ROS tool to find shared directories of
 find_package(ament_cmake REQUIRED) # ROS2 build tool
 find_package(rclcpp REQUIRED) # ROS2 C++ package
 find_package(std_msgs REQUIRED) # ROS2 message package
+find_package(Boost REQUIRED) # Boost libraries
+find_package(yaml-cpp REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+
+find_package(common_msgs REQUIRED)
 
 # Compiles source files into a library
 # A library is not executed, instead other executables can link
 # against it to access defined methods and classes.
 # We build a library so that the methods defined can be used by
 # both the unit test and ROS2 node executables.
+
 add_library(can_lib
   src/can_core.cpp
 )
 
 # Indicate to compiler where to search for header files
-target_include_directories(can_lib
+target_include_directories(can_lib PRIVATE
+  /usr/local/include
   PUBLIC
   include
 )
@@ -36,15 +43,22 @@ ament_target_dependencies(can_lib
   ament_index_cpp
   rclcpp
   std_msgs
+  common_msgs
 )
 
 # Link system libraries for CAN support
 # Note: Using system CAN libraries instead of libsocketcan for broader compatibility
-target_link_libraries(can_lib)
+
+target_link_libraries(can_lib
+  /usr/local/lib/libdbcppp.so   
+  yaml-cpp
+  ament_index_cpp::ament_index_cpp
+)
 
 # Create the can_node executable
 add_executable(can_node src/can_node.cpp src/can_core.cpp)
 ament_target_dependencies(can_node rclcpp std_msgs)
+
 # Link to the previously built libraries 
 target_link_libraries(can_node can_lib)
 
@@ -77,4 +91,15 @@ install(TARGETS
   test_controller_node
   DESTINATION lib/${PROJECT_NAME})
 
+install(
+  DIRECTORY config/
+  DESTINATION share/can/config
+)
+
+# NOTE: this method of installation is not secure for production env
+install(
+  FILES ../dbc/humanoid.dbc
+  DESTINATION share/can/config
+)
+
 ament_package()

autonomy/interfacing/can/README.md

@@ -1,6 +1,6 @@
 ## CAN Interfacing Package Documentation
 
-The documentation for the CAN interfacing package follows a standard WATOnomous package level scheme. As shown below:
+The documentation for the CAN interfacing package follows a standard WATonomous package level scheme. As shown below:
 ```
 can/
 ├── CMakeLists.txt

autonomy/interfacing/can/config/hardware_mapping.yaml

@@ -0,0 +1,165 @@
+left:
+  shoulder:
+    pitch:
+      can_id: 0x01
+      lower_limit: -90
+      upper_limit: 90
+      direction: 1
+      zero_offset: 0
+      limit_range: true
+    roll:
+      can_id: 0x02
+      lower_limit: -90
+      upper_limit: 90
+      direction: 1
+      zero_offset: 0
+      limit_range: true
+    yaw:
+      can_id: 0x03
+      lower_limit: -90
+      upper_limit: 90
+      direction: 1
+      zero_offset: 0
+      limit_range: true
+  elbow:
+    pitch:
+      can_id: 0x04
+      lower_limit: -130
+      upper_limit: 0
+      direction: 1
+      zero_offset: 0
+      limit_range: true
+    roll:
+      can_id: 0x05
+      lower_limit: -130
+      upper_limit: 0
+      direction: 1
+      zero_offset: 0
+      limit_range: true
+  wrist:
+    pitch:
+      can_id: 0x06
+      lower_limit: -90
+      upper_limit: 90
+      direction: 1
+      zero_offset: 0
+      limit_range: true
+  gripper:
+    open_close:
+      can_id: 0x07
+      lower_limit: 0
+      upper_limit: 100
+      direction: 1
+      zero_offset: 0
+      limit_range: true
+  hand:
+    pinky:
+      mcp:
+        can_id: 0x07
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      pip:
+        can_id: 0x08
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      dip:
+        can_id: 0x09
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+    ring:
+      mcp:
+        can_id: 0x0A
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      pip:
+        can_id: 0x0B
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      dip:
+        can_id: 0x0C
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+    middle:
+      mcp:
+        can_id: 0x0D
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      pip:
+        can_id: 0x0E
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      dip:
+        can_id: 0x0F
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+    index:
+      mcp:
+        can_id: 0x10
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      pip:
+        can_id: 0x11
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      dip:
+        can_id: 0x12
+        lower_limit: 0
+        upper_limit: 90
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+    thumb:
+      cmc:
+        can_id: 0x13
+        lower_limit: 0
+        upper_limit: 60
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      mcp:
+        can_id: 0x14
+        lower_limit: 0
+        upper_limit: 70
+        direction: 1
+        zero_offset: 0
+        limit_range: true
+      ip:
+        can_id: 0x15
+        lower_limit: 0
+        upper_limit: 80
+        direction: 1
+        zero_offset: 0
+        limit_range: true

autonomy/interfacing/can/config/params.yaml

@@ -9,8 +9,4 @@ can_node:
 
     # Communication Settings
     publish_rate_hz: 50                # Rate for checking incoming CAN messages
-    receive_timeout_ms: 10000           # Timeout for receiving CAN messages
-
-    # Topics to subscribe to (message types will be auto-detected)
-    topics:
-      - "/test_controller"         
+    receive_timeout_ms: 10000          # Timeout for receiving CAN messages

autonomy/interfacing/can/include/can_core.hpp

@@ -1,20 +1,21 @@
-#ifndef CAN_CORE_HPP
-#define CAN_CORE_HPP
+#pragma once
 
 #include "rclcpp/rclcpp.hpp"
 #include <cstdint>
 #include <string>
 #include <vector>
 
-namespace autonomy {
-
 struct CanMessage {
-  uint32_t id;               // CAN message ID
-  std::vector<uint8_t> data; // Message data (up to 8 bytes for classic CAN)
-  uint8_t dlc;               // Data Length Code
-  bool is_extended_id;       // Extended frame format flag
-  bool is_remote_frame;      // Remote transmission request flag
-  uint64_t timestamp_us;     // Timestamp in microseconds
+  CanMessage() {}
+  CanMessage(int size) : data(size, 0), dlc(size) {}
+  CanMessage(int id, int size) : id(id), data(size, 0), dlc(size) {}
+
+  uint32_t id;                  // CAN message ID
+  std::vector<uint8_t> data;    // Message data 8 bytes
+  uint8_t dlc;                  // Data Length Code
+  bool is_extended_id = false;  // Extended frame format flag
+  bool is_remote_frame = false; // Remote transmission request flag
+  uint64_t timestamp_us;        // Timestamp in microseconds
 };
 
 struct CanConfig {
@@ -54,7 +55,3 @@ class CanCore {
   bool setupSocketCan();
   bool setupSlcan();
 };
-
-} // namespace autonomy
-
-#endif // CAN_CORE_HPP