diff --git a/Install Documentation/comand_cheat_sheet b/Install Documentation/comand_cheat_sheet
index 5ae534763837b5a4227ffe4248166d67b9ef95fa..ae626e4905c7231b70d8d6a6787f6a967c64e8d4 100644
--- a/Install Documentation/comand_cheat_sheet
+++ b/Install Documentation/comand_cheat_sheet
@@ -1,5 +1,5 @@
cd robot-sensor/workspaces/COLCON_WS
source install/setup.bash
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10 robot_ip:=192.168.1.2 description_package:=custom_ur_description
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10 robot_ip:=192.168.1.2
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10 launch_rviz:=true
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diff --git a/workspaces/COLCON_WS/src/Universal_Robots_ROS2_Gazebo_Simulation/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py b/workspaces/COLCON_WS/src/Universal_Robots_ROS2_Gazebo_Simulation/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
deleted file mode 100644
index 360235313897744fd5c098b06b522b280e6db2c1..0000000000000000000000000000000000000000
--- a/workspaces/COLCON_WS/src/Universal_Robots_ROS2_Gazebo_Simulation/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
+++ /dev/null
@@ -1,168 +0,0 @@
-# Copyright (c) 2022 Stogl Robotics Consulting UG (haftungsbeschränkt)
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# * Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-#
-# * Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in the
-# documentation and/or other materials provided with the distribution.
-#
-# * Neither the name of the {copyright_holder} nor the names of its
-# contributors may be used to endorse or promote products derived from
-# this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-# Author: Denis Stogl
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from launch_ros.substitutions import FindPackageShare
-
-
-def launch_setup(context, *args, **kwargs):
-
- # Initialize Arguments
- ur_type = LaunchConfiguration("ur_type")
- safety_limits = LaunchConfiguration("safety_limits")
- # General arguments
- runtime_config_package = LaunchConfiguration("runtime_config_package")
- controllers_file = LaunchConfiguration("controllers_file")
- description_package = LaunchConfiguration("description_package")
- description_file = LaunchConfiguration("description_file")
- moveit_config_package = LaunchConfiguration("moveit_config_package")
- moveit_config_file = LaunchConfiguration("moveit_config_file")
- prefix = LaunchConfiguration("prefix")
-
- ur_control_launch = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- [FindPackageShare("ur_simulation_gazebo"), "/launch", "/ur_sim_control.launch.py"]
- ),
- launch_arguments={
- "ur_type": ur_type,
- "safety_limits": safety_limits,
- "runtime_config_package": runtime_config_package,
- "controllers_file": controllers_file,
- "description_package": description_package,
- "description_file": description_file,
- "prefix": prefix,
- "launch_rviz": "false",
- }.items(),
- )
-
- ur_moveit_launch = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- [FindPackageShare("ur_moveit_config"), "/launch", "/ur_moveit.launch.py"]
- ),
- launch_arguments={
- "ur_type": ur_type,
- "safety_limits": safety_limits,
- "description_package": description_package,
- "description_file": description_file,
- "moveit_config_package": moveit_config_package,
- "moveit_config_file": moveit_config_file,
- "prefix": prefix,
- "use_sim_time": "true",
- "launch_rviz": "true",
- "use_fake_hardware": "true", # to change moveit default controller to joint_trajectory_controller
- }.items(),
- )
-
- nodes_to_launch = [
- ur_control_launch,
- ur_moveit_launch,
- ]
-
- return nodes_to_launch
-
-
-def generate_launch_description():
- declared_arguments = []
- # UR specific arguments
- declared_arguments.append(
- DeclareLaunchArgument(
- "ur_type",
- description="Type/series of used UR robot.",
- choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
- default_value="ur10",
- )
- )
- declared_arguments.append(
- DeclareLaunchArgument(
- "safety_limits",
- default_value="true",
- description="Enables the safety limits controller if true.",
- )
- )
- # General arguments
- declared_arguments.append(
- DeclareLaunchArgument(
- "runtime_config_package",
- default_value="ur_simulation_gazebo",
- description='Package with the controller\'s configuration in "config" folder. \
- Usually the argument is not set, it enables use of a custom setup.',
- )
- )
- declared_arguments.append(
- DeclareLaunchArgument(
- "controllers_file",
- default_value="ur_controllers.yaml",
- description="YAML file with the controllers configuration.",
- )
- )
- declared_arguments.append(
- DeclareLaunchArgument(
- "description_package",
- default_value="custom_ur_description",
- description="Description package with robot URDF/XACRO files. Usually the argument \
- is not set, it enables use of a custom description.",
- )
- )
- declared_arguments.append(
- DeclareLaunchArgument(
- "description_file",
- default_value="ur.urdf.xacro",
- description="URDF/XACRO description file with the robot.",
- )
- )
- declared_arguments.append(
- DeclareLaunchArgument(
- "moveit_config_package",
- default_value="ur_moveit_config",
- description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
- is not set, it enables use of a custom moveit config.",
- )
- )
- declared_arguments.append(
- DeclareLaunchArgument(
- "moveit_config_file",
- default_value="ur.srdf.xacro",
- description="MoveIt SRDF/XACRO description file with the robot.",
- )
- )
- declared_arguments.append(
- DeclareLaunchArgument(
- "prefix",
- default_value='""',
- description="Prefix of the joint names, useful for \
- multi-robot setup. If changed than also joint names in the controllers' configuration \
- have to be updated.",
- )
- )
-
- return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/workspaces/COLCON_WS/src/ser_test/package.xml b/workspaces/COLCON_WS/src/serial_to_pcl/package.xml
similarity index 91%
rename from workspaces/COLCON_WS/src/ser_test/package.xml
rename to workspaces/COLCON_WS/src/serial_to_pcl/package.xml
index b7ca9374fc0ac32930a3cfa10b1bdf6b5e70a32f..4abfc908eca66846628362c1c2e38b98ac8d4998 100644
--- a/workspaces/COLCON_WS/src/ser_test/package.xml
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/package.xml
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<package format="2">
- <name>ser_test</name>
+ <name>serial_to_pcl</name>
<version>0.0.1</version>
<description>ROS 2 package for serial communication testing</description>
@@ -14,7 +14,6 @@
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>numpy</exec_depend>
<exec_depend>pyserial</exec_depend>
- <exec_depend>json</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
diff --git a/workspaces/COLCON_WS/src/ser_test/resource/ser_test b/workspaces/COLCON_WS/src/serial_to_pcl/resource/serial_to_pcl
similarity index 100%
rename from workspaces/COLCON_WS/src/ser_test/resource/ser_test
rename to workspaces/COLCON_WS/src/serial_to_pcl/resource/serial_to_pcl
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/__init__.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/__init__.py
similarity index 100%
rename from workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/__init__.py
rename to workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/__init__.py
diff --git a/workspaces/COLCON_WS/src/ser_test/ser_test/pcl_rob_node.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/pcl_rob_node.py
similarity index 100%
rename from workspaces/COLCON_WS/src/ser_test/ser_test/pcl_rob_node.py
rename to workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/pcl_rob_node.py
diff --git a/workspaces/COLCON_WS/src/ser_test/ser_test/pcl_rob_v2_node.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/pcl_rob_v2_node.py
similarity index 84%
rename from workspaces/COLCON_WS/src/ser_test/ser_test/pcl_rob_v2_node.py
rename to workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/pcl_rob_v2_node.py
index 7d59b443ef63f23c5309783c584a0afa743a7095..0421526458b439093fd14567ed44efb44d8eb74e 100644
--- a/workspaces/COLCON_WS/src/ser_test/ser_test/pcl_rob_v2_node.py
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/pcl_rob_v2_node.py
@@ -34,9 +34,8 @@ class PointCloudMeshChecker(Node):
self.mesh_wrist1_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist1.stl'))
self.mesh_wrist2_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist2.stl'))
self.mesh_wrist3_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist3.stl'))
-
- base_path_collision = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10', 'collision')
- self.mesh_base_link_static = trimesh.load_mesh(os.path.join(base_path_collision, 'base.stl'))
+ self.mesh_base_link_static = trimesh.load_mesh(os.path.join(base_path, 'base.stl'))
+
# Create a dictionary with frames as keys and corresponding static meshes as values
self.frame_to_mesh_map = {
'shoulder_link': self.mesh_shoulder_link_static,
@@ -70,32 +69,26 @@ class PointCloudMeshChecker(Node):
def pointcloud_callback(self, msg):
try:
+ # Read the point cloud data
self.points_original = np.array([(point['x'], point['y'], point['z']) for point in pc2.read_points(msg, field_names=("x", "y", "z"), skip_nans=True)], dtype=np.float64)
for frame in self.target_frames:
- try:
- transform = self.tf_buffer.lookup_transform(self.perspective_frame, frame, rclpy.time.Time())
- except Exception as e:
- self.get_logger().error(f'Error looking up transform from {self.perspective_frame} to {frame}: {e}')
- continue
- try:
- # Transform the point cloud to the perspective frame
- transformed_points = self.do_transform_cloud(msg, transform.transform)
- inside_robot = self.check_points_in_mesh(transformed_points, frame)
- except Exception as e:
- self.get_logger().error(f'Error transforming point cloud: {e}')
- continue
+ transform = self.tf_buffer.lookup_transform(self.perspective_frame, frame, rclpy.time.Time())
+
+ # Transform the point cloud to the perspective frame
+ transformed_points = self.do_transform_cloud(msg, transform.transform)
+ inside_robot = self.check_points_in_mesh(transformed_points, frame)
+ self.get_logger().info(f"Frame: {frame}, Points inside robot: {np.sum(inside_robot)}")
if frame not in self.inside_robot_dict:
self.inside_robot_dict[frame] = None
self.inside_robot_dict[frame] = inside_robot
self.list_inside_robot = [self.inside_robot_dict[frame] for frame in self.target_frames if frame in self.inside_robot_dict]
-
- inside_all_frames = np.logical_and.reduce(self.list_inside_robot) if self.list_inside_robot else np.zeros(len(self.points_original), dtype=bool)
+ inside_all_frames = np.logical_or.reduce(self.list_inside_robot) if self.list_inside_robot else np.zeros(len(self.points_original), dtype=bool)
points_inside_robot = self.points_original[inside_all_frames]
points_outside_robot = self.points_original[~inside_all_frames]
# Publish the point clouds
- #self.publish_point_cloud(points_outside_robot, points_inside_robot)
+ self.publish_point_cloud(points_outside_robot, points_inside_robot)
except Exception as e:
self.get_logger().error(f'Error processing point cloud: {e}')
@@ -134,12 +127,6 @@ class PointCloudMeshChecker(Node):
self.frame_to_mesh_map['shoulder_link'].contains(points_array)
))
- # Get points inside the robot
- points_inside_robot = self.points_original[inside_robot]
- # Get points outside the robot
- points_outside_robot = self.points_original[~inside_robot]
- self.publish_point_cloud(points_outside_robot, points_inside_robot)
-
return inside_robot
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..406dc0c018067ad6d9a1ef4e9ced4edacd4e5d9a
--- /dev/null
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
@@ -0,0 +1,274 @@
+import serial # For serial communication with the sensor
+import rclpy # ROS 2 Python client library
+import json # For parsing JSON data from the sensor
+import numpy as np # For numerical operations
+from rclpy.node import Node # Base class for ROS 2 nodes
+from sensor_msgs.msg import PointCloud2, PointField # ROS 2 message types for point clouds
+from std_msgs.msg import Header # ROS 2 message type for headers
+
+# Predefined angles for the sensor's field of view
+ANGLES = [29.923, 22.515, 15.829, 8.964, 1.964, 188.964, 195.829, 202.515, 209.923]
+
+# Mapping of sensor keys to their translation and rotation data
+SENSOR_DATA = {
+ "sensor0": [[5], [1]], "sensor1": [[0], [1]], "sensor2": [[1], [1]],
+ "sensor3": [[1], [0]], "sensor4": [[0], [0]], "sensor5": [[5], [0]],
+ "sensor6": [[5], [-1]], "sensor7": [[0], [-1]], "sensor8": [[1], [-1]],
+ "sensor9": [[2], [-1]], "sensor10": [[3], [-1]], "sensor11": [[4], [-1]],
+ "sensor12": [[4], [0]], "sensor13": [[3], [0]], "sensor14": [[2], [0]],
+ "sensor15": [[2], [1]], "sensor16": [[3], [1]], "sensor17": [[4], [1]],
+}
+
+# Translation vector for the sensor in meters
+TRANSLATION_VECTOR = np.array([0.085, 0.06, 0]) # 85 mm in meters
+
+
+class SerialListPublisher(Node):
+ """
+ A ROS 2 node that reads data from a serial port, processes it, and publishes it as a PointCloud2 message.
+ """
+ def __init__(self, serial_port='/dev/ttyACM0', baudrate=115200):
+ super().__init__('serial_list_publisher') # Initialize the ROS 2 node with a name
+ self.declare_parameter('parent_frame', 'vl53l7cx_link') # Declare a parameter for the parent frame
+ self.parent_frame = self.get_parameter('parent_frame').get_parameter_value().string_value # Get the parameter value
+
+ # Create a publisher for PointCloud2 messages
+ self.pcd_publisher = self.create_publisher(PointCloud2, 'pcd', 10)
+
+ # Open the serial port for communication
+ self.serial_port = serial.Serial(serial_port, baudrate, timeout=None)
+ self.get_logger().info(f"Connected to {serial_port} at {baudrate} baud") # Log the connection details
+
+ # Start reading data from the serial port and publishing it
+ self.read_serial_and_publish()
+
+ def read_serial_and_publish(self):
+ """
+ Continuously read data from the serial port, process it, and publish it as a PointCloud2 message.
+ """
+ try:
+ while rclpy.ok(): # Keep running while ROS 2 is active
+ line = self.serial_port.readline().decode('utf-8').strip() # Read a line from the serial port
+ data = self.parse_json(line) # Parse the JSON data
+ if not data: # Skip if the data is invalid
+ continue
+ points_all = [] # Initialize an empty list for points
+
+ # Replace the first value with a high number for invalid points (where the second value in the pair is not 5)
+ filtered_data = {}
+ for key, array in data.items():
+ filtered_array = []
+ for pair in array:
+ if pair[1] not in [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14]:
+ filtered_array.append([99999])
+ else:
+ filtered_array.append([pair[0]])
+ filtered_data[key] = filtered_array
+ # Process the data for each sensor and create a point cloud
+ points_all = []
+ for key, array in filtered_data.items():
+ distances = [pair[0] for pair in array if len(pair) > 0]
+ if len(distances) == 64: # Ensure the array has exactly 64 elements
+ reshaped_array = np.array(distances).reshape(8, 8)
+ points_all.append(self.create_pcd_from_distance(reshaped_array, key))
+ points = None
+ points = np.vstack(points_all) # Combine all points into a single array
+ pcd = self.create_point_cloud(points, self.parent_frame) # Create a PointCloud2 message
+ self.pcd_publisher.publish(pcd) # Publish the point cloud
+
+ except serial.SerialException as e:
+ self.get_logger().error(f"Serial error: {e}") # Log serial communication errors
+ except KeyboardInterrupt:
+ self.get_logger().info("Shutting down...") # Log when the node is stopped by the user
+ finally:
+ self.serial_port.close() # Close the serial port when done
+
+ def parse_json(self, line):
+ """
+ Parse a JSON string from the serial port.
+ """
+ try:
+ data = json.loads(line) # Parse the JSON string
+ if not isinstance(data, dict): # Ensure the data is a dictionary
+ self.get_logger().info(f"Unexpected JSON format: {data}")
+ return None
+ return data
+ except json.JSONDecodeError as e:
+ self.get_logger().warn(f"JSON decode error: {e} | Line: {line}") # Log JSON parsing errors
+ return None
+
+ def create_pcd_from_distance(self, distance, sensor_key):
+ """
+ Create a point cloud from distance data for a specific sensor.
+ """
+ x, y, z = self.calculate_coordinates(distance) # Calculate the 3D coordinates
+ points_local = np.hstack((x, y, z)) / 1000 # Convert coordinates to meters
+
+ # Get the yaw and pitch angles for the sensor
+ yaw_deg, pitch_deg = self.get_sensor_angles(sensor_key)
+ points_local = self.apply_transformations(points_local, yaw_deg, pitch_deg, sensor_key) # Apply transformations
+ return points_local
+
+ def calculate_coordinates(self, distance):
+ """
+ Calculate the 3D coordinates from distance data.
+ """
+ x, y, z = [], [], []
+ for j in range(distance.shape[1]): # Iterate over columns
+ for i in range(distance.shape[0]): # Iterate over rows
+ dist = distance[i, j] # Get the distance value
+ z.append(dist * np.sin(np.radians(ANGLES[j]))) # Calculate z-coordinate
+ y.append(dist * np.sin(np.radians(ANGLES[i]))) # Calculate y-coordinate
+ x.append(dist) # x-coordinate is the distance itself
+ return np.array(x).reshape(-1, 1), np.array(y).reshape(-1, 1), np.array(z).reshape(-1, 1)
+
+ def get_sensor_angles(self, sensor_key):
+ """
+ Get the yaw and pitch angles for a specific sensor.
+ """
+ yaw_deg = SENSOR_DATA[sensor_key][1][0] * 60 # Calculate yaw angle
+ pitch_deg = SENSOR_DATA[sensor_key][0][0] * 60 # Calculate pitch angle
+ return yaw_deg, pitch_deg
+
+ def apply_transformations(self, points, yaw_deg, pitch_deg, sensor_key):
+ """
+ Apply rotation and translation transformations to the points.
+ """
+ yaw_rad, pitch_rad = np.radians([yaw_deg, pitch_deg]) # Convert angles to radians
+
+ # Rotation matrices for x, y, and z axes
+ Rx = self.rotation_matrix_x(-np.pi / 2)
+ Ry = self.rotation_matrix_y(yaw_rad)
+ Rz = self.rotation_matrix_z(pitch_rad)
+
+ # Apply the rotations
+ points = (Rx @ points.T).T
+ points = (Ry @ points.T).T
+ points = (Rz @ points.T).T
+
+ # Calculate the translation vector
+ translation = self.calculate_translation(yaw_rad, pitch_rad, sensor_key)
+ return points + translation # Apply the translation
+
+ @staticmethod
+ def rotation_matrix_x(angle):
+ """
+ Create a rotation matrix for rotation around the x-axis.
+ """
+ return np.array([
+ [1, 0, 0],
+ [0, np.cos(angle), -np.sin(angle)],
+ [0, np.sin(angle), np.cos(angle)]
+ ])
+
+ @staticmethod
+ def rotation_matrix_y(angle):
+ """
+ Create a rotation matrix for rotation around the y-axis.
+ """
+ return np.array([
+ [np.cos(angle), 0, np.sin(angle)],
+ [0, 1, 0],
+ [-np.sin(angle), 0, np.cos(angle)]
+ ])
+
+ @staticmethod
+ def rotation_matrix_z(angle):
+ """
+ Create a rotation matrix for rotation around the z-axis.
+ """
+ return np.array([
+ [np.cos(angle), -np.sin(angle), 0],
+ [np.sin(angle), np.cos(angle), 0],
+ [0, 0, 1]
+ ])
+
+ def calculate_translation(self, yaw_rad, pitch_rad, sensor_key):
+ """
+ Calculate the translation vector based on yaw and pitch angles for specific sensors.
+ Only sensors with a 0 in the second list from SENSOR_DATA are moved.
+ """
+ if SENSOR_DATA[sensor_key][1][0] == 0: # Check if the second list contains a 0
+ tx = TRANSLATION_VECTOR[0] * np.cos(pitch_rad) # x-component of translation
+ ty = TRANSLATION_VECTOR[0] * np.sin(pitch_rad) # y-component of translation
+ tz = 0
+ return np.array([tx, ty, tz]) # Return the translation vector
+ if SENSOR_DATA[sensor_key][1][0] == 1:
+ tx = TRANSLATION_VECTOR[1] * np.cos(pitch_rad)
+ ty = TRANSLATION_VECTOR[1] * np.sin(pitch_rad)
+ tz = -(TRANSLATION_VECTOR[1] * np.cos(yaw_rad)) # z-component of translation
+ return np.array([tx, ty, tz])
+ if SENSOR_DATA[sensor_key][1][0] == -1:
+ tx = TRANSLATION_VECTOR[1] * np.cos(pitch_rad)
+ ty = TRANSLATION_VECTOR[1] * np.sin(pitch_rad)
+ tz = (TRANSLATION_VECTOR[1] * np.cos(yaw_rad))
+ return np.array([tx, ty, tz])
+ else:
+ return np.array([0, 0, 0]) # No translation for other sensors
+
+ def distance_filter(self, points, threshold):
+ """
+ Filter points based on a distance threshold.
+ """
+ mask = np.linalg.norm(points, axis=1) < threshold
+ return points[mask] # Return only the points within the threshold
+
+ def create_point_cloud(self, points, parent_frame):
+ """
+ Create a PointCloud2 message from the 3D points.
+ """
+ ros_dtype = PointField.FLOAT32 # ROS 2 data type for floating-point numbers
+ dtype = np.float32 # NumPy data type for floating-point numbers
+ itemsize = np.dtype(dtype).itemsize # Size of each data item in bytes
+
+ data = points.astype(dtype).tobytes() # Convert points to binary data
+
+ fields = [PointField(name=n, offset=i * itemsize, datatype=ros_dtype, count=1)
+ for i, n in enumerate('xyz')] # Define the fields for x, y, and z
+
+ header = Header(frame_id=parent_frame) # Create a header with the parent frame
+ return PointCloud2(
+ header=header,
+ height=1, # Single row of points
+ width=points.shape[0], # Number of points
+ is_dense=True, # Allow for invalid points
+ is_bigendian=False, # Data is in little-endian format
+ fields=fields, # Fields for x, y, and z
+ point_step=(itemsize * 3), # Size of each point in bytes
+ row_step=(itemsize * 3 * points.shape[0]), # Size of each row in bytes
+ data=data # Binary data for the points
+ )
+ def create_empty_point_cloud(self):
+ """
+ Create an empty PointCloud2 message.
+ """
+ header = Header(frame_id=self.parent_frame)
+ return PointCloud2(
+ header=header,
+ height=1,
+ width=0,
+ is_dense=True,
+ is_bigendian=False,
+ fields=[],
+ point_step=0,
+ row_step=0,
+ data=b''
+ )
+
+def main(args=None):
+ """
+ Main function to initialize and run the ROS 2 node.
+ """
+ rclpy.init(args=args) # Initialize the ROS 2 Python client library
+ node = SerialListPublisher(serial_port='/dev/ttyACM0', baudrate=115200) # Create the node
+ try:
+ rclpy.spin(node) # Keep the node running
+ except KeyboardInterrupt:
+ node.get_logger().info("Node stopped by user.") # Log when the node is stopped
+ finally:
+ node.destroy_node() # Destroy the node
+ rclpy.shutdown() # Shut down the ROS 2 client library
+
+
+if __name__ == '__main__':
+ main() # Run the main function
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/test_transform.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/test_transform.py
new file mode 100644
index 0000000000000000000000000000000000000000..4277d0d8936e38e024e00e4495ebe17519932360
--- /dev/null
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/test_transform.py
@@ -0,0 +1,139 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import PointCloud2
+from tf2_ros import TransformListener, Buffer
+import numpy as np
+import trimesh
+from std_msgs.msg import Header
+# Removed unused import
+import os
+
+# Removed unused import
+import sensor_msgs.msg as sensor_msgs
+import sensor_msgs_py.point_cloud2 as pc2
+
+class PointCloudProcessor(Node):
+ def __init__(self):
+ super().__init__('pointcloud_processor')
+ self.subscription = self.create_subscription(
+ PointCloud2,
+ 'pcd',
+ self.pointcloud_callback,
+ 10)
+ self.publisher_valid = self.create_publisher(PointCloud2, '/valid_from_perspective', 10)
+ self.publisher_invalid = self.create_publisher(PointCloud2, '/invalid_from_perspective', 10)
+
+ self.tf_buffer = Buffer()
+ self.tf_listener = TransformListener(self.tf_buffer, self)
+
+ base_path = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10', 'collision_custom')
+ self.meshes_static = [
+ trimesh.load_mesh(os.path.join(base_path, 'shoulder.stl')),
+ trimesh.load_mesh(os.path.join(base_path, 'forearm.stl')),
+ trimesh.load_mesh(os.path.join(base_path, 'upperarm.stl')),
+ trimesh.load_mesh(os.path.join(base_path, 'wrist1.stl')),
+ trimesh.load_mesh(os.path.join(base_path, 'wrist2.stl')),
+ trimesh.load_mesh(os.path.join(base_path, 'wrist3.stl'))
+ ]
+
+ base_path_collision = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10', 'collision')
+ self.meshes_static.append(trimesh.load_mesh(os.path.join(base_path_collision, 'base.stl')))
+
+ scale_factor = 1.5
+ scale_matrix = trimesh.transformations.scale_matrix(scale_factor)
+ for mesh in self.meshes_static:
+ mesh.apply_transform(scale_matrix)
+
+ def visualize_meshes(self, meshes):
+ if meshes: # Check if there are meshes to visualize
+ scene = trimesh.Scene()
+ for mesh in meshes:
+ scene.add_geometry(mesh)
+ scene.show()
+ else:
+ self.get_logger().info('No meshes to visualize.')
+
+ def pointcloud_callback(self, msg):
+ self.perspective_frame = 'vl53l7cx_link'
+ try:
+ now = rclpy.time.Time()
+ transforms = {
+ 'base': self.tf_buffer.lookup_transform(self.perspective_frame, 'world', now),
+ 'shoulder': self.tf_buffer.lookup_transform(self.perspective_frame, 'shoulder_link', now),
+ 'upperarm': self.tf_buffer.lookup_transform(self.perspective_frame, 'upper_arm_link', now),
+ 'forearm': self.tf_buffer.lookup_transform(self.perspective_frame, 'forearm_link', now),
+ 'wrist1': self.tf_buffer.lookup_transform(self.perspective_frame, 'wrist_1_link', now),
+ 'wrist2': self.tf_buffer.lookup_transform(self.perspective_frame, 'wrist_2_link', now),
+ 'wrist3': self.tf_buffer.lookup_transform(self.perspective_frame, 'wrist_3_link', now)
+ }
+ except Exception as e:
+ self.get_logger().error(f'Error in looking up transform: {e}')
+ transformed_meshes = []
+ for i, transform in enumerate(transforms.values()): # Removed unused 'key'
+ transformed_meshes.append(self.transform_mesh(transform, self.meshes_static[i]))
+ for i, (key, transform) in enumerate(transforms.items()):
+ transformed_meshes.append(self.transform_mesh(transform, self.meshes_static[i]))
+
+ translation_matrix_forearm = trimesh.transformations.translation_matrix([0, 0, -0.05])
+ transformed_meshes[3].apply_transform(translation_matrix_forearm)
+
+ self.visualize_meshes(transformed_meshes)
+
+ points = np.array([(point['x'], point['y'], point['z']) for point in pc2.read_points(msg, field_names=("x", "y", "z"), skip_nans=True)], dtype=np.float64)
+
+ inside_robot = np.logical_or.reduce([mesh.contains(points) for mesh in transformed_meshes])
+ outside_robot = np.logical_not(inside_robot)
+
+ points_outside_robot = points[outside_robot]
+ points_inside_robot = points[inside_robot]
+
+ self.publish_point_cloud(points_outside_robot, points_inside_robot)
+ self.get_logger().info(f'Number of points outside robot: {len(points_outside_robot)}')
+ self.get_logger().info(f'Number of points inside robot: {len(points_inside_robot)}')
+
+ def transform_mesh(self, transform, mesh_static):
+ translation = transform.transform.translation
+ rotation = transform.transform.rotation
+
+ translation_matrix = trimesh.transformations.translation_matrix([translation.x, translation.y, translation.z])
+ rotation_matrix = trimesh.transformations.quaternion_matrix([rotation.w, rotation.x, rotation.y, rotation.z])
+ transformation_matrix = np.dot(translation_matrix, rotation_matrix)
+
+ transformed_mesh = mesh_static.copy()
+ transformed_mesh.apply_transform(transformation_matrix)
+ return transformed_mesh
+
+ def publish_point_cloud(self, points_valid, points_invalid):
+ self.publisher_valid.publish(self.point_cloud(points_valid, self.perspective_frame))
+ self.publisher_invalid.publish(self.point_cloud(points_invalid, self.perspective_frame))
+
+ def point_cloud(self, points, parent_frame):
+ ros_dtype = sensor_msgs.PointField.FLOAT32
+ dtype = np.float32
+ itemsize = np.dtype(dtype).itemsize
+
+ data = points.astype(dtype).tobytes()
+ fields = [sensor_msgs.PointField(name=n, offset=i * itemsize, datatype=ros_dtype, count=1) for i, n in enumerate('xyz')]
+ header = Header(frame_id=parent_frame)
+
+ return sensor_msgs.PointCloud2(
+ header=header,
+ height=1,
+ width=points.shape[0],
+ is_dense=False,
+ is_bigendian=False,
+ fields=fields,
+ point_step=(itemsize * 3),
+ row_step=(itemsize * 3 * points.shape[0]),
+ data=data
+ )
+
+def main(args=None):
+ rclpy.init(args=args)
+ pointcloud_processor = PointCloudProcessor()
+ rclpy.spin(pointcloud_processor)
+ pointcloud_processor.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/workspaces/COLCON_WS/src/ser_test/setup.py b/workspaces/COLCON_WS/src/serial_to_pcl/setup.py
old mode 100644
new mode 100755
similarity index 61%
rename from workspaces/COLCON_WS/src/ser_test/setup.py
rename to workspaces/COLCON_WS/src/serial_to_pcl/setup.py
index f60ad645fde3d50ff777fa64686b3646da55bcd7..621d049a65dc8fd17e70cfabeb1b12c54b92dc9f
--- a/workspaces/COLCON_WS/src/ser_test/setup.py
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/setup.py
@@ -1,6 +1,6 @@
from setuptools import find_packages, setup
-package_name = 'ser_test'
+package_name = 'serial_to_pcl'
setup(
name=package_name,
@@ -15,14 +15,14 @@ setup(
zip_safe=True,
maintainer='sochi',
maintainer_email='hj703144@igmr.rwth-aachen.de',
- description='TODO: Package description',
- license='TODO: License declaration',
+ description='Reads data from serial and converts it to a PointCloud2 message.',
+ license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [
- 'ser_test_node = ser_test.ser_test_node:main',
- 'pcl_rob_node = ser_test.pcl_rob_node:main',
- 'pcl_rob_v2_node = ser_test.pcl_rob_v2_node:main',
+ 'serial_to_pcl_node = serial_to_pcl.serial_to_pcl_node:main',
+ 'pcl_rob_node = serial_to_pcl.pcl_rob_node:main',
+ 'pcl_rob_v2_node = serial_to_pcl.pcl_rob_v2_node:main',
],
},
)
diff --git a/workspaces/COLCON_WS/src/ur_description/config/ur10/joint_limits.yaml b/workspaces/COLCON_WS/src/ur_description/config/ur10/joint_limits.yaml
index 91e633f4f34c555a5509d3926e4f57666fb112cf..5fb9c52ac03328b324e6082eedc29c17f36ea292 100644
--- a/workspaces/COLCON_WS/src/ur_description/config/ur10/joint_limits.yaml
+++ b/workspaces/COLCON_WS/src/ur_description/config/ur10/joint_limits.yaml
@@ -51,9 +51,9 @@ joint_limits:
sensor_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
- has_effort_limits: true
- has_position_limits: true
- has_velocity_limits: true
+ has_effort_limits: false
+ has_position_limits: false
+ has_velocity_limits: false
max_effort: 0.0
max_position: !degrees 0.0
max_velocity: !degrees 0.0
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/base.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..16575ddf171310cb14bb9f5156572cbf45d2f4ca
Binary files /dev/null and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/base.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/forearm.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/forearm.stl
index 8a8c92bf3ec090782b8dbacdb929000377c4b739..d9ca04182997fe98d44ef328aec7442c79173adf 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/forearm.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/forearm.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/shoulder.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/shoulder.stl
index ec94850e5cc31d7fe2d40d2057953118535fd9ca..7881e85c6e5b808e580fd53fa214d3a03f7e30ae 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/shoulder.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/shoulder.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/upperarm.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/upperarm.stl
index 5c958dadc81a397047e1c4896dc4c5831fbad386..15af610fee9bd63c078b8e1ace9c0924d3e7457d 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/upperarm.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/upperarm.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist1.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist1.stl
index 619c47feface2765b465d6bd2e14eef923446143..c9fa25520817f5a5066d6da8d158626b38033e9d 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist1.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist1.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist2.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist2.stl
index a6a3a042de564330a574dadbb7ded6fa4b0b07c4..d3828547dee073927ca689de604a190f806b217a 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist2.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist2.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist3.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist3.stl
index 7e38565bf0d016484b582b981c01353e36454518..597433627d5463c546b3f1d3f23c15f62da6ecb5 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist3.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10/collision_custom/wrist3.stl differ
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/LICENSE b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/LICENSE
deleted file mode 100644
index 812621108aaddaaaea8a783c3fc493a0e5e2114c..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/LICENSE
+++ /dev/null
@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2020 Sebastian Grans
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/README.md b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/README.md
deleted file mode 100644
index 75878ac1a613d48f5d7eeb38be48353fd11a1c55..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/README.md
+++ /dev/null
@@ -1,81 +0,0 @@
-# ROS2 Point Cloud
-
-
-
-
-This is an example ROS2 (python) package which demonstrates how to utilize the `sensor_msg.msg.PointCloud2`. The various scripts show how to publish a point cloud represented by a `numpy` array as a `PointCloud2` message, and vice versa. I also demonstrate how to visualize a point cloud in RViz2.
-
-**Note:** This was initially posted on [SebastianGrans.github.io](http://sebastiangrans.github.io), but this is the more recent version.
-
-**This is now updated to work on ROS2 Galactic**
-
-## Installation
-
-Move to your ROS workspace source folder, e.g:
-```
-cd ~/dev_ws/src
-```
-Clone this repo:
-```
-git clone https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo.git
-```
-Compile:
-```
-cd ~/dev_ws/
-source /opt/ros/galactic/setup.sh
-colcon build --symlink-install --packages-select pcd_demo
-source install/
-```
-
-## Running
-Source the installation:
-```
-cd ~/dev_ws/
-source install/local_setup.sh # If you use bash
-# _or_
-source install/local_setup.zsh # If you use zsh
-```
-
-
-### Publisher demo
-#### Using a launch file (automatically starts RViz)
-```
-ros2 launch pcd_demo pcd_publisher_demo.launch.py
-```
-RViz should now show a spinning Utah teapot!
-
-#### Manually
-
-```
-ros2 run pcd_demo pcd_publisher_node ~/dev_ws/src/ROS2-Point-Cloud-Demo/resource/teapot.ply
-```
-In a new terminal:
-```
-ros2 run rviz2 rviz2
-```
-Make sure the `Displays` panel is visible `Panels > [✔] Displays`. Then, in the lower corner, press `Add` and select `PointCloud2`. In the list, expand `PointCloud2` and specify `pcd` as the topic.
-
-RViz should now show a spinning Utah teapot!
-
-### Subscriber demo
-This demo is similar to the one above, but rather than relying on RViz, we instead use [Open3D](http://www.open3d.org/) for visualization.
-
-**Note:** This is not yet fully optimized. It needs to be threaded such that the Open3D interface is responsive.
-
-#### Running from launch file
-
-```
-ros2 launch pcd_demo pcd_pubsub_demo.launch.py
-```
-
-#### Manually
-
-In one terminal, run the publisher:
-```
-ros2 run pcd_demo pcd_publisher_node ~/dev_ws/src/pcd_publisher/resource/teapot.ply
-```
-and in another terminal, run the subscriber node:
-```
-ros2 run pcd_demo pcd_subscriber_node
-```
-
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/config/config.rviz b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/config/config.rviz
deleted file mode 100644
index 2dba7fa11475ad2db0a82a8a305d84a5b8d55a57..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/config/config.rviz
+++ /dev/null
@@ -1,159 +0,0 @@
-Panels:
- - Class: rviz_common/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- - /Grid1
- - /PointCloud21
- - /PointCloud21/Topic1
- Splitter Ratio: 0.5
- Tree Height: 903
- - Class: rviz_common/Selection
- Name: Selection
- - Class: rviz_common/Tool Properties
- Expanded:
- - /2D Goal Pose1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.5886790156364441
- - Class: rviz_common/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz_default_plugins/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.029999999329447746
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 10
- Reference Frame: <Fixed Frame>
- Value: true
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 3.1500000953674316
- Min Value: 0
- Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz_default_plugins/PointCloud2
- Color: 255; 255; 255
- Color Transformer: AxisColor
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: PointCloud2
- Position Transformer: XYZ
- Selectable: true
- Size (Pixels): 4
- Size (m): 0.009999999776482582
- Style: Points
- Topic:
- Depth: 5
- Durability Policy: Volatile
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: pcd
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: map
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz_default_plugins/Interact
- Hide Inactive Objects: true
- - Class: rviz_default_plugins/MoveCamera
- - Class: rviz_default_plugins/Select
- - Class: rviz_default_plugins/FocusCamera
- - Class: rviz_default_plugins/Measure
- Line color: 128; 128; 0
- - Class: rviz_default_plugins/SetInitialPose
- Topic:
- Depth: 5
- Durability Policy: Volatile
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /initialpose
- - Class: rviz_default_plugins/SetGoal
- Topic:
- Depth: 5
- Durability Policy: Volatile
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /goal_pose
- - Class: rviz_default_plugins/PublishPoint
- Single click: true
- Topic:
- Depth: 5
- Durability Policy: Volatile
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /clicked_point
- Transformation:
- Current:
- Class: rviz_default_plugins/TF
- Value: true
- Views:
- Current:
- Class: rviz_default_plugins/Orbit
- Distance: 11.848302841186523
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: -0.3050713837146759
- Y: -0.500482439994812
- Z: 0.7005792260169983
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: 0.5153985023498535
- Target Frame: <Fixed Frame>
- Value: Orbit (rviz)
- Yaw: 1.8503971099853516
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 1132
- Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000001af00000412fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000412000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000412fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000412000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004ce0000041200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: false
- Width: 1944
- X: 292
- Y: 297
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/launch/pcd_publisher_demo.launch.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/launch/pcd_publisher_demo.launch.py
deleted file mode 100644
index 8ea24e8aae982b43718b934965cc171c397eae6f..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/launch/pcd_publisher_demo.launch.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-def generate_launch_description():
-
- rviz_config_dir = os.path.join(get_package_share_directory(
- 'pcd_demo'), 'config', 'config.rviz')
- assert os.path.exists(rviz_config_dir)
-
- ply_path = os.path.join(get_package_share_directory(
- 'pcd_demo'), 'resource', 'teapot.ply')
- assert os.path.exists(ply_path)
-
- return LaunchDescription([
- Node(package='rviz2',
- executable='rviz2',
- name='rviz2',
- arguments=['-d', rviz_config_dir],
- output='screen'
- ),
- Node(package='pcd_demo',
- executable='pcd_publisher_node',
- name='pcd_publisher_node',
- output='screen',
- arguments=[ply_path],
- ),
- ])
-
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/launch/pcd_pubsub_demo.launch.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/launch/pcd_pubsub_demo.launch.py
deleted file mode 100644
index 2c8adf978c2632b5171294b65fe278621faf7bdd..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/launch/pcd_pubsub_demo.launch.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-def generate_launch_description():
-
-
- ply_path = os.path.join(get_package_share_directory(
- 'pcd_demo'), 'resource', 'teapot.ply')
- assert os.path.exists(ply_path)
-
- return LaunchDescription([
- Node(package='pcd_demo',
- executable='pcd_publisher_node',
- name='pcd_publisher_node',
- output='screen',
- arguments=[ply_path],
- ),
- Node(package='pcd_demo',
- executable='pcd_subscriber_node',
- name='pcd_subscriber_node',
- output='screen',
- arguments=[ply_path],
- ),
- ])
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/package.xml b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/package.xml
deleted file mode 100644
index 7d8238439345f4e5f65c022019c99a1ac25adbc8..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
- <name>pcd_demo</name>
- <version>0.0.1</version>
- <description>Demo on how to utilize the sensor_msgs::msg::PointCloud2 message type in ROS2, RViz2 and numpy.</description>
- <maintainer email="sebastian.grans@ntnu.no">Sebastian Grans</maintainer>
- <license>MIT License</license>
-
-
- <exec_depend>rclpy</exec_depend>
- <exec_depend>ros2launch</exec_depend>
- <exec_depend>std_msgs</exec_depend>
- <exec_depend>sensor_msgs</exec_depend>
-
- <test_depend>ament_copyright</test_depend>
- <test_depend>ament_flake8</test_depend>
- <test_depend>ament_pep257</test_depend>
- <test_depend>python3-pytest</test_depend>
-
- <export>
- <build_type>ament_python</build_type>
- </export>
-</package>
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/pcd_publisher_node copy.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/pcd_publisher_node copy.py
deleted file mode 100644
index 7b86d713011a3b575371f59f86ce215795b9447a..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/pcd_publisher_node copy.py
+++ /dev/null
@@ -1,118 +0,0 @@
-
-import sys
-import os
-
-import rclpy
-from rclpy.node import Node
-import sensor_msgs.msg as sensor_msgs
-import std_msgs.msg as std_msgs
-
-import numpy as np
-import open3d as o3d
-
-class PCDPublisher(Node):
-
- def __init__(self):
- super().__init__('pcd_publisher_node')
-
- # This executable expectes the first argument to be the path to a
- # point cloud file. I.e. when you run it with ros:
- # ros2 run pcd_publisher pcd_publisher_node /path/to/ply
- assert len(sys.argv) > 1, "No ply file given."
- assert os.path.exists(sys.argv[1]), "File doesn't exist."
- pcd_path = sys.argv[1]
-
- # I use Open3D to read point clouds and meshes. It's a great library!
- pcd = o3d.io.read_point_cloud(pcd_path)
- # I then convert it into a numpy array.
- self.points = np.asarray(pcd.points)
- print(self.points.shape)
-
- # I create a publisher that publishes sensor_msgs.PointCloud2 to the
- # topic 'pcd'. The value '10' refers to the history_depth, which I
- # believe is related to the ROS1 concept of queue size.
- # Read more here:
- # http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers
- self.pcd_publisher = self.create_publisher(sensor_msgs.PointCloud2, 'pcd', 10)
- timer_period = 1/30.0
- self.timer = self.create_timer(timer_period, self.timer_callback)
-
- # This rotation matrix is used for visualization purposes. It rotates
- # the point cloud on each timer callback.
- self.R = o3d.geometry.get_rotation_matrix_from_xyz([0, 0, np.pi/48])
-
-
-
- def timer_callback(self):
- # For visualization purposes, I rotate the point cloud with self.R
- # to make it spin.
- # Here I use the point_cloud() function to convert the numpy array
- # into a sensor_msgs.PointCloud2 object. The second argument is the
- # name of the frame the point cloud will be represented in. The default
- # (fixed) frame in RViz is called 'map'
- self.pcd = point_cloud(self.points, 'map')
- # Then I publish the PointCloud2 object
- self.pcd_publisher.publish(self.pcd)
-
-def point_cloud(points, parent_frame):
- """ Creates a point cloud message.
- Args:
- points: Nx3 array of xyz positions.
- parent_frame: frame in which the point cloud is defined
- Returns:
- sensor_msgs/PointCloud2 message
-
- Code source:
- https://gist.github.com/pgorczak/5c717baa44479fa064eb8d33ea4587e0
-
- References:
- http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html
- http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointField.html
- http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html
-
- """
- # In a PointCloud2 message, the point cloud is stored as an byte
- # array. In order to unpack it, we also include some parameters
- # which desribes the size of each individual point.
- ros_dtype = sensor_msgs.PointField.FLOAT32
- dtype = np.float32
- itemsize = np.dtype(dtype).itemsize # A 32-bit float takes 4 bytes.
-
- data = points.astype(dtype).tobytes()
-
- # The fields specify what the bytes represents. The first 4 bytes
- # represents the x-coordinate, the next 4 the y-coordinate, etc.
- fields = [sensor_msgs.PointField(
- name=n, offset=i*itemsize, datatype=ros_dtype, count=1)
- for i, n in enumerate('xyz')]
-
- # The PointCloud2 message also has a header which specifies which
- # coordinate frame it is represented in.
- header = std_msgs.Header(frame_id=parent_frame)
-
- return sensor_msgs.PointCloud2(
- header=header,
- height=1,
- width=points.shape[0],
- is_dense=False,
- is_bigendian=False,
- fields=fields,
- point_step=(itemsize * 3), # Every point consists of three float32s.
- row_step=(itemsize * 3 * points.shape[0]),
- data=data
- )
-
-def main(args=None):
- # Boilerplate code.
- rclpy.init(args=args)
- pcd_publisher = PCDPublisher()
- rclpy.spin(pcd_publisher)
-
- # Destroy the node explicitly
- # (optional - otherwise it will be done automatically
- # when the garbage collector destroys the node object)
- pcd_publisher.destroy_node()
- rclpy.shutdown()
-
-if __name__ == '__main__':
- main()
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/pcd_publisher_node.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/pcd_publisher_node.py
deleted file mode 100644
index 5c4a0c13291d042dfbd942274f1b44ac66a1b13b..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/pcd_publisher_node.py
+++ /dev/null
@@ -1,119 +0,0 @@
-
-import sys
-import os
-
-import rclpy
-from rclpy.node import Node
-import sensor_msgs.msg as sensor_msgs
-import std_msgs.msg as std_msgs
-
-import numpy as np
-import open3d as o3d
-
-class PCDPublisher(Node):
-
- def __init__(self):
- super().__init__('pcd_publisher_node')
-
- # This executable expectes the first argument to be the path to a
- # point cloud file. I.e. when you run it with ros:
- # ros2 run pcd_publisher pcd_publisher_node /path/to/ply
- assert len(sys.argv) > 1, "No ply file given."
- assert os.path.exists(sys.argv[1]), "File doesn't exist."
- pcd_path = sys.argv[1]
-
- # I use Open3D to read point clouds and meshes. It's a great library!
- pcd = o3d.io.read_point_cloud(pcd_path)
- # I then convert it into a numpy array.
- self.points = np.asarray(pcd.points)
- print(self.points.shape)
-
- # I create a publisher that publishes sensor_msgs.PointCloud2 to the
- # topic 'pcd'. The value '10' refers to the history_depth, which I
- # believe is related to the ROS1 concept of queue size.
- # Read more here:
- # http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers
- self.pcd_publisher = self.create_publisher(sensor_msgs.PointCloud2, 'pcd', 10)
- timer_period = 1/30.0
- self.timer = self.create_timer(timer_period, self.timer_callback)
-
- # This rotation matrix is used for visualization purposes. It rotates
- # the point cloud on each timer callback.
- self.R = o3d.geometry.get_rotation_matrix_from_xyz([0, 0, np.pi/48])
-
-
-
- def timer_callback(self):
- # For visualization purposes, I rotate the point cloud with self.R
- # to make it spin.
- self.points = self.points @ self.R
- # Here I use the point_cloud() function to convert the numpy array
- # into a sensor_msgs.PointCloud2 object. The second argument is the
- # name of the frame the point cloud will be represented in. The default
- # (fixed) frame in RViz is called 'map'
- self.pcd = point_cloud(self.points, 'map')
- # Then I publish the PointCloud2 object
- self.pcd_publisher.publish(self.pcd)
-
-def point_cloud(points, parent_frame):
- """ Creates a point cloud message.
- Args:
- points: Nx3 array of xyz positions.
- parent_frame: frame in which the point cloud is defined
- Returns:
- sensor_msgs/PointCloud2 message
-
- Code source:
- https://gist.github.com/pgorczak/5c717baa44479fa064eb8d33ea4587e0
-
- References:
- http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html
- http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointField.html
- http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html
-
- """
- # In a PointCloud2 message, the point cloud is stored as an byte
- # array. In order to unpack it, we also include some parameters
- # which desribes the size of each individual point.
- ros_dtype = sensor_msgs.PointField.FLOAT32
- dtype = np.float32
- itemsize = np.dtype(dtype).itemsize # A 32-bit float takes 4 bytes.
-
- data = points.astype(dtype).tobytes()
-
- # The fields specify what the bytes represents. The first 4 bytes
- # represents the x-coordinate, the next 4 the y-coordinate, etc.
- fields = [sensor_msgs.PointField(
- name=n, offset=i*itemsize, datatype=ros_dtype, count=1)
- for i, n in enumerate('xyz')]
-
- # The PointCloud2 message also has a header which specifies which
- # coordinate frame it is represented in.
- header = std_msgs.Header(frame_id=parent_frame)
-
- return sensor_msgs.PointCloud2(
- header=header,
- height=1,
- width=points.shape[0],
- is_dense=False,
- is_bigendian=False,
- fields=fields,
- point_step=(itemsize * 3), # Every point consists of three float32s.
- row_step=(itemsize * 3 * points.shape[0]),
- data=data
- )
-
-def main(args=None):
- # Boilerplate code.
- rclpy.init(args=args)
- pcd_publisher = PCDPublisher()
- rclpy.spin(pcd_publisher)
-
- # Destroy the node explicitly
- # (optional - otherwise it will be done automatically
- # when the garbage collector destroys the node object)
- pcd_publisher.destroy_node()
- rclpy.shutdown()
-
-if __name__ == '__main__':
- main()
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_subscriber/pcd_subscriber_node.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_subscriber/pcd_subscriber_node.py
deleted file mode 100644
index eb5072bebf68ed56a7e1d3eb0bea80646a5160c6..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_subscriber/pcd_subscriber_node.py
+++ /dev/null
@@ -1,162 +0,0 @@
-import sys
-import os
-
-import rclpy
-from rclpy.node import Node
-import sensor_msgs.msg as sensor_msgs
-
-
-import numpy as np
-import open3d as o3d
-
-class PCDListener(Node):
-
- def __init__(self):
- super().__init__('pcd_subsriber_node')
-
- ## This is for visualization of the received point cloud.
- self.vis = o3d.visualization.Visualizer()
- self.vis.create_window()
- self.o3d_pcd = o3d.geometry.PointCloud()
-
- # Set up a subscription to the 'pcd' topic with a callback to the
- # function `listener_callback`
- self.pcd_subscriber = self.create_subscription(
- sensor_msgs.PointCloud2, # Msg type
- 'pcd', # topic
- self.listener_callback, # Function to call
- 10 # QoS
- )
-
-
- def listener_callback(self, msg):
- # Here we convert the 'msg', which is of the type PointCloud2.
- # I ported the function read_points2 from
- # the ROS1 package.
- # https://github.com/ros/common_msgs/blob/noetic-devel/sensor_msgs/src/sensor_msgs/point_cloud2.py
-
- pcd_as_numpy_array = np.array(list(read_points(msg)))
-
-
- # The rest here is for visualization.
- self.vis.remove_geometry(self.o3d_pcd)
- self.o3d_pcd = o3d.geometry.PointCloud(
- o3d.utility.Vector3dVector(pcd_as_numpy_array))
-
- self.vis.add_geometry(self.o3d_pcd)
-
-
-
- self.vis.poll_events()
- self.vis.update_renderer()
-
-
-
-
-## The code below is "ported" from
-# https://github.com/ros/common_msgs/tree/noetic-devel/sensor_msgs/src/sensor_msgs
-import sys
-from collections import namedtuple
-import ctypes
-import math
-import struct
-from sensor_msgs.msg import PointCloud2, PointField
-
-_DATATYPES = {}
-_DATATYPES[PointField.INT8] = ('b', 1)
-_DATATYPES[PointField.UINT8] = ('B', 1)
-_DATATYPES[PointField.INT16] = ('h', 2)
-_DATATYPES[PointField.UINT16] = ('H', 2)
-_DATATYPES[PointField.INT32] = ('i', 4)
-_DATATYPES[PointField.UINT32] = ('I', 4)
-_DATATYPES[PointField.FLOAT32] = ('f', 4)
-_DATATYPES[PointField.FLOAT64] = ('d', 8)
-
-def read_points(cloud, field_names=None, skip_nans=False, uvs=[]):
- """
- Read points from a L{sensor_msgs.PointCloud2} message.
-
- @param cloud: The point cloud to read from.
- @type cloud: L{sensor_msgs.PointCloud2}
- @param field_names: The names of fields to read. If None, read all fields. [default: None]
- @type field_names: iterable
- @param skip_nans: If True, then don't return any point with a NaN value.
- @type skip_nans: bool [default: False]
- @param uvs: If specified, then only return the points at the given coordinates. [default: empty list]
- @type uvs: iterable
- @return: Generator which yields a list of values for each point.
- @rtype: generator
- """
- assert isinstance(cloud, PointCloud2), 'cloud is not a sensor_msgs.msg.PointCloud2'
- fmt = _get_struct_fmt(cloud.is_bigendian, cloud.fields, field_names)
- width, height, point_step, row_step, data, isnan = cloud.width, cloud.height, cloud.point_step, cloud.row_step, cloud.data, math.isnan
- unpack_from = struct.Struct(fmt).unpack_from
-
- if skip_nans:
- if uvs:
- for u, v in uvs:
- p = unpack_from(data, (row_step * v) + (point_step * u))
- has_nan = False
- for pv in p:
- if isnan(pv):
- has_nan = True
- break
- if not has_nan:
- yield p
- else:
- for v in range(height):
- offset = row_step * v
- for u in range(width):
- p = unpack_from(data, offset)
- has_nan = False
- for pv in p:
- if isnan(pv):
- has_nan = True
- break
- if not has_nan:
- yield p
- offset += point_step
- else:
- if uvs:
- for u, v in uvs:
- yield unpack_from(data, (row_step * v) + (point_step * u))
- else:
- for v in range(height):
- offset = row_step * v
- for u in range(width):
- yield unpack_from(data, offset)
- offset += point_step
-
-def _get_struct_fmt(is_bigendian, fields, field_names=None):
- fmt = '>' if is_bigendian else '<'
-
- offset = 0
- for field in (f for f in sorted(fields, key=lambda f: f.offset) if field_names is None or f.name in field_names):
- if offset < field.offset:
- fmt += 'x' * (field.offset - offset)
- offset = field.offset
- if field.datatype not in _DATATYPES:
- print('Skipping unknown PointField datatype [%d]' % field.datatype, file=sys.stderr)
- else:
- datatype_fmt, datatype_length = _DATATYPES[field.datatype]
- fmt += field.count * datatype_fmt
- offset += field.count * datatype_length
-
- return fmt
-
-
-
-def main(args=None):
- # Boilerplate code.
- rclpy.init(args=args)
- pcd_listener = PCDListener()
- rclpy.spin(pcd_listener)
-
- # Destroy the node explicitly
- # (optional - otherwise it will be done automatically
- # when the garbage collector destroys the node object)
- pcd_listener.destroy_node()
- rclpy.shutdown()
-
-if __name__ == '__main__':
- main()
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/ser_test/__init__.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/ser_test/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/ser_test/ser_test.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/ser_test/ser_test.py
deleted file mode 100644
index 59e4c6986dc4c1ec77d0b4205abcccd51ed4b581..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/ser_test/ser_test.py
+++ /dev/null
@@ -1,48 +0,0 @@
-import serial
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-
-
-class SerialStringPublisher(Node):
- def __init__(self, serial_port='/dev/ttyACM0', baudrate=115200):
- super().__init__('serial_string_publisher')
- self.publisher_ = self.create_publisher(String, 'serial_data', 10)
- self.serial_port = serial.Serial(serial_port, baudrate, timeout=None)
- self.get_logger().info(f"Connected to {serial_port} at {baudrate} baud")
- self.read_serial_and_publish()
-
- def read_serial_and_publish(self):
- try:
- while rclpy.ok():
- # Read a line from the serial port
- line = self.serial_port.readline().decode('utf-8').strip()
- self.get_logger().info(f"Received: {line}")
-
- # Publish the received line as a String message
- msg = String()
- msg.data = line
- self.publisher_.publish(msg)
-
- except serial.SerialException as e:
- self.get_logger().error(f"Serial error: {e}")
- except KeyboardInterrupt:
- self.get_logger().info("Shutting down...")
- finally:
- self.serial_port.close()
-
-
-def main(args=None):
- rclpy.init(args=args)
- node = SerialStringPublisher(serial_port='/dev/ttyACM0')
- try:
- rclpy.spin(node)
- except KeyboardInterrupt:
- node.get_logger().info("Node stopped by user.")
- finally:
- node.destroy_node()
- rclpy.shutdown()
-
-
-if __name__ == '__main__':
- main()
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/bunny.ply b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/bunny.ply
deleted file mode 100644
index d616380961a89bd204f547739ec94a7d2bc5c85f..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/bunny.ply
+++ /dev/null
@@ -1,1413 +0,0 @@
-ply
-format ascii 1.0
-comment zipper output
-element vertex 453
-property float x
-property float y
-property float z
-property float confidence
-property float intensity
-element face 948
-property list uchar int vertex_indices
-end_header
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diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/pcd_demo b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/pcd_demo
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/teapot.ply b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/teapot.ply
deleted file mode 100644
index 4c1a671c36c1926561dba64ee0918d31309f0de3..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/resource/teapot.ply
+++ /dev/null
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diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/setup.cfg b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/setup.cfg
deleted file mode 100644
index 3a3e96841329437e52a596b572806c9ad4344947..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script-dir=$base/lib/pcd_demo
-[install]
-install-scripts=$base/lib/pcd_demo
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/setup.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/setup.py
deleted file mode 100644
index ed51ea1caf67e084ee817398b30b5b94ca9c15e2..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/setup.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from setuptools import setup
-
-import os
-from glob import glob
-
-package_name = 'pcd_demo'
-
-setup(
- name=package_name,
- version='0.0.1',
- packages=[package_name],
- data_files=[
- ('share/ament_index/resource_index/packages',
- ['resource/' + package_name]),
- ('share/' + package_name, ['package.xml']),
- # During installation, we need to copy the launch files
- (os.path.join('share', package_name, "launch"), glob('launch/*.launch.py')),
- # Same with the RViz configuration file.
- (os.path.join('share', package_name, "config"), glob('config/*')),
- # And the ply files.
- (os.path.join('share', package_name, "resource"), glob('resource/*.ply')),
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- maintainer='Sebastian Grans',
- maintainer_email='sebastian.grans@ntno.com',
- description='Demo package on how to visualize a point cloud using RViz',
- license='MIT License',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- 'pcd_publisher_node = pcd_demo.pcd_publisher.pcd_publisher_node:main',
- 'pcd_subscriber_node = pcd_demo.pcd_subscriber.pcd_subscriber_node:main',
- 'ser_test_node = pcd_demo.ser_test.ser_test:main',
- ],
- },
-)
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_copyright.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_copyright.py
deleted file mode 100644
index cc8ff03f79abb8eb061827a24f2a331e052c5c37..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_copyright.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# 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 ament_copyright.main import main
-import pytest
-
-
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found errors'
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_flake8.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_flake8.py
deleted file mode 100644
index eff829969534949bd9d5512146a7b0029b4cec84..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_flake8.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# 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 ament_flake8.main import main
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
- rc = main(argv=[])
- assert rc == 0, 'Found errors'
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_pep257.py b/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_pep257.py
deleted file mode 100644
index b234a3840f4c5bd38f043638c8622b8f240e1185..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# 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 ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found code style errors / warnings'
diff --git a/workspaces/rob-sensor_ws/src/Universal_Robots_ROS2_Description b/workspaces/rob-sensor_ws/src/Universal_Robots_ROS2_Description
deleted file mode 160000
index 8a8808325a038f3cd4f452fa4eabfd4974e73067..0000000000000000000000000000000000000000
--- a/workspaces/rob-sensor_ws/src/Universal_Robots_ROS2_Description
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 8a8808325a038f3cd4f452fa4eabfd4974e73067
diff --git a/workspaces/rob-sensor_ws/src/serial_to_pcl/package.xml b/workspaces/rob-sensor_ws/src/serial_to_pcl/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4abfc908eca66846628362c1c2e38b98ac8d4998
--- /dev/null
+++ b/workspaces/rob-sensor_ws/src/serial_to_pcl/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>serial_to_pcl</name>
+ <version>0.0.1</version>
+ <description>ROS 2 package for serial communication testing</description>
+
+ <maintainer email="rene.ebeling@alumni.fh-aachen.de">Rene Ebeling</maintainer>
+ <license>Apache-2.0</license>
+
+ <buildtool_depend>ament_python</buildtool_depend>
+
+ <exec_depend>rclpy</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+ <exec_depend>sensor_msgs</exec_depend>
+ <exec_depend>numpy</exec_depend>
+ <exec_depend>pyserial</exec_depend>
+
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
\ No newline at end of file
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/__init__.py b/workspaces/rob-sensor_ws/src/serial_to_pcl/resource/serial_to_pcl
similarity index 100%
rename from workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_publisher/__init__.py
rename to workspaces/rob-sensor_ws/src/serial_to_pcl/resource/serial_to_pcl
diff --git a/workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_subscriber/__init__.py b/workspaces/rob-sensor_ws/src/serial_to_pcl/serial_to_pcl/__init__.py
similarity index 100%
rename from workspaces/rob-sensor_ws/src/ROS2-Point-Cloud-Demo/pcd_demo/pcd_subscriber/__init__.py
rename to workspaces/rob-sensor_ws/src/serial_to_pcl/serial_to_pcl/__init__.py
diff --git a/workspaces/COLCON_WS/src/ser_test/ser_test/ser_test_node.py b/workspaces/rob-sensor_ws/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
similarity index 100%
rename from workspaces/COLCON_WS/src/ser_test/ser_test/ser_test_node.py
rename to workspaces/rob-sensor_ws/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
diff --git a/workspaces/rob-sensor_ws/src/serial_to_pcl/setup.py b/workspaces/rob-sensor_ws/src/serial_to_pcl/setup.py
new file mode 100755
index 0000000000000000000000000000000000000000..9a161fc9dd48fddb679726900a99154492159db2
--- /dev/null
+++ b/workspaces/rob-sensor_ws/src/serial_to_pcl/setup.py
@@ -0,0 +1,25 @@
+from setuptools import setup
+
+package_name = 'serial_to_pcl'
+
+setup(
+ name=package_name,
+ version='0.0.1',
+ packages=[package_name],
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools', 'rclpy', 'pyserial', 'numpy'],
+ zip_safe=True,
+ author='Rene Ebeling',
+ author_email='rene.ebeling@alumni.fh-aachen.de',
+ description='ROS 2 package for serial communication testing',
+ license='Apache-2.0',
+ entry_points={
+ 'console_scripts': [
+ 'serial_to_pcl_node = serial_to_pcl.serial_to_pcl_node:main'
+ ],
+ },
+)