Add arm_interface and arm_controller

Author: trietngh

src/arm_controller/arm_controller/__init__.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.action import ActionServer
+from rclpy.action.server import ServerGoalHandle
+from arm_interface.action import ExecArmAction
+
+### CONSTANT ###
+# ID for action
+MOVE_HOME_POS = 1
+MOVE_READY_POS = 2
+MOVE_PUT_TO_STOCK = 3
+MOVE_GET_FROM_STOCK = 4
+MOVE_GRAB = 5
+MOVE_RELEASE = 6
+
+class ArmController(Node):
+    def __init__(self):
+        super().__init__('arm_controller')
+        self.exec_arm_action_ = ActionServer(
+            self,
+            ExecArmAction,
+            "ArmController",
+            execute_callback=self.arm_execute_callback)
+        # Initialize current position of arm
+        self.current_pos_ = [0, 0, 0]
+        # Initialize the status of the arm
+        self.is_busy_ = False
+        self.get_logger().info('Arm Controller Node Started')
+    
+    def arm_execute_callback(self, goal_handle : ServerGoalHandle):
+        # Get the request for action
+        action_id = goal_handle.request.action_id
+        self.get_logger().info('Received request for action: %d' % action_id)
+        # Execute the action
+        ## TODO: Send command to Herkulex motor via can TX
+        # Update goal final status
+        goal_handle.succeed()
+        # Send the result
+        result = ExecArmAction.Result()
+        result.action_result = True
+        return result
+        
+    
+
+def main(args=None):
+    try:
+        rclpy.init(args=args)
+        arm_controller = ArmController()
+        rclpy.spin(arm_controller)
+    except KeyboardInterrupt:
+        rclpy.shutdown()
+    
+if __name__ == '__main__':
+    main()

src/arm_controller/arm_controller/arm_controller_server.py

@@ -0,0 +1,21 @@
+<?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>arm_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="hoangtriet26@gmail.com">robot</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>arm_interface</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>

src/arm_controller/package.xml

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/arm_controller
+[install]
+install_scripts=$base/lib/arm_controller

src/arm_controller/resource/arm_controller

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'arm_controller'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='robot',
+    maintainer_email='hoangtriet26@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'arm_controller_server = arm_controller.arm_controller_server:main',
+        ],
+    },
+)

src/arm_controller/setup.cfg

@@ -0,0 +1,25 @@
+# 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
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/arm_controller/setup.py

@@ -0,0 +1,25 @@
+# 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_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/arm_controller/test/test_copyright.py

@@ -0,0 +1,23 @@
+# 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'

src/arm_controller/test/test_flake8.py

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.8)
+project(arm_interface)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/ExecArmAction.action"
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

src/arm_controller/test/test_pep257.py

@@ -0,0 +1,17 @@
+# Goal
+uint8 action_id
+---
+# Result
+bool action_result
+---
+
+## ExecArmAction.action
+#@brief An interface for executing arm actions
+#@param action_id The id of the action to execute
+#                1 : Move to home position
+#                2 : Move to ready position (down to pick up/place object)
+#                3 : Put object to stock
+#                4 : Get object from stock
+#                5 : Grab
+#                6 : Release
+#@param action_result True if the action was successful, False otherwise

src/arm_interface/CMakeLists.txt

@@ -0,0 +1,22 @@
+<?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>arm_interface</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="hoangtriet26@gmail.com">robot</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>