Verified Commit 66301060 authored by Anton Tetov Johansson's avatar Anton Tetov Johansson
Browse files

ugly python version

parent 5ccc47fd
cmake_minimum_required(VERSION 3.0.2)
project(ros_jr3_comedi)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
find_package(catkin REQUIRED catkin_virtualenv)
## 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)
## 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
# std_msgs # Or other packages containing 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 ros_jr3_comedi
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
catkin_generate_virtualenv(
INPUT_REQUIREMENTS requirements.in
USE_SYSTEM_PACKAGES TRUE
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
catkin_install_python(
PROGRAMS
nodes/publisher
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/ros_jr3_comedi.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/ros_jr3_comedi_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}
# )
## 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_ros_jr3_comedi.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)
install(FILES
requirements.txt
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
<launch>
<node name="jr3_comedi_publisher" pkg="ros_jr3_comedi" type="jr3_comedi_publisher">
<param name="executable" value="/home/robot/project/extctrl/labcomm_sensors/jr3_sensors/test_JR3_comedi" />
<param name="rate" value="10.0" type="double" />
<node name="jr3_comedi_publisher" pkg="ros_jr3_comedi" type="publisher">
<!-- <param name="executable" value="/home/robot/project/extctrl/labcomm_sensors/jr3_sensors/test_JR3_comedi" />
<param name="rate" value="10.0" type="double" /> -->
</node>
</launch>
#!/usr/bin/env python
from subprocess import Popen, PIPE, STDOUT
import rospy
from geometry_msgs import WrenchStamped
from std_msgs import Vector3
def publisher():
rospy.init_node('jr3_publisher', anonymous=True)
rate = rospy.Rate(rospy.get_param('~rate', 10)) # default is 10hz
executable = rospy.get_param('~executable', "/home/robot/project/extctrl/labcomm_sensors/jr3_sensors/test_JR3_comedi")
pub = rospy.Publisher('jr3_sensor', WrenchStamped)
with Popen(rospy.get_param('executable', default, stdout=PIPE, stderr=PIPE) as proc:
while not rospy.is_shutdown():
out, err = proc.communicate(timeout=15)
if err:
raise Exception(err)
line = out.decode('ascii')
line = line.strip()
parts = [float(p) for p in line.split()]
msg = WrenchStamped()
msg.header.stamp = rospy.Time.now()
force = Vector3(*parts[:3])
torque = Vector3(*parts[3:])
msg.wrench.force = force
msg.wrench.torque = torque
pub.publish(msg)
rate.sleep()
if __name__ == '__main__':
try:
publisher()
except rospy.ROSInterruptException:
pass
import rospy
from geometry_msgs.msg import Vector3, Wrench, WrenchStamped
import pexpect
def stdout_to_wrench(binary_string):
string = binary_string.decode('ascii')
if string.startswith("channel"):
return
string_parts = string.strip().split()
float_parts = [float(p) for p in string_parts]
return Wrench(force=Vector3(*float_parts[:3]), torque=Vector3(*float_parts[3:]))
def publisher():
rospy.init_node("jr3_publisher", anonymous=True)
executable = (
"/home/robot/project/extctrl/labcomm_sensors/jr3_sensors/test_JR3_comedi"
)
rospy.loginfo(f"Executable: {executable}")
pub = rospy.Publisher("jr3_sensor", WrenchStamped, queue_size=10)
msg = WrenchStamped()
child = pexpect.spawn(executable, timeout=None)
while not rospy.is_shutdown():
wrench = stdout_to_wrench(next(child.__iter__()))
if wrench:
msg.header.stamp = rospy.Time.now()
msg.wrench = wrench
pub.publish(msg)
if __name__ == "__main__":
try:
publisher()
except rospy.ROSInterruptException:
pass
<?xml version="1.0"?>
<package format="2">
<name>ros_jr3_comedi</name>
<version>0.0.0</version>
<version>0.1.0</version>
<description>The ros_jr3_comedi package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="tetov@todo.todo">tetov</maintainer>
<maintainer email="anton.johansson@control.lth.se">Anton Tetov</maintainer>
<license>GPLv3</license>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/ros_jr3_comedi</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>geometry_msg</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>catkin_virtualenv</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>geometry_msg</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>geometry_msg</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<depend>pexpect</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<pip_requirements>requirements.txt</pip_requirements>
</export>
</package>
pexpect >= 4.8.0
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