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Merge pull request #3 in MITL/mmwave_ti_ros from mmWaveCLIFix to master

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* commit '13c8c52fc0f483fe09eb7b178215cfd988b6a24e':
  add /mmWaveCLI into ti_mmwave_sensor
  Minimal_quad now correct
This commit is contained in:
Sabeeh Khan
2021-09-01 13:47:01 -05:00
parent 7a21eb2523 13c8c52fc0
commit 2f2377e375
8 changed files with 35 additions and 15 deletions
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2
autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp
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@@ -76,6 +76,8 @@ class mmWaveCommSrv : public nodelet::Nodelet
std::string mySerialPort;
int myBaudRate;
std::string mmWaveCLIName;
}; //Class mmWaveCommSrv
} //namespace ti_mmwave_rospkg

9
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch
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@@ -12,18 +12,21 @@
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_1" output="screen">
<param name="command_port" value="/dev/mmWave_00CE0E81_00" />
<param name="command_port" value="/dev/mmWave_00CE0FCA_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/mmWave_00CE0E81_01" />
<param name="data_port" value="/dev/mmWave_00CE0FCA_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="ti_mmwave_1"/>
<param name="mmWaveCLI_name" value="/mmWaveCLI_1" />
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_1"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen">
<param name="mmWaveCLI_name" value="/mmWaveCLI_1" />
</node>
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 -0.19 0.18 1.57 3.1415 0 base_link ti_mmwave_1 100"/>

9
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch
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@@ -12,18 +12,21 @@
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_0" output="screen">
<param name="command_port" value="/dev/mmWave_00CE0FCA_00" />
<param name="command_port" value="/dev/mmWave_00CE0E81_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/mmWave_00CE0FCA_01" />
<param name="data_port" value="/dev/mmWave_00CE0E81_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="ti_mmwave_0"/>
<param name="mmWaveCLI_name" value="/mmWaveCLI_0" />
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_0"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
<param name="mmWaveCLI_name" value="/mmWaveCLI_0" />
</node>
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave_0 100"/>
<!--

5
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch
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@@ -19,11 +19,14 @@
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="ti_mmwave_2"/>
<param name="mmWaveCLI_name" value="/mmWaveCLI_2" />
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_2"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_2" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_2" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
<param name="mmWaveCLI_name" value="/mmWaveCLI_2" />
</node>
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_2" args="-.19 0 0.18 3.14 0 3.14 base_link ti_mmwave_2 100"/>

9
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch
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@@ -12,18 +12,21 @@
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_3" output="screen">
<param name="command_port" value="/dev/mmWave_00D83B50_00" />
<param name="command_port" value="/dev/mmWave_00CE0E83_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/mmWave_00D83B50_01" />
<param name="data_port" value="/dev/mmWave_00CE0E83_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="ti_mmwave_3"/>
<param name="mmWaveCLI_name" value="/mmWaveCLI_3" />
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_3"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_3" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_3" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
<param name="mmWaveCLI_name" value="/mmWaveCLI_3" />
</node>
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_3" args="0 0.19 0.18 -1.57 3.1415 0 base_link ti_mmwave_3 100"/>

5
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
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@@ -19,11 +19,14 @@
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="ti_mmwave"/>
<param name="mmWaveCLI_name" value="/mmWaveCLI" />
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
<param name="mmWaveCLI_name" value="/mmWaveCLI" />
</node>
<node pkg="tf2_ros" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave"/>

3
autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
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@@ -53,11 +53,12 @@ void mmWaveCommSrv::onInit()
private_nh2.getParam("command_port", mySerialPort);
private_nh2.getParam("command_rate", myBaudRate);
private_nh2.getParam("mmWaveCLI_name", mmWaveCLIName);
ROS_INFO("mmWaveCommSrv: command_port = %s", mySerialPort.c_str());
ROS_INFO("mmWaveCommSrv: command_rate = %d", myBaudRate);
commSrv = private_nh.advertiseService("/mmWaveCLI", &mmWaveCommSrv::commSrv_cb, this);
commSrv = private_nh.advertiseService(mmWaveCLIName, &mmWaveCommSrv::commSrv_cb, this);
NODELET_DEBUG("mmWaveCommsrv: Finished onInit function");
}

8
autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
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@@ -47,18 +47,20 @@
int main(int argc, char **argv) {
ros::init(argc, argv, "mmWaveQuickConfig");
ros::NodeHandle nh;
ros::NodeHandle private_nh("~");
ti_mmwave_rospkg::mmWaveCLI srv;
if (argc != 2) {
ROS_INFO("mmWaveQuickConfig: usage: mmWaveQuickConfig /file_directory/params.cfg");
return 1;
} else
ROS_INFO("mmWaveQuickConfig: Configuring mmWave device using config file: %s", argv[1]);
ros::ServiceClient client = nh.serviceClient<ti_mmwave_rospkg::mmWaveCLI>("/mmWaveCLI");
std::string mmWaveCLIName;
private_nh.getParam("mmWaveCLI_name", mmWaveCLIName);
ros::ServiceClient client = nh.serviceClient<ti_mmwave_rospkg::mmWaveCLI>(mmWaveCLIName);
std::ifstream myParams;
ti_mmwave_rospkg::ParameterParser parser;
//wait for service to become available
ros::service::waitForService("/mmWaveCLI", 10000);
ros::service::waitForService(mmWaveCLIName, 10000);
//wait 0.5 secs to avoid multi-sensor conflicts
ros::Duration(0.5).sleep();