# Eclipse
.metadata/
RemoteSystemsTempFiles/
+*/Debug
+*/Release
+++ /dev/null
-# This is an genericBoard board with a single STM32F767ZITx chip
-#
-# Generated by STM32CubeIDE
-# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
-
-source [find interface/stlink.cfg]
-
-set WORKAREASIZE 0x8000
-
-transport select "hla_swd"
-
-set CHIPNAME STM32F767ZITx
-set BOARDNAME genericBoard
-
-# Enable debug when in low power modes
-set ENABLE_LOW_POWER 1
-
-# Stop Watchdog counters when halt
-set STOP_WATCHDOG 1
-
-# STlink Debug clock frequency
-set CLOCK_FREQ 8000
-
-# Reset configuration
-# use hardware reset, connect under reset
-# connect_assert_srst needed if low power mode application running (WFI...)
-reset_config srst_only srst_nogate connect_assert_srst
-set CONNECT_UNDER_RESET 1
-set CORE_RESET 0
-
-
-
-# BCTM CPU variables
-
-
-
-source [find target/stm32f7x.cfg]
-
-
-
+++ /dev/null
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.device" value="STM32F767ZI"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.endian" value="little"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.init_speed" value="4000"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_check_serial_number" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_script_path" value=""/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_script_used" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_txt_serial_number" value=""/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.reset_strategy" value="type_0_normal"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_auto" value="true"/>
-<intAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_irpre" value="0"/>
-<intAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_pos" value="0"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.selected_rtos" value="No RTOS"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="true"/>
-<intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{"fItems":[{"fIsFromMainTab":true,"fPath":"Debug/otto_controller_source.elf","fProjectName":"otto_controller_source","fPerformBuild":true,"fDownload":true,"fLoadSymbols":true}]}"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_div" value="8"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_wait_for_sync" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_RESET_MODE" value="connect_under_reset"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value=""${stm32cubeide_openocd_path}/openocd""/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}/otto_controller_source Debug.cfg"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_external_loader" value="false"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader" value=""/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/home/fdila/Projects/otto/otto_controller_source/Debug/st-link_gdbserver_log.txt"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.datatrace_0" value="Enabled=true:Address=0x20000344:Access=Read/Write:Size=Byte:Function=Data Value + PC"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.datatrace_1" value="Enabled=true:Address=left_velocity:Access=Read/Write:Size=Word:Function=Data Value"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.datatrace_2" value="Enabled=false:Address=0x0:Access=Read/Write:Size=Word:Function=Data Value"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.datatrace_3" value="Enabled=false:Address=0x0:Access=Read/Write:Size=Word:Function=Data Value"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.itmports" value="1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1:1"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.itmports_priv" value="1:1:1:1"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.pc_sample" value="1:128"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.timestamps" value="1:1"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.swv.trace_events" value="Cpi=1:Exc=0:Sleep=0:Lsu=0:Fold=0:Exetrc=0"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="ST-LINK (ST-LINK GDB server)"/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
-<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
-<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${TOOLCHAIN_PATH}/arm-none-eabi-gdb"/>
-<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="true"/>
-<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
-<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
-<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/otto_controller_source.elf"/>
-<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="otto_controller_source"/>
-<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
-<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.41926027"/>
-<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-<listEntry value="/otto_controller_source"/>
-</listAttribute>
-<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-<listEntry value="4"/>
-</listAttribute>
-<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList context="reserved-for-future-use"> <gdbmemoryBlockExpression address="0" label="left_velocity"/> </memoryBlockExpressionList> "/>
-<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
-</launchConfiguration>
--- /dev/null
+### ROS workspace
+
+This workspace contains useful ros nodes to drive Otto and get the odometry.
+
+ROS nodes:
+
+*joy_to_cmd_vel: used to translate joy msgs to cmd_vel msgs
+*cmd_vel_transmitter: used to send the velocities setpoints to the board through the serial adapter.
+
+ROS launches:
+* joypad.launch: launches the necessary nodes to drive Otto with a joypad. Requires joy, joy_to_cmd_vel, cmd_vel_transmitter.
\ No newline at end of file
<launch>
<node name="joy_node" pkg="joy" type="joy_node" />
<node name="joy_to_cmd_vel" pkg="joypad_bridge" type="joy_to_cmd_vel.py"/>
- <node name="listener" pkg="joypad_bridge" type="listener.py"/>
-
+ <node name="cmd_vel_transmitter" pkg="joypad_bridge" type="cmd_vel_transmitter.py"/>
</launch>
--- /dev/null
+#!/usr/bin/env python
+
+import rospy, serial, struct, time
+from geometry_msgs.msg import Twist
+
+ser = serial.Serial(
+ port='/dev/ttyUSB0',
+ baudrate=115200,
+ parity=serial.PARITY_NONE,
+ stopbits=serial.STOPBITS_ONE,
+ bytesize=serial.EIGHTBITS,
+ rtscts=False)
+
+current_millis = 0
+last_millis = 0
+
+def callback(data):
+ global current_millis
+ global last_millis
+ #da fixare
+ linear = -data.linear.x
+ angular = -data.angular.z
+ last_millis = current_millis
+ current_millis = int(round(time.time() * 1000))
+ rospy.loginfo('I heard %f %f', linear, angular)
+ if (1):
+ msg_output = struct.pack('<ff', linear, angular)
+ ser.write(msg_output)
+ ser.flush()
+
+
+
+def listener():
+
+ rospy.init_node('cmd_vel_transmitter', anonymous=True)
+
+ rospy.Subscriber('/cmd_vel', Twist, callback)
+
+ rospy.spin()
+
+if __name__ == '__main__':
+ listener()
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Joy
-# Author: Andrew Dai
-# This ROS Node converts Joystick inputs from the joy node
-# into cmd_vel
-
-# Receives joystick messages (subscribed to Joy topic)
-# then converts the joysick inputs into Twist commands
-# axis 1 aka left stick vertical controls linear speed
-# axis 0 aka left stick horizonal controls angular speed
def callback(data):
twist = Twist()
twist.linear.x = data.axes[2]
twist.angular.z = data.axes[0]
pub.publish(twist)
-#Intializes everything
def start():
- # publishing to "turtle1/cmd_vel" to control turtle1
global pub
rospy.init_node('joy_to_cmd_vel')
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
- # subscribed to joystick inputs on topic "joy"
rospy.Subscriber("joy", Joy, callback)
- # starts the node
rospy.spin()
if __name__ == '__main__':
+++ /dev/null
-#!/usr/bin/env python
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2008, Willow Garage, Inc.
-# All rights reserved.
-#
-# 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 Willow Garage, Inc. 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 OWNER 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.
-#
-# Revision $Id$
-
-## Simple talker demo that listens to std_msgs/Strings published
-## to the 'chatter' topic
-
-import rospy, serial, struct, time
-from geometry_msgs.msg import Twist
-
-ser = serial.Serial(
- port='/dev/ttyUSB0',
- baudrate=115200,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- bytesize=serial.EIGHTBITS,
- rtscts=False)
-
-current_millis = 0
-last_millis = 0
-
-def callback(data):
- global current_millis
- global last_millis
- #da fixare
- linear = -data.linear.x
- angular = -data.angular.z
- last_millis = current_millis
- current_millis = int(round(time.time() * 1000))
- rospy.loginfo('I heard %f %f', linear, angular)
- if (1):
- msg_output = struct.pack('<ff', linear, angular)
- ser.write(msg_output)
- ser.flush()
-
-
-
-def listener():
-
- # In ROS, nodes are uniquely named. If two nodes with the same
- # name are launched, the previous one is kicked off. The
- # anonymous=True flag means that rospy will choose a unique
- # name for our 'listener' node so that multiple listeners can
- # run simultaneously.
- rospy.init_node('listener', anonymous=True)
-
- rospy.Subscriber('/cmd_vel', Twist, callback)
-
- # spin() simply keeps python from exiting until this node is stopped
- rospy.spin()
-
-if __name__ == '__main__':
- listener()
+++ /dev/null
-import serial, struct, time
-ser = serial.Serial(
- port='/dev/ttyUSB0',
- baudrate=115200,
- parity=serial.PARITY_ODD,
- stopbits=serial.STOPBITS_ONE,
- bytesize=serial.EIGHTBITS,
- rtscts=False)
-
-while 1:
- ser.reset_input_buffer()
- buffer = ser.read(8)
- msg_received = struct.unpack('<fi', buffer)
- print(msg_received)
- print(buffer)
-
--- /dev/null
+### Ticks calibration
+
+* Flash otto_\ticks\_calibration on the board
+* Run ticks_logger.py
+* Run the required ros nodes to drive otto with a joypad
\ No newline at end of file
+++ /dev/null
-import serial, struct, time
-ser = serial.Serial(
- port='/dev/ttyUSB0',
- baudrate=115200,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- bytesize=serial.EIGHTBITS,
- rtscts=False)
-
-while 1:
- ser.reset_input_buffer()
- buffer = ser.read(8)
- msg_received = struct.unpack('<ii', buffer)
- print(msg_received)
- print(buffer)
-
projects / pioneer-stm32 / commitdiff
