diff --git a/documentation/assembly/01_COMPUTER_CONFIGURATION.md b/documentation/assembly/01_COMPUTER_CONFIGURATION.md index 9ac52d8b..b8712e76 100644 --- a/documentation/assembly/01_COMPUTER_CONFIGURATION.md +++ b/documentation/assembly/01_COMPUTER_CONFIGURATION.md @@ -9,7 +9,8 @@ TODO ### A. OpenCR Dev Rule 1. Copy [100-opencr-custom.rules](../../firmwares/opencr_firmware/100-opencr-custom.rules) in `/etc/udev/rules.d/`. -2. Add the user to the `dialout` group. +2. Copy [100-teensy.rules](../../firmwares/psu_control/100-teensy.rules) in `/etc/udev/rules.d/`. +3. Add the user to the `dialout` group. ```bash sudo usermod -a -G dialout $USER diff --git a/firmwares/opencr_firmware/PsuControlCommandHandler.cpp b/firmwares/opencr_firmware/PsuControlCommandHandler.cpp index 5d28bf0b..912b8c09 100644 --- a/firmwares/opencr_firmware/PsuControlCommandHandler.cpp +++ b/firmwares/opencr_firmware/PsuControlCommandHandler.cpp @@ -43,13 +43,14 @@ void PsuControlCommandHandler::handleMessage() case MESSAGE_TYPE_STATUS: if (m_statusCommandHandler != nullptr) { - bool isBatteryCharging = m_buffer[2]; + bool isPsuConnected = m_buffer[2]; + bool isBatteryCharging = m_buffer[3]; float stateOfCharge, current, voltage; - memcpy(&stateOfCharge, m_buffer + 3, sizeof(float)); - memcpy(¤t, m_buffer + 7, sizeof(float)); - memcpy(&voltage, m_buffer + 11, sizeof(float)); - m_statusCommandHandler(isBatteryCharging, stateOfCharge, current, voltage); + memcpy(&stateOfCharge, m_buffer + 4, sizeof(float)); + memcpy(¤t, m_buffer + 8, sizeof(float)); + memcpy(&voltage, m_buffer + 12, sizeof(float)); + m_statusCommandHandler(isPsuConnected, isBatteryCharging, stateOfCharge, current, voltage); } break; } diff --git a/firmwares/opencr_firmware/PsuControlCommandHandler.h b/firmwares/opencr_firmware/PsuControlCommandHandler.h index 05028d8d..9f454674 100644 --- a/firmwares/opencr_firmware/PsuControlCommandHandler.h +++ b/firmwares/opencr_firmware/PsuControlCommandHandler.h @@ -3,7 +3,12 @@ #include -typedef void (*StatusCommandHandler)(bool isBatteryCharging, float stateOfCharge, float current, float voltage); +typedef void (*StatusCommandHandler)( + bool isPsuConnected, + bool isBatteryCharging, + float stateOfCharge, + float current, + float voltage); class PsuControlCommandHandler { diff --git a/firmwares/opencr_firmware/opencr_firmware.ino b/firmwares/opencr_firmware/opencr_firmware.ino index eeb46c70..973c0f35 100644 --- a/firmwares/opencr_firmware/opencr_firmware.ino +++ b/firmwares/opencr_firmware/opencr_firmware.ino @@ -50,14 +50,11 @@ float rawImuMsgData[RAW_IMU_MSG_DATA_LENGTH]; std_msgs::Float32MultiArray rawImuMsg; ros::Publisher rawImuPub("opencr/raw_imu", &rawImuMsg); -constexpr int STATE_OF_CHARGE_VOLTAGE_CURRENT_MSG_DATA_LENGTH = 3; -float stateOfChargeVoltageCurrentMsgData[STATE_OF_CHARGE_VOLTAGE_CURRENT_MSG_DATA_LENGTH]; -std_msgs::Float32MultiArray stateOfChargeVoltageCurrentMsg; -ros::Publisher - stateOfChargeVoltageCurrentPub("opencr/state_of_charge_voltage_current", &stateOfChargeVoltageCurrentMsg); - -std_msgs::Bool isBatteryChargingMsg; -ros::Publisher isBatteryChargingPub("opencr/is_battery_charging", &isBatteryChargingMsg); +// Message format : stateOfCharge, current, voltage, isPsuConnected, isBatteryCharging +constexpr int BASE_STATUS_MSG_DATA_LENGTH = 5; +float baseStatusMsgData[BASE_STATUS_MSG_DATA_LENGTH]; +std_msgs::Float32MultiArray baseStatusMsg; +ros::Publisher baseStatusPub("opencr/base_status", &baseStatusMsg); // Robot MPU9250 imu(SPI_IMU, BDPIN_SPI_CS_IMU); @@ -102,8 +99,7 @@ void setupRos() nh.advertise(currentHeadPosePub); nh.advertise(isHeadPoseReachablePub); nh.advertise(rawImuPub); - nh.advertise(stateOfChargeVoltageCurrentPub); - nh.advertise(isBatteryChargingPub); + nh.advertise(baseStatusPub); } void setupImu() @@ -204,13 +200,15 @@ void onImuTimer() rawImuPub.publish(&rawImuMsg); } -void onStatusCommand(bool isBatteryCharging, float stateOfCharge, float current, float voltage) +void onStatusCommand(bool isPsuConnected, bool isBatteryCharging, float stateOfCharge, float current, float voltage) { - stateOfChargeVoltageCurrentMsgData[0] = stateOfCharge; - stateOfChargeVoltageCurrentMsgData[1] = current; - stateOfChargeVoltageCurrentMsgData[2] = voltage; - - stateOfChargeVoltageCurrentMsg.data = &stateOfChargeVoltageCurrentMsgData[0]; - stateOfChargeVoltageCurrentMsg.data_length = STATE_OF_CHARGE_VOLTAGE_CURRENT_MSG_DATA_LENGTH; - stateOfChargeVoltageCurrentPub.publish(&stateOfChargeVoltageCurrentMsg); + baseStatusMsgData[0] = stateOfCharge; + baseStatusMsgData[1] = voltage; + baseStatusMsgData[2] = current; + baseStatusMsgData[3] = isPsuConnected; + baseStatusMsgData[4] = isBatteryCharging; + + baseStatusMsg.data = baseStatusMsgData; + baseStatusMsg.data_length = BASE_STATUS_MSG_DATA_LENGTH; + baseStatusPub.publish(&baseStatusMsg); } diff --git a/firmwares/psu_control/100-teensy.rules b/firmwares/psu_control/100-teensy.rules new file mode 100644 index 00000000..c4107865 --- /dev/null +++ b/firmwares/psu_control/100-teensy.rules @@ -0,0 +1,39 @@ +# UDEV Rules for Teensy boards, http://www.pjrc.com/teensy/ +# +# The latest version of this file may be found at: +# http://www.pjrc.com/teensy/00-teensy.rules +# +# This file must be placed at: +# +# /etc/udev/rules.d/00-teensy.rules (preferred location) +# or +# /lib/udev/rules.d/00-teensy.rules (req'd on some broken systems) +# +# To install, type this command in a terminal: +# sudo cp 00-teensy.rules /etc/udev/rules.d/00-teensy.rules +# +# After this file is installed, physically unplug and reconnect Teensy. +# +ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04*", ENV{ID_MM_DEVICE_IGNORE}="1", ENV{ID_MM_PORT_IGNORE}="1" +ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789a]*", ENV{MTP_NO_PROBE}="1" +KERNEL=="ttyACM*", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04*", GROUP:="dialout", RUN:="/bin/stty -F /dev/%k raw -echo" +KERNEL=="hidraw*", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04*", GROUP:="dialout" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04*", GROUP:="dialout" +KERNEL=="hidraw*", ATTRS{idVendor}=="1fc9", ATTRS{idProduct}=="013*", GROUP:="dialout" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="1fc9", ATTRS{idProduct}=="013*", GROUP:="dialout" + +# +# If you share your linux system with other users, or just don't like the +# idea of write permission for everybody, you can replace MODE:="0666" with +# OWNER:="yourusername" to create the device owned by you, or with +# GROUP:="somegroupname" and mange access using standard unix groups. +# +# ModemManager tends to interfere with USB Serial devices like Teensy. +# Problems manifest as the Arduino Serial Monitor missing some incoming +# data, and "Unable to open /dev/ttyACM0 for reboot request" when +# uploading. If you experience these problems, disable or remove +# ModemManager from your system. If you must use a modem, perhaps +# try disabling the "MM_FILTER_RULE_TTY_ACM_INTERFACE" ModemManager +# rule. Changing ModemManager's filter policy from "strict" to "default" +# may also help. But if you don't use a modem, completely removing +# the troublesome ModemManager is the most effective solution. diff --git a/firmwares/psu_control/include/OpencrCommandSender.h b/firmwares/psu_control/include/OpencrCommandSender.h index f472cfb0..af8bdfdc 100644 --- a/firmwares/psu_control/include/OpencrCommandSender.h +++ b/firmwares/psu_control/include/OpencrCommandSender.h @@ -10,7 +10,12 @@ class OpencrCommandSender public: OpencrCommandSender(); - void sendStatusCommand(bool isBatteryCharging, float stateOfCharge, float current, float voltage); + void sendStatusCommand( + bool isPsuConnected, + bool isBatteryCharging, + float stateOfCharge, + float current, + float voltage); private: void sendCommand(); diff --git a/firmwares/psu_control/src/OpencrCommandSender.cpp b/firmwares/psu_control/src/OpencrCommandSender.cpp index 24b2b57a..43bce1fe 100644 --- a/firmwares/psu_control/src/OpencrCommandSender.cpp +++ b/firmwares/psu_control/src/OpencrCommandSender.cpp @@ -10,15 +10,21 @@ OpencrCommandSender::OpencrCommandSender() memset(m_buffer, 0, UINT8_MAX); } -void OpencrCommandSender::sendStatusCommand(bool isBatteryCharging, float stateOfCharge, float current, float voltage) +void OpencrCommandSender::sendStatusCommand( + bool isPsuConnected, + bool isBatteryCharging, + float stateOfCharge, + float current, + float voltage) { - m_buffer[0] = sizeof(float) * 3 + 3; + m_buffer[0] = sizeof(float) * 3 + 4; m_buffer[1] = MESSAGE_TYPE_STATUS; - m_buffer[2] = static_cast(isBatteryCharging); + m_buffer[2] = static_cast(isPsuConnected); + m_buffer[3] = static_cast(isBatteryCharging); - memcpy(m_buffer + 3, &stateOfCharge, sizeof(float)); - memcpy(m_buffer + 7, ¤t, sizeof(float)); - memcpy(m_buffer + 11, &voltage, sizeof(float)); + memcpy(m_buffer + 4, &stateOfCharge, sizeof(float)); + memcpy(m_buffer + 8, ¤t, sizeof(float)); + memcpy(m_buffer + 12, &voltage, sizeof(float)); sendCommand(); } diff --git a/firmwares/psu_control/src/mainNormal.cpp b/firmwares/psu_control/src/mainNormal.cpp index 9932d451..18f461aa 100644 --- a/firmwares/psu_control/src/mainNormal.cpp +++ b/firmwares/psu_control/src/mainNormal.cpp @@ -98,7 +98,10 @@ void onStatusTicker() float current = currentVoltageSensor.readCurrent(); float voltage = currentVoltageSensor.readVoltage(); + bool isPsuConnected = charger.isPsuConnected(); + DEBUG_SERIAL.print("isPsuConnected="); + DEBUG_SERIAL.println(isPsuConnected); DEBUG_SERIAL.print("isBatteryCharging="); DEBUG_SERIAL.println(isBatteryCharging); DEBUG_SERIAL.print("stateOfCharge="); @@ -113,7 +116,7 @@ void onStatusTicker() DEBUG_SERIAL.println(externalTemperatureCelsius); DEBUG_SERIAL.println("Send status"); DEBUG_SERIAL.println(); - opencrCommandSender.sendStatusCommand(isBatteryCharging, stateOfCharge, current, voltage); + opencrCommandSender.sendStatusCommand(isPsuConnected, isBatteryCharging, stateOfCharge, current, voltage); } #endif diff --git a/ros/behaviors/teleoperation/CMakeLists.txt b/ros/behaviors/teleoperation/CMakeLists.txt index d749475c..60b4bfdf 100644 --- a/ros/behaviors/teleoperation/CMakeLists.txt +++ b/ros/behaviors/teleoperation/CMakeLists.txt @@ -8,13 +8,13 @@ project(teleoperation) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - hbba_lite - rospy - std_msgs - t_top - geometry_msgs - message_generation - ) + hbba_lite + rospy + std_msgs + t_top + geometry_msgs + opentera_webrtc_ros_msgs +) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -57,10 +57,10 @@ find_package(catkin REQUIRED COMPONENTS # ) ## Generate services in the 'srv' folder -add_service_files( - FILES - DoAction.srv -) +# add_service_files( +# FILES +# DoAction.srv +# ) ## Generate actions in the 'action' folder # add_action_files( @@ -70,7 +70,7 @@ add_service_files( # ) ## Generate added messages and services with any dependencies listed here -generate_messages() +# generate_messages() ################################################ ## Declare ROS dynamic reconfigure parameters ## @@ -104,7 +104,7 @@ generate_messages() catkin_package( # INCLUDE_DIRS include # LIBRARIES gesture - # CATKIN_DEPENDS hbba_lite rospy std_msgs t_top + CATKIN_DEPENDS hbba_lite rospy std_msgs t_top opentera_webrtc_ros_msgs # DEPENDS system_lib ) diff --git a/ros/behaviors/teleoperation/package.xml b/ros/behaviors/teleoperation/package.xml index c3250069..b2e8f7e7 100644 --- a/ros/behaviors/teleoperation/package.xml +++ b/ros/behaviors/teleoperation/package.xml @@ -54,18 +54,18 @@ std_msgs t_top geometry_msgs - message_generation + opentera_webrtc_ros_msgs hbba_lite rospy std_msgs t_top geometry_msgs - message_generation + opentera_webrtc_ros_msgs hbba_lite rospy std_msgs t_top - geometry_msgs + opentera_webrtc_ros_msgs diff --git a/ros/behaviors/teleoperation/scripts/teleoperation_node.py b/ros/behaviors/teleoperation/scripts/teleoperation_node.py index 22cce6a7..87cf2346 100755 --- a/ros/behaviors/teleoperation/scripts/teleoperation_node.py +++ b/ros/behaviors/teleoperation/scripts/teleoperation_node.py @@ -5,7 +5,7 @@ from contextlib import contextmanager from t_top import MovementCommands, HEAD_ZERO_Z -from teleoperation.srv import DoAction, DoActionRequest, DoActionResponse +from opentera_webrtc_ros_msgs.srv import SetString, SetStringRequest, SetStringResponse def twist_is_null(twist: Twist) -> bool: @@ -46,7 +46,7 @@ def __init__(self): self._movement_commands.sleep_time), self._on_timer_cb) self._origin_serv = rospy.Service( - "teleop_do_action", DoAction, self._do_action_cb) + "teleop_do_action", SetString, self._do_action_cb) def _on_twist_cb(self, msg): if self._movement_commands.is_filtering_all_messages: @@ -90,7 +90,7 @@ def _move(self, msg: Twist) -> None: self._state.current_speed = TeleopAngles( torso_angle=msg.angular.z/0.15, head_angle=-1.1*msg.linear.x/0.15) - def _do_action_cb(self, req: DoActionRequest) -> DoActionResponse: + def _do_action_cb(self, req: SetStringRequest) -> SetStringResponse: jump_table = { "goto_origin": self._goto_origin, "do_yes": self._do_yes, @@ -100,15 +100,15 @@ def _do_action_cb(self, req: DoActionRequest) -> DoActionResponse: "goto_origin_torso": self._goto_origin_torso, } - if req.name in jump_table: + if req.data in jump_table: if self._movement_commands.is_filtering_all_messages: - return DoActionResponse(success=False, message="HBBA filter is active") + return SetStringResponse(success=False, message="HBBA filter is active") - jump_table[req.name]() - return DoActionResponse(success=True, message="") + jump_table[req.data]() + return SetStringResponse(success=True, message="") else: - return DoActionResponse(success=False, message=f"'{req.name}' not in {list(jump_table.keys())}") + return SetStringResponse(success=False, message=f"'{req.data}' not in {list(jump_table.keys())}") @contextmanager def _pause_moving(self): diff --git a/ros/behaviors/teleoperation/srv/DoAction.srv b/ros/behaviors/teleoperation/srv/DoAction.srv deleted file mode 100644 index 9fa6a16f..00000000 --- a/ros/behaviors/teleoperation/srv/DoAction.srv +++ /dev/null @@ -1,4 +0,0 @@ -string name ---- -bool success -string message diff --git a/ros/demos/README.md b/ros/demos/README.md index 8f9247b5..d09b3bba 100644 --- a/ros/demos/README.md +++ b/ros/demos/README.md @@ -7,3 +7,4 @@ This folder contains ROS packages performing robot demonstrations. - The [control_panel](control_panel) folder contains a graphical user interface to control T-Top's features manually. - The [smart_speaker](smart_speaker) folder contains a node that makes T-Top a smart speaker that can tell the current weather, the weather forecast or a story. Also, it can dance to the ambiant music or play a song and dance. +- The [ttop_opentera](ttop_opentera) folder contains a node that makes T-Top a telepresence robot using OpenTera. diff --git a/ros/demos/control_panel/launch/control_panel.launch b/ros/demos/control_panel/launch/control_panel.launch index fff8eb85..30ba305c 100644 --- a/ros/demos/control_panel/launch/control_panel.launch +++ b/ros/demos/control_panel/launch/control_panel.launch @@ -1,10 +1,13 @@ - + + + + diff --git a/ros/demos/control_panel/src/widgets/ControlPanel.cpp b/ros/demos/control_panel/src/widgets/ControlPanel.cpp index 85e096e1..b17abadf 100644 --- a/ros/demos/control_panel/src/widgets/ControlPanel.cpp +++ b/ros/demos/control_panel/src/widgets/ControlPanel.cpp @@ -23,7 +23,7 @@ ControlPanel::ControlPanel(ros::NodeHandle& nodeHandle, shared_ptr de createUi(); m_batterySubscriber = nodeHandle.subscribe( - "opencr/state_of_charge_voltage_current", + "opencr/base_status", 1, &ControlPanel::batterySubscriberCallback, this); @@ -38,7 +38,7 @@ void ControlPanel::onVolumeChanged(int volume) void ControlPanel::batterySubscriberCallback(const std_msgs::Float32MultiArray::ConstPtr& msg) { - if (msg->data.size() == 3) + if (msg->data.size() == 4) { int battery = static_cast(msg->data[0]); invokeLater([this, battery]() { m_batteryLevel->display(QString::number(battery)); }); diff --git a/ros/demos/smart_speaker/launch/smart_speaker_rss.launch b/ros/demos/smart_speaker/launch/smart_speaker_rss.launch index f8b12419..2b00354a 100644 --- a/ros/demos/smart_speaker/launch/smart_speaker_rss.launch +++ b/ros/demos/smart_speaker/launch/smart_speaker_rss.launch @@ -1,7 +1,9 @@ - + + + @@ -12,5 +14,6 @@ + diff --git a/ros/demos/smart_speaker/launch/smart_speaker_smart.launch b/ros/demos/smart_speaker/launch/smart_speaker_smart.launch index 52ffc03e..15415111 100644 --- a/ros/demos/smart_speaker/launch/smart_speaker_smart.launch +++ b/ros/demos/smart_speaker/launch/smart_speaker_smart.launch @@ -1,7 +1,9 @@ - + + + @@ -20,5 +22,6 @@ + diff --git a/ros/demos/ttop_opentera/README.md b/ros/demos/ttop_opentera/README.md index c7183abc..02ff2d43 100644 --- a/ros/demos/ttop_opentera/README.md +++ b/ros/demos/ttop_opentera/README.md @@ -2,8 +2,41 @@ This folder contains a node that makes T-Top a telepresence robot using OpenTera. + +## Installation +1. Follow the installation guide for [T-Top](../../../documentation/assembly/01_COMPUTER_CONFIGURATION.md) dependencies. +2. Install the requirements for OpenTera from the [system](../../opentera-webrtc-ros/README.md#Requirements) and for [Python](../../opentera-webrtc-ros/README.md#3---Install-the-Python-requirements). +3. Build the ROS workspace using `catkin_make`. + ## How to Launch +The OpenTera telepresence stack can be launched in stand-alone mode or using the OpenTera servers. + +### Stand-alone mode +To launch in stand-alone mode, you will need to generate CA certificates and keys. Follow the guide [here](../../../tools/ca_certificates/ca_certificate_setup.md). +1. Start the ROS stack. ```bash +export DISPLAY=:0.0 roslaunch ttop_opentera ttop_opentera.launch ``` +2. On your developpement machine, navigate to `https://:8080/index.html#/user?pwd=abc&robot=TTOP`, where `` is the IP address of your robot on the LAN. + + +### OpenTera Server +To launch using the OpenTera servers, you will need to configure the OpenTera servers: +1. Generate a unique token for the robot using `OpenTeraPlus`. +2. Copy the template config file to the destination: +```bash +mkdir -p ~/.ros/opentera +cp $(rospack find opentera_client_ros)/config/client_config.json ~/.ros/opentera/client_config.json +``` +3. Edit the file `~/.ros/opentera/client_config.json` to set the token and url to the token from step 1 and `https://telesante.3it.usherbrooke.ca:40075`, respectively. + +1. Start the ROS stack. +```bash +export DISPLAY=:0.0 +roslaunch ttop_opentera ttop_opentera_online.launch +``` + +2. On your developpement machine, navigate to `https://telesante.3it.usherbrooke.ca:40075/robot/#/login`. +Login using your account, and select the robot you want to control. diff --git a/ros/demos/ttop_opentera/launch/ttop_opentera.launch b/ros/demos/ttop_opentera/launch/ttop_opentera.launch index efd3ee04..edb7cd78 100644 --- a/ros/demos/ttop_opentera/launch/ttop_opentera.launch +++ b/ros/demos/ttop_opentera/launch/ttop_opentera.launch @@ -1,7 +1,11 @@ + + + - + + - + diff --git a/ros/demos/ttop_opentera/launch/ttop_opentera_online.launch b/ros/demos/ttop_opentera/launch/ttop_opentera_online.launch new file mode 100644 index 00000000..4b419ea2 --- /dev/null +++ b/ros/demos/ttop_opentera/launch/ttop_opentera_online.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros/hbba_lite b/ros/hbba_lite index 87c95cbe..15902316 160000 --- a/ros/hbba_lite +++ b/ros/hbba_lite @@ -1 +1 @@ -Subproject commit 87c95cbe33ebeeaacab9cfc03529a0645dfbaf77 +Subproject commit 15902316a3064dbfe9f7b07dae5abc80b3bf832c diff --git a/ros/opentera-webrtc-ros b/ros/opentera-webrtc-ros index 12c3ea9f..0caebd3a 160000 --- a/ros/opentera-webrtc-ros +++ b/ros/opentera-webrtc-ros @@ -1 +1 @@ -Subproject commit 12c3ea9fc4b0c1e1de7190f192600da408b673bd +Subproject commit 0caebd3addad22771bf3d44364f4618ecf9003ee diff --git a/ros/perceptions/odas_ros b/ros/perceptions/odas_ros index 237ae2a4..ad01e0a9 160000 --- a/ros/perceptions/odas_ros +++ b/ros/perceptions/odas_ros @@ -1 +1 @@ -Subproject commit 237ae2a4c9718384a8e8cde3f14cfdfb0a2e81a8 +Subproject commit ad01e0a9b808ab360a75fd8f4e207bb2a1c3205e diff --git a/ros/perceptions/person_identification/launch/capture_face.launch b/ros/perceptions/person_identification/launch/capture_face.launch index ab59d93e..acff7337 100644 --- a/ros/perceptions/person_identification/launch/capture_face.launch +++ b/ros/perceptions/person_identification/launch/capture_face.launch @@ -2,6 +2,8 @@ + + @@ -31,7 +33,7 @@ - + diff --git a/ros/perceptions/person_identification/launch/capture_voice.launch b/ros/perceptions/person_identification/launch/capture_voice.launch index ecc194fa..3fbbe1e2 100644 --- a/ros/perceptions/person_identification/launch/capture_voice.launch +++ b/ros/perceptions/person_identification/launch/capture_voice.launch @@ -2,6 +2,8 @@ + + @@ -35,7 +37,7 @@ - + diff --git a/ros/t_top/CMakeLists.txt b/ros/t_top/CMakeLists.txt index 865336e8..dbec7fc9 100644 --- a/ros/t_top/CMakeLists.txt +++ b/ros/t_top/CMakeLists.txt @@ -8,8 +8,8 @@ project(t_top) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - rospy - ) + rospy +) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -158,9 +158,10 @@ include_directories( ## Mark executable scripts (Python etc.) for installation ## in contrast to setup.py, you can choose the destination catkin_install_python(PROGRAMS - scripts/opencr_raw_data_interpreter.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) + scripts/opencr_raw_data_interpreter.py + scripts/robot_status.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) ## Mark executables for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html diff --git a/ros/t_top/launch/behaviors/opentera.launch b/ros/t_top/launch/behaviors/opentera.launch index 3e7c3c2b..18ae6482 100644 --- a/ros/t_top/launch/behaviors/opentera.launch +++ b/ros/t_top/launch/behaviors/opentera.launch @@ -2,35 +2,33 @@ - + - - + + + + - + - - + + + - - - - - - - - - - + + + + - + + @@ -44,17 +42,18 @@ - + - - + + + - + @@ -62,24 +61,26 @@ - + - + + - + + @@ -112,19 +113,11 @@ - + - + - - - - - - - - diff --git a/ros/t_top/launch/behaviors/teleoperation.launch b/ros/t_top/launch/behaviors/teleoperation.launch index 81c64a12..08b976e4 100644 --- a/ros/t_top/launch/behaviors/teleoperation.launch +++ b/ros/t_top/launch/behaviors/teleoperation.launch @@ -5,6 +5,7 @@ + diff --git a/ros/t_top/launch/bringup.launch b/ros/t_top/launch/bringup.launch index d539aa12..dcef991b 100644 --- a/ros/t_top/launch/bringup.launch +++ b/ros/t_top/launch/bringup.launch @@ -4,6 +4,7 @@ + @@ -12,6 +13,7 @@ + diff --git a/ros/t_top/launch/opentera_teleop.launch b/ros/t_top/launch/opentera_teleop.launch index 914f1e41..a3449bf0 100644 --- a/ros/t_top/launch/opentera_teleop.launch +++ b/ros/t_top/launch/opentera_teleop.launch @@ -1,17 +1,19 @@ - + + + - + @@ -25,10 +27,9 @@ + - - @@ -41,7 +42,8 @@ - + + diff --git a/ros/t_top/launch/perceptions.launch b/ros/t_top/launch/perceptions.launch index 5e8e4fd4..e21b0e38 100644 --- a/ros/t_top/launch/perceptions.launch +++ b/ros/t_top/launch/perceptions.launch @@ -4,6 +4,7 @@ + @@ -17,6 +18,7 @@ + diff --git a/ros/t_top/launch/perceptions/odas.launch b/ros/t_top/launch/perceptions/odas.launch index cd4c5cf7..887e37ea 100644 --- a/ros/t_top/launch/perceptions/odas.launch +++ b/ros/t_top/launch/perceptions/odas.launch @@ -5,16 +5,17 @@ + - + - + @@ -22,7 +23,7 @@ - + diff --git a/ros/t_top/launch/perceptions/rtabmap.launch b/ros/t_top/launch/perceptions/rtabmap.launch index d62ca5b4..c379f8c7 100644 --- a/ros/t_top/launch/perceptions/rtabmap.launch +++ b/ros/t_top/launch/perceptions/rtabmap.launch @@ -1,4 +1,7 @@ + + + @@ -12,19 +15,36 @@ - - + + - - + + + + + + + - + + + + + + + + + + + + + diff --git a/ros/t_top/launch/platform/sensors.launch b/ros/t_top/launch/platform/sensors.launch index 39283a6f..70f5848d 100644 --- a/ros/t_top/launch/platform/sensors.launch +++ b/ros/t_top/launch/platform/sensors.launch @@ -4,9 +4,9 @@ - - - + + + diff --git a/ros/t_top/launch/rviz.launch b/ros/t_top/launch/rviz.launch index a286bf31..3391667c 100644 --- a/ros/t_top/launch/rviz.launch +++ b/ros/t_top/launch/rviz.launch @@ -1,7 +1,7 @@ - + diff --git a/ros/t_top/meshes/d435.dae b/ros/t_top/meshes/d435.dae new file mode 100644 index 00000000..41f3a87c --- /dev/null +++ b/ros/t_top/meshes/d435.dae @@ -0,0 +1,1658 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + realsense-ros/d435.dae at development · IntelRealSense/realsense-ros + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + -4.37114e-8 1 -1.50996e-7 -0.07 1 4.37114e-8 -6.60024e-15 -0.07 0 -1.50996e-7 -1 0.130416 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/ros/t_top/package.xml b/ros/t_top/package.xml index 65963807..b99437ce 100644 --- a/ros/t_top/package.xml +++ b/ros/t_top/package.xml @@ -68,6 +68,7 @@ rospy sensor_msgs std_msgs + opentera_webrtc_ros_msgs tf hbba_lite diff --git a/ros/t_top/rviz/urdf.rviz b/ros/t_top/rviz/urdf.rviz index 690b9466..1fc1e3cc 100644 --- a/ros/t_top/rviz/urdf.rviz +++ b/ros/t_top/rviz/urdf.rviz @@ -13,6 +13,7 @@ Panels: - /MapCloud1 - /MarkerArray1 - /PoseArray1 + - /Map1 Splitter Ratio: 0.6360294222831726 Tree Height: 741 - Class: rviz/Selection @@ -180,7 +181,7 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: /rtabmap/cloud_map + Topic: /cloud_map Unreliable: false Use Fixed Frame: true Use rainbow: true @@ -203,6 +204,7 @@ Visualization Manager: Color Transformer: RGB8 Download graph: false Download map: false + Download namespace: "" Enabled: true Filter ceiling (m): 0 Filter floor (m): 0 @@ -219,7 +221,7 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: /rtabmap/mapData + Topic: /mapData Unreliable: false Use Fixed Frame: true Use rainbow: true @@ -249,6 +251,16 @@ Visualization Manager: Topic: /sst_poses Unreliable: false Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /grid_map + Unreliable: false + Use Timestamp: false + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 diff --git a/ros/t_top/scripts/opencr_raw_data_interpreter.py b/ros/t_top/scripts/opencr_raw_data_interpreter.py index 5772ffa0..ee4c6a4d 100755 --- a/ros/t_top/scripts/opencr_raw_data_interpreter.py +++ b/ros/t_top/scripts/opencr_raw_data_interpreter.py @@ -8,24 +8,17 @@ from sensor_msgs.msg import Imu from sensor_msgs.msg import MagneticField from geometry_msgs.msg import PoseStamped -from nav_msgs.msg import Odometry class OpenCrRawDataInterpreter: def __init__(self): - self._rate = rospy.Rate(15) - self._base_footprint_torso_base_delta_z = rospy.get_param('~base_link_torso_base_delta_z', 0.0) self._tf_broadcaster = tf.TransformBroadcaster() - self._tf_listener = tf.TransformListener() - self._imu_pub = rospy.Publisher('opencr_imu/data_raw', Imu, queue_size=5) self._mag_pub = rospy.Publisher('opencr_imu/mag', MagneticField, queue_size=5) - self._odom_pub = rospy.Publisher('opencr/odom', Odometry, queue_size=5) - self._raw_imu_sub = rospy.Subscriber('opencr/raw_imu', Float32MultiArray, self._raw_imu_cb, queue_size=5) self._current_torso_orientation_sub = rospy.Subscriber('opencr/current_torso_orientation', @@ -47,13 +40,13 @@ def _raw_imu_cb(self, raw_imu): imu_msg.angular_velocity.z = raw_imu.data[5] self._imu_pub.publish(imu_msg) - magnetic_field = MagneticField() - magnetic_field.header.stamp = now - magnetic_field.header.frame_id = 'opencr_imu' - magnetic_field.magnetic_field.x = raw_imu.data[6] - magnetic_field.magnetic_field.y = raw_imu.data[7] - magnetic_field.magnetic_field.z = raw_imu.data[8] - self._imu_pub.publish(imu_msg) + mag_msg = MagneticField() + mag_msg.header.stamp = now + mag_msg.header.frame_id = 'opencr_imu' + mag_msg.magnetic_field.x = raw_imu.data[6] + mag_msg.magnetic_field.y = raw_imu.data[7] + mag_msg.magnetic_field.z = raw_imu.data[8] + self._mag_pub.publish(mag_msg) def _current_torso_orientation_cb(self, orientation): now = rospy.Time.now() @@ -67,41 +60,8 @@ def _current_head_pose_cb(self, pose): quaternion = (pose.pose.orientation.x, pose.pose.orientation.y, pose.pose.orientation.z, pose.pose.orientation.w) self._tf_broadcaster.sendTransform(translation, quaternion, now, 'head', pose.header.frame_id) - def _send_odom(self, trans, ori): - odom_msg = Odometry() - odom_msg.header.frame_id = 'base_link' - odom_msg.header.stamp = rospy.Time.now() - odom_msg.child_frame_id = 'camera_depth_optical_frame' - - odom_msg.pose.pose.position.x = trans[0] - odom_msg.pose.pose.position.y = trans[1] - odom_msg.pose.pose.position.z = trans[2] - - odom_msg.pose.pose.orientation.x = ori[0] - odom_msg.pose.pose.orientation.y = ori[1] - odom_msg.pose.pose.orientation.z = ori[2] - odom_msg.pose.pose.orientation.w = ori[3] - - # From stewart_simulator - odom_msg.pose.covariance = [1.29593696e-07, -3.02490686e-09, -2.34185217e-09, 3.43909522e-08, -1.76583062e-07, 5.85076793e-09, - -3.02490686e-09, 1.25348464e-07, 4.17541942e-09, 1.95763784e-07, -1.30688450e-08, 3.89092298e-08, - -2.34185217e-09, 4.17541942e-09, 8.27253806e-08, 4.62811502e-10, 3.30862971e-09, -1.41326028e-08, - 3.43909522e-08, 1.95763784e-07, 4.62811502e-10, 1.14239749e-05, 3.26955028e-08, 2.41604671e-07, - -1.76583062e-07, -1.30688450e-08, 3.30862971e-09, 3.26955028e-08, 1.07156371e-05, -2.98094285e-07, - 5.85076793e-09, 3.89092298e-08, -1.41326028e-08, 2.41604671e-07, -2.98094285e-07, 1.20712896e-05] - - self._odom_pub.publish(odom_msg) - def run(self): - while not rospy.is_shutdown(): - self._rate.sleep() - - try: - (trans, ori) = self._tf_listener.lookupTransform('/camera_depth_optical_frame', '/base_link', rospy.Time(0)) - except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): - continue - - self._send_odom(trans, ori) + rospy.spin() def main(): diff --git a/ros/t_top/scripts/robot_status.py b/ros/t_top/scripts/robot_status.py new file mode 100755 index 00000000..d8fd26d3 --- /dev/null +++ b/ros/t_top/scripts/robot_status.py @@ -0,0 +1,150 @@ +#!/usr/bin/env python3 + +import rospy +import psutil +import os +import re +import json +from opentera_webrtc_ros_msgs.msg import RobotStatus +from std_msgs.msg import String, Float32MultiArray +from subprocess import Popen, PIPE +from typing import List, Optional, Union +from threading import Lock + + +def clamp(value: float, min_value: float, max_value: float) -> float: + return max(min(value, max_value), min_value) + + +class BaseStatus: + def __init__(self, + percentage: Optional[float] = None, + voltage: Optional[float] = None, + current: Optional[float] = None, + is_plugged_in: Optional[Union[bool, float]] = None, + is_charging: Optional[Union[bool, float]] = None) -> None: + self.percentage = clamp(percentage or 0.0, 0, 100) + self.voltage = voltage or 0.0 + self.current = current or 0.0 + self.is_plugged_in = bool( + is_plugged_in) if is_plugged_in is not None else False + self.is_charging = bool( + is_charging) if is_charging is not None else False + + +def get_command_output(cmd: List[str]) -> str: + p = Popen(cmd, stdout=PIPE) + return p.communicate()[0].decode('utf-8') + + +class RobotStatusPublisher(): + def __init__(self): + rospy.init_node("robot_status_publisher") + + self.base_status = BaseStatus() + self.base_status_lock = Lock() + self.pub_rate = 1 + + self.status_pub = rospy.Publisher( + '/robot_status', RobotStatus, queue_size=10) + self.status_webrtc_pub = rospy.Publisher( + '/webrtc_data_outgoing', String, queue_size=10) + + self.base_status_sub = rospy.Subscriber( + "/opencr/base_status", + Float32MultiArray, self.base_status_cb, queue_size=1) + + def get_ip_address(self, ifname: str): + try: + address = get_command_output(["ip", "addr", "show", ifname]).split( + "inet ")[1].split("/")[0] + except Exception: + address = '127.0.0.1' + + return address + + def get_disk_usage(self, mount_point='/'): + result = os.statvfs(mount_point) + total_blocks = result.f_blocks + free_blocks = result.f_bfree + return 100 - (free_blocks * 100 / total_blocks) + + def base_status_cb(self, msg): + with self.base_status_lock: + self.base_status = BaseStatus(*msg.data) + + def run(self): + rate = rospy.Rate(self.pub_rate) + while not rospy.is_shutdown(): + # Fill timestamp + status = RobotStatus() + status.header.stamp = rospy.Time.now() + + # Fill robot info + with self.base_status_lock: + status.battery_voltage = self.base_status.voltage + status.battery_current = self.base_status.current + status.battery_level = self.base_status.percentage + status.is_charging = self.base_status.is_plugged_in + + status.cpu_usage = psutil.cpu_percent() + status.mem_usage = psutil.virtual_memory().percent + status.disk_usage = self.get_disk_usage() + + status.wifi_network = get_command_output(["iwgetid"]) + if status.wifi_network: + wifi_interface_name = status.wifi_network.split()[0] + + wifi_usage = get_command_output( + ["iwconfig", wifi_interface_name]) + wifi_strength_re = re.search( + r'Link Quality=(\d+)/(\d+)', wifi_usage) + if wifi_strength_re is not None and len(wifi_strength_re.groups()) == 2: + numerator = int(wifi_strength_re.group(1)) + denominator = int(wifi_strength_re.group(2)) + else: + numerator, denominator = (0, 1) + status.wifi_strength = numerator / denominator * 100 + status.local_ip = self.get_ip_address(wifi_interface_name) + else: + status.wifi_strength = 0 + status.local_ip = '127.0.0.1' + + # TODO Get data about mute and camera status from webrtc when it is implemented + status.is_muted = False + status.is_camera_on = True + + # Publish for webrtc + status_dict = { + 'type': 'robotStatus', + 'timestamp': status.header.stamp.secs, + 'status': { + 'isCharging': status.is_charging, + 'batteryVoltage': status.battery_voltage, + 'batteryCurrent': status.battery_current, + 'batteryLevel': status.battery_level, + 'cpuUsage': status.cpu_usage, + 'memUsage': status.mem_usage, + 'diskUsage': status.disk_usage, + 'wifiNetwork': status.wifi_network, + 'wifiStrength': status.wifi_strength, + 'localIp': status.local_ip, + 'isMuted': status.is_muted, + 'isCameraOn': status.is_camera_on + } + } + self.status_webrtc_pub.publish(json.dumps(status_dict)) + + # Publish + self.status_pub.publish(status) + + rate.sleep() + + +if __name__ == '__main__': + print("Robot Status Publisher Starting") + try: + robot_status = RobotStatusPublisher() + robot_status.run() + except rospy.ROSInterruptException: + pass diff --git a/ros/t_top/urdf/ttop.urdf.xacro b/ros/t_top/urdf/ttop.urdf.xacro index 2e26d0e7..5d237887 100644 --- a/ros/t_top/urdf/ttop.urdf.xacro +++ b/ros/t_top/urdf/ttop.urdf.xacro @@ -45,14 +45,14 @@ - + - + @@ -67,7 +67,7 @@ - + @@ -75,7 +75,7 @@ - + @@ -91,7 +91,7 @@ - + @@ -104,7 +104,7 @@ - + diff --git a/ros/t_top_hbba_lite/src/Strategies.cpp b/ros/t_top_hbba_lite/src/Strategies.cpp index 8d3ad2e6..5163c4e5 100644 --- a/ros/t_top_hbba_lite/src/Strategies.cpp +++ b/ros/t_top_hbba_lite/src/Strategies.cpp @@ -240,9 +240,7 @@ unique_ptr createTelepresenceStrategy(std::shared_ptr return make_unique>( utility, unordered_map{{"sound", 1}}, - unordered_map{ - {"rtabmap/filter_state", FilterConfiguration::onOff()}, - }, + unordered_map{}, move(filterPool)); } diff --git a/tools/README.md b/tools/README.md index c7485bb9..7a30fcb2 100644 --- a/tools/README.md +++ b/tools/README.md @@ -9,3 +9,4 @@ This folder contains the tools to develop and use the robot. - The [odas_configuration_generators](odas_configuration_generator) folder contains a tool to generate the microphone configuration for [ODAS](https://github.com/introlab/odas). - The [stewart_simulator](stewart_simulator) folder contains a tool to design the Stewart platform. +- The [ca_certificates](ca_certificates) folder contains tools to generate CA certificates and keys. diff --git a/tools/ca_certificates/ca_certificate_setup.md b/tools/ca_certificates/ca_certificate_setup.md new file mode 100755 index 00000000..06ab9400 --- /dev/null +++ b/tools/ca_certificates/ca_certificate_setup.md @@ -0,0 +1,44 @@ +# Generating CA Certificates for the robot + +## 1. Generate CA Certificates on the robot +You need to generate a CA certificate for the robot to allow for HTTPS connections to the robot on the local network. +It will be tied to its IP address on the LAN, so make sure to give the robot a static IP address before generating the certificate. +Make sure to replace the `` placeholder with the IP address of the robot in the command below. + +```bash +# Run this script on the robot +./generate_certificate.sh +``` + +This will need to be done again when the certificate expires, after 365 days. + +## 2. Copy the CA certificate to the developpement machine +If the developpement machine is using Ubuntu, you can use a script to install the certificate. The script uses `scp` to copy the certificate to the developpement machine, so you will need the password for the `introlab` user on the robot if you don't have an ssh key setup. +Make sure to replace the `` placeholder with the IP address of the robot (for SSH) and the `` placeholder with the name of the robot (for the certificate file name, to distinguish it from files from other robots). + +```bash +# Run this script on the developpement machine +./fetch_certificate.sh +``` + +This step can be done by many developpers without the need to redo step one every time, but it will have to be redone if step 1 is done again. + +## 3. Add the CA certificate to your browser +The certificate installed on your system is not enough for your browser to trust it. +You need to add the certificate to your browser. + +Open your browser's settings, and find the CA Certificates setting. Add the ca-certificate `/usr/local/share/ca-sertificates/-ca-cert.crt` as a trusted certificate. + +### Firefox +1. Open the Preferences menu +2. Search for "certif" +3. Click on the "Show Certificates" button +4. Go to the "Authorities" tab +5. Click on the "Import" button +6. Select the certificate file + +### Chromium (Chrome, Brave, etc.) +1. Navigate to the URL ̀chrome://settings/certificates` +2. Go to the "Authorities" tab +3. Click on the "Import" button +4. Select the certificate file diff --git a/tools/ca_certificates/fetch_certificate.sh b/tools/ca_certificates/fetch_certificate.sh new file mode 100755 index 00000000..598d4a87 --- /dev/null +++ b/tools/ca_certificates/fetch_certificate.sh @@ -0,0 +1,19 @@ +#!/bin/bash + +if [ "$#" -ne 2 ]; then + echo "Usage: $0 " + exit 1 +fi + +# Get the robot IP and name from the command line +IP=$1 +NAME=$2 + +# Fetch CA certificate from the robot +scp introlab@$IP:/home/introlab/.ros/opentera/certs/ca-cert.pem /tmp/ca-cert.pem + +# Move to installation folder +sudo mv /tmp/ca-cert.pem /usr/local/share/ca-certificates/$NAME-ca-cert.crt + +# Install certificate +sudo update-ca-certificates --fresh diff --git a/tools/ca_certificates/generate_certificate.sh b/tools/ca_certificates/generate_certificate.sh new file mode 100755 index 00000000..4f9eaefc --- /dev/null +++ b/tools/ca_certificates/generate_certificate.sh @@ -0,0 +1,36 @@ +#!/bin/bash + +if [ "$#" -ne 1 ]; then + echo "Usage: $0 " + exit 1 +fi + +# Get the robot IP from the command line +IP=$1 + +# Move to directory +mkdir -p ~/.ros/opentera/certs +pushd ~/.ros/opentera/certs > /dev/null + +# Remove old certificate +rm ca-cert.pem ca-key.pem server-req.pem server-key.pem server-cert.pem + +# 1. Generate CA's private key and self-signed certificate +openssl req -x509 -newkey rsa:4096 -days 365 -keyout ca-key.pem -out ca-cert.pem -subj "/C=CA/ST=Quebec/L=Sherbrooke/O=IntRoLab" -passout "pass:introlab" + +# 2. Create a certificate request for the server +# Make sure that the IP address match the robot's IP address +openssl req -newkey rsa:4096 -keyout server-key.pem -out server-req.pem -subj "/C=CA/ST=Quebec/L=Sherbrooke/O=IntRoLab/CN=$IP" -nodes + +# 3. Sign server request using CA's private key and certificate +openssl x509 -req -in server-req.pem -days 365 -CA ca-cert.pem -CAkey ca-key.pem -CAcreateserial -out server-cert.pem -passin "pass:introlab" + +echo "Server certificate validity test:" +openssl verify -CAfile ca-cert.pem server-cert.pem + +# You can now copy the ca-cert.pem to the target machine +# Then, rename the ca-cert.pem file to -ca-cert.crt +# Copy it to /usr/local/share/ca-sertificates +# Update the certificates using 'sudo update-ca-certificates --fresh' + +popd > /dev/null