Individual wheel speeds

.gitignore

@@ -1 +1,4 @@
-build
+build
+binaries
+.idea
+cmake-build-debug

README.md

@@ -1,18 +1,22 @@
 # `iRobot® Create® 3 robot ROS2 server and client library`
 
-Holds a ROS2 C++ server for communicating with the iRobot® Create® 3 robot and an associated client library for communicating
-with said server. The server can then be packaged into a Docker image, allowing the client to remain free of ROS2 dependencies.
+Holds a ROS2 C++ server for communicating with the iRobot® Create® 3 robot and an associated client library for
+communicating
+with said server. The server can then be packaged into a Docker image, allowing the client to remain free of ROS2
+dependencies.
 
 The RPC between client and server is handled by Cap'n Proto.
 
 ## Dependencies
 
 ### Common
-  - C++ Compiler with C++17 support
-  - CMake >3.5
+
+- C++ Compiler with C++17 support
+- CMake >3.5
 
 ### Server
-  - ROS 2 
+
+- ROS 2
 
 ## Building
 
@@ -22,16 +26,36 @@ cmake -Bbuild
 cmake --build build
 ```
 
+### Building the Client with Docker
+
+When building with Docker, run `build_docker.sh`. This will build the project using a docker container, where all
+dependencies are installed and produce a .deb file, for later installation.
+
+This will also 'cross-compile' the project for the arm64 architecture, which is the architecture of the KIPR Wombat.
+
+The built binary will be placed in the `binaries` directory.
+
+### Building the Server with Docker
+
+The [create3_docker](https://github.com/kipr/create3_docker) repository contains the instructions for building the server
+into a wombat compatible docker image.
+
+#### Customizing the Docker Build
+
+If the build is needed for a different platform, the `Dockerfile` can be modified to use a different base image.
+Right now it uses `arm64v8/python:3.11.2-bullseye`, which is a arm64 image with python 3.11.2 installed.
+
 ### Build Options
 
-  - `-Dserver=ON|OFF` (Default: `ON`) - Controls whether the server is built.
-  - `-Dclient=ON|OFF` (Default: `ON`) - Controls whether the client library is built.
-  - `-Dcmder=ON|OFF` (Default: `ON`) - Controls whether the create3 CLI is built.
-  - `-Dtests=ON|OFF` (Default: `ON`) - Controls whether tests are generated that can be run with `ctest`.
+- `-Dserver=ON|OFF` (Default: `ON`) - Controls whether the server is built.
+- `-Dclient=ON|OFF` (Default: `ON`) - Controls whether the client library is built.
+- `-Dcmder=ON|OFF` (Default: `ON`) - Controls whether the create3 CLI is built.
+- `-Dtests=ON|OFF` (Default: `ON`) - Controls whether tests are generated that can be run with `ctest`.
 
 For most scenarios:
-  - Use `-Dserver=OFF` for the client (eg. dev machine)
-  - Use `-Dclient=OFF -Dcmder=OFF` for the server (eg. Docker image)
+
+- Use `-Dserver=OFF` for the client (eg. dev machine)
+- Use `-Dclient=OFF -Dcmder=OFF` for the server (eg. Docker image)
 
 Use `--parallel <n>` to build with multiple threads in `cmake --build build` step.
 
@@ -40,15 +64,17 @@ Use `--parallel <n>` to build with multiple threads in `cmake --build build` ste
 To configure cmake for a windows build, replace `cmake -Bbuild` with:
 
 ```
+
 cmake -Bbuild -GNinja -Dserver=OFF
+
 ```
 
 The reminaing instructions are the same.
 
-
 ## Examples
 
-Examples are configured to connect to a KIPR Wombat running the docker instance of the server. Users may want to change the IP address in the examples to match their own setup. 
+Examples are configured to connect to a KIPR Wombat running the docker instance of the server. Users may want to change
+the IP address in the examples to match their own setup.
 
 Examples may be run after building by executing:
 

build_docker.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+IMAGE_NAME="create3-builder:python-3.11.2"
+
+if [[ "$(docker images -q ${IMAGE_NAME} 2> /dev/null)" == "" ]]; then
+  docker build -t ${IMAGE_NAME} -f docker/Dockerfile .
+fi
+
+docker run --cpus="$(nproc)" \
+-v "$(pwd)":/app \
+${IMAGE_NAME} bash -c "bash docker/build.sh $*"
+
+docker stop $(docker ps -a --filter "ancestor=${IMAGE_NAME}" -q)
+docker rm $(docker ps -a --filter "ancestor=${IMAGE_NAME}" -q)

client/examples/08_move_wheels.c

@@ -0,0 +1,27 @@
+#include <kipr/create3/client/client.h>
+#include <stdio.h>
+
+int main()
+{
+    printf("Connecting to Create3 robot...\n");
+
+    create3_connect_manual("192.168.125.1", 50051);
+
+    printf("Connected!\n");
+
+
+    printf("Moving left wheel forward at 0.5 m/s for 1 second...\n");
+
+    // Move left wheel forward at 0.5 m/s for 1 second
+    create3_set_wheels(0.5, 0);
+
+    // Wait for 1 second
+    usleep(1000000);
+
+    // Stop
+    create3_set_wheels(0.0, 0.0);
+
+    printf("Done!\n");
+
+    return 0;
+}

client/include/kipr/create3/client/client.h

@@ -478,6 +478,17 @@ void create3_velocity_set_components(const double linear_x, const double angular
  */
 void create3_wait();
 
+/**
+ * @brief Set the wheels of the iRobot Create 3.
+ * @details This will set the left and right wheels of the iRobot Create 3 to the given speeds in m/s.
+ *
+ * @param left The speed of the left wheel in meters per second.
+ * @param right The speed of the right wheel in meters per second.
+ *
+ * @example `create3_set_wheels(1.0, 1.0); // Set both wheels to 1 m/s.`
+ */
+void create3_set_wheels(const double left, const double right);
+
 #ifdef __cplusplus
 }
 #endif

client/src/kipr/create3/client/client_c.cpp

@@ -468,3 +468,11 @@ void create3_wait()
 
   global_client->wait();
 }
+
+void create3_set_wheels(const double left_wheel_speed, const double right_wheel_speed)
+{
+    const double creat3_wheel_distance= 0.235;
+    double linear_x = (left_wheel_speed + right_wheel_speed) / 2;
+    double angular_z = (right_wheel_speed - left_wheel_speed) / creat3_wheel_distance;
+    create3_velocity_set_components(linear_x, angular_z);
+}

docker/Dockerfile

@@ -0,0 +1,12 @@
+FROM arm64v8/python:3.11.2-bullseye
+LABEL authors="Tobias Madlberger"
+
+RUN apt-get update && apt-get install -y git wget libx11-dev zlib1g-dev cmake swig ninja-build \
+                          build-essential libc-dev libasio-dev libc6-dev libpthread-stubs0-dev libssl-dev  \
+                          libzbar-dev libopencv-dev libjpeg-dev python-dev doxygen yasm git build-essential  \
+                          cmake libzbar-dev libopencv-dev libjpeg-dev python-dev doxygen swig yasm \
+                          libcurl4-openssl-dev
+
+WORKDIR /app
+ENV CMAKE_GENERATOR=Ninja
+ENV CMAKE_BUILD_PARALLEL_LEVEL=12

docker/build.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+# This file should not be run manually, it is used by the Dockerfile
+
+cmake -Bbuild "$@" -Dserver=OFF
+cd build || exit 1
+ninja
+cpack
+mkdir -p "/app/binaries"
+mv create3-0.1.0-Linux.deb /app/binaries