Merge branch 'PR/Spinal_4_1/new_config' into develop/TwinHammer

This merge is for new spinal ver4.1
koutarou-kaneko · Dec 21, 2024 · 05765d5 · 05765d5
2 parents fd0db54 + d05f3ca
commit 05765d5
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Showing 434 changed files with 312,311 additions and 356 deletions.
diff --git a/.github/workflows/ros_test.yml b/.github/workflows/ros_test.yml
@@ -8,8 +8,6 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - ROS_DISTRO : kinetic
-            DOCKER_IMAGE : ubuntu:xenial
           - ROS_DISTRO : melodic
             DOCKER_IMAGE : ubuntu:bionic
           - ROS_DISTRO : noetic

diff --git a/.travis.sh b/.travis.sh
@@ -71,6 +71,6 @@ fi
 
 # Build
 catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
-catkin build -p1 -j1 --no-status
+catkin build --no-status
 catkin build --catkin-make-args run_tests -- -i --no-deps --no-status -p 1 -j 1 aerial_robot
 catkin_test_results --verbose build || catkin_test_results --all build
diff --git a/.travis.yml b/.travis.yml
diff --git a/aerial_robot_base/launch/external_module/mocap.launch b/aerial_robot_base/launch/external_module/mocap.launch
@@ -15,6 +15,7 @@
                child_frame_id: baselink
                parent_frame_id: world
       optitrack_config:
+         enable_optitrack: true
          multicast_address: 239.255.42.99
          command_port: 1510
          data_port: 1511

diff --git a/aerial_robot_nerve/motor_test/CMakeLists.txt b/aerial_robot_nerve/motor_test/CMakeLists.txt
@@ -9,12 +9,13 @@ find_package(catkin REQUIRED COMPONENTS
   std_srvs
   geometry_msgs
   takasako_sps
+  spinal
 )
 
 find_package(Boost REQUIRED COMPONENTS system)
 
 catkin_package(
-  CATKIN_DEPENDS roscpp std_msgs std_srvs geometry_msgs takasako_sps
+  CATKIN_DEPENDS roscpp std_msgs std_srvs geometry_msgs takasako_sps spinal
 )
 
 include_directories(

diff --git a/aerial_robot_nerve/motor_test/package.xml b/aerial_robot_nerve/motor_test/package.xml
@@ -14,11 +14,13 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
   <build_depend>takasako_sps</build_depend>
+  <build_depend>spinal</build_depend>
 
   <run_depend>geometry_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
   <run_depend>takasako_sps</run_depend>
+  <run_depend>spinal</run_depend>
 
 </package>
diff --git a/aerial_robot_nerve/motor_test/src/motor_test.cpp b/aerial_robot_nerve/motor_test/src/motor_test.cpp
@@ -7,6 +7,7 @@
 #include <std_msgs/Empty.h>
 #include <std_srvs/Empty.h>
 #include <takasako_sps/PowerInfo.h>
+#include <spinal/PwmTest.h>
 
 namespace Mode
 {
@@ -39,7 +40,7 @@ class MotorTest
     nhp_.param("power_info_sub_name", topic_name, std::string("power_info"));
     power_info_sub_ = nh_.subscribe(topic_name, 1, &MotorTest::powerInfoCallback, this, ros::TransportHints().tcpNoDelay());
     nhp_.param("motor_pwm_sub_name", topic_name, std::string("power_pwm"));
-    motor_pwm_pub_ = nh_.advertise<std_msgs::Float32>(topic_name,1);
+    motor_pwm_pub_ = nh_.advertise<spinal::PwmTest>(topic_name,1);
 
     start_cmd_sub_ =  nh_.subscribe("start_log_cmd", 1,  &MotorTest::startCallback, this, ros::TransportHints().tcpNoDelay());
     sps_on_pub_ = nh.advertise<std_msgs::Empty>("/power_on_cmd", 1);
@@ -100,8 +101,8 @@ class MotorTest
 
     pwm_value_ = min_pwm_value_;
 
-    std_msgs::Float32 cmd_msg;
-    cmd_msg.data = pwm_value_  / pwm_range_;
+    spinal::PwmTest cmd_msg;
+    cmd_msg.pwms.push_back(pwm_value_  / pwm_range_);
     motor_pwm_pub_.publish(cmd_msg);
     init_time_ = ros::Time::now();
     ROS_INFO("start pwm test");
@@ -170,8 +171,8 @@ class MotorTest
               {
                 if(once_flag_)
                   {
-                    std_msgs::Float32 cmd_msg;
-                    cmd_msg.data = stop_pwm_value_ / pwm_range_;
+                    spinal::PwmTest cmd_msg;
+                    cmd_msg.pwms.push_back(stop_pwm_value_  / pwm_range_);
                     motor_pwm_pub_.publish(cmd_msg);
                     once_flag_ = false;
                     ROS_WARN("STOP");
@@ -206,8 +207,8 @@ class MotorTest
         if(pwm_value_ > max_pwm_value_)
           {
             start_flag_ = false;
-            std_msgs::Float32 cmd_msg;
-            cmd_msg.data = stop_pwm_value_ / pwm_range_;
+            spinal::PwmTest cmd_msg;
+            cmd_msg.pwms.push_back(stop_pwm_value_  / pwm_range_);
             motor_pwm_pub_.publish(cmd_msg);
 
             ROS_WARN("finish pwm test");
@@ -220,8 +221,8 @@ class MotorTest
         if(once_flag_)
           {
             ROS_INFO("target_pwm: %d", pwm_value_);
-            std_msgs::Float32 cmd_msg;
-            cmd_msg.data = pwm_value_ / pwm_range_;
+            spinal::PwmTest cmd_msg;
+            cmd_msg.pwms.push_back(pwm_value_  / pwm_range_);
             motor_pwm_pub_.publish(cmd_msg);
           }
       }

diff --git a/aerial_robot_nerve/spinal/CMakeLists.txt b/aerial_robot_nerve/spinal/CMakeLists.txt
@@ -38,11 +38,14 @@ add_message_files(
   MotorInfo.msg
   PwmInfo.msg
   Pwms.msg
+  PwmTest.msg
   UavInfo.msg
   DesireCoord.msg
   FlightConfigCmd.msg
   Vector3Int16.msg
   TorqueAllocationMatrixInv.msg
+  ESCTelemetry.msg
+  ESCTelemetryArray.msg
   JointProfile.msg
   JointProfiles.msg
   )
@@ -99,6 +102,10 @@ add_dependencies(${PROJECT_NAME}_generate_stm32f7_ros_lib ${catkin_EXPORTED_TARG
 add_custom_target(${PROJECT_NAME}_generate_stm32h7_ros_lib ALL COMMAND ${CATKIN_DEVEL_PREFIX}/env.sh ${PYTHON_EXECUTABLE}  ${PROJECT_SOURCE_DIR}/scripts/make_libraries.py --save_path ${PROJECT_SOURCE_DIR}/mcu_project/boards/stm32H7 --support_rtos --support_ethernet)
 add_dependencies(${PROJECT_NAME}_generate_stm32h7_ros_lib ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 
+# generate ros_lib for STM32H7_v2
+add_custom_target(${PROJECT_NAME}_generate_stm32h7_v2_ros_lib ALL COMMAND ${CATKIN_DEVEL_PREFIX}/env.sh ${PYTHON_EXECUTABLE}  ${PROJECT_SOURCE_DIR}/scripts/make_libraries.py --save_path ${PROJECT_SOURCE_DIR}/mcu_project/boards/stm32H7_v2 --support_rtos --support_ethernet)
+add_dependencies(${PROJECT_NAME}_generate_stm32h7_v2_ros_lib ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+
 
 install(DIRECTORY ${SPINAL_DIRS}
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})