Users/ajyanand/humanoidcontrol

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "DynamixelSDK"]
+	path = DynamixelSDK
+	url = [email protected]:ROBOTIS-GIT/DynamixelSDK.git

Contributors/README.md

@@ -1,4 +1,20 @@
 ## File system format:
 
-Each of the subsystems has its own subdirectory, please name these folders in snake case.
-All the files in the subdirectories are to be named in camel case.
+Each of the subsystems has its own subdirectory, please name these folders in snake_case.
+All the files in the subdirectories are to be named in lowerCamelCase.
+ROS message and service definitions are to be named in UpperCamelCase.
+
+
+## Contributing:
+No one is allowed to push to the master branch. All the changes must be made in a separate branch and then a pull request must be created to the master branch. The pull request will be reviewed by the maintainers and then merged to the master branch.
+
+Create a branch with the name of the subsystem you are working on, if you are the only contributor working on that issue, use the format users/<your_username>/<subsystem_name>. If you are working on an issue with multiple contributors, use the format issues/<issue_number>/<subsystem_name>. If you are working on a subsystem that is not an issue, use the format features/<subsystem_name>.
+
+When you are done with your work, create a pull request to the master branch. If you are working on an issue, please mention the issue number in the pull request description. If you are working on a feature, please mention the feature name in the pull request description. If you are working on a subsystem that is not an issue, please mention the subsystem name in the pull request description. Before merging, make sure that the current branch is up to date with the master branch.
+
+## Code style:
+<In Progress>
+To maintain a consistent code style, we use linters. The linters are configured to run automatically on every pull request. If the linters fail, the PR will not be allowed to merge. If you want to run the linters manually, run the following command in the root directory of the project:
+<To Be Added>
+Please follow the [PEP 8](https://www.python.org/dev/peps/pep-0008/) style guide for python code.
+Please follow for the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html) for C++ code.

README.md

@@ -1,12 +1,6 @@
 # Flo-System-2
 This is the master code repository for the second iteration of the Flo system. 
-It contains code used for the control of the humanoid robot, the control of the mobile telepresence platform and the autonomous navigation stack.
 
-It contains repositories for the following components:
-1. Control of the joints of second version of the flo humanoid
-2. Control of the ohmni telepresence base
-3. Camera and sensor data collection
-4. Central systems to coordinate the above components 
 ## License:
 
 MIT License. 
@@ -19,6 +13,22 @@ The above copyright notice and this permission notice shall be included in all c
 
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
+## Overview:
+
+This repository contains the following components:
+
+1. Control system of the humanoid robot (Dynamixel motors: 2 XL430-W250-T, 1 XC430-W240-T, 1 XM430-W350-T and 1 RX-64 motor per arm)
+2. Control system of the mobile telepresence platform (Ohmni telepresence platform)
+3. RGB-D cameras (2 Luxonis Oak-D cameras)
+4. 2 dimensional lidar sensor (rp lidar a1)
+5. object localization system (April tag 3)
+6. Centeral user interface (web interface?)
+
+The system is designed to be modular and each component can be run independently, ROS is used as the communication framework between the components.
+
+Each component will be running as a seperate process in a docker container and interfacing with the ros master remotely.
+
+
 ## Connecting to the Ohmni telepresence robot and running docker
 1. Clone this repository using git clone https://github.com/Rehab-Robotics-Lab/Flo-System-2.git 
 2. Download the private ssh key from penn box https://upenn.app.box.com/folder/206840565719; contact @anht-nguyen for access if necessary. 

compose.yaml

@@ -0,0 +1,9 @@
+services:
+  flo_humanoid:
+    build: /flo_humanoid
+    ports:
+  ohmni_base:
+    build: /ohmni_base
+    ports:
+
+

flo_humanoid/CMakeLists.txt

@@ -22,20 +22,20 @@ find_package(catkin REQUIRED
 # Declare ROS messages, services and actions
 ################################################################################
 ## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-    SetPosition.msg
-    SyncSetPosition.msg
-    BulkSetItem.msg
-)
+# add_message_files(
+#   FILES
+#     SetPosition.msg
+#     SyncSetPosition.msg
+#     BulkSetItem.msg
+# )
 
 ## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-    GetPosition.srv
-    SyncGetPosition.srv
-    BulkGetItem.srv
-)
+# add_service_files(
+#   FILES
+#     GetPosition.srv
+#     SyncGetPosition.srv
+#     BulkGetItem.srv
+# )
 
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
@@ -63,27 +63,19 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_executable(read_write_node src/read_write_node.cpp)
-add_dependencies(read_write_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(read_write_node ${catkin_LIBRARIES})
-
-add_executable(sync_read_write_node src/sync_read_write_node.cpp)
-add_dependencies(sync_read_write_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(sync_read_write_node ${catkin_LIBRARIES})
-
-add_executable(bulk_read_write_node src/bulk_read_write_node.cpp)
-add_dependencies(bulk_read_write_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(bulk_read_write_node ${catkin_LIBRARIES})
+add_executable(readWriteArm src/readWriteArm.cpp)
+add_dependencies(readWriteArm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(readWriteArm ${catkin_LIBRARIES})
 
-add_executable(indirect_address_node src/indirect_address_node.cpp)
-add_dependencies(indirect_address_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(indirect_address_node ${catkin_LIBRARIES})
+add_executable(readWriteJoint src/readWriteJoint.cpp)
+add_dependencies(readWriteJoint ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(readWriteJoint ${catkin_LIBRARIES})
 
 ################################################################################
 # Install
 ################################################################################
 ## Mark executables for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS read_write_node sync_read_write_node bulk_read_write_node indirect_address_node
+install(TARGETS readWriteArm readWriteJoint
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

flo_humanoid/Dockerfile

@@ -1,44 +1,37 @@
-#base image from ohmnilabsvn/ohmni_ros:ohmni_ros_tbcontrol_0.0.13, preinstalled with ros-melodic + tb control ros packages
-FROM ohmnilabsvn/ohmni_ros:ohmni_ros_tbcontrol_0.0.13
+FROM ros:melodic-robot-bionic
 #make super user
 RUN su
+ARG ROS_DISTRO=melodic
+ENV ROS_DISTRO="$ROS_DISTRO"
 #install essential tools
-RUN apt-get update -y && sudo apt-get -y install \
+RUN apt-get update -y && apt-get install -y \
 neovim \
 tmux \
-git 
-# clear cache
-RUN apt-get clean
-#switch to ohmnidev directory, used for placing code. 
-WORKDIR /home/ohmnidev
-RUN git clone https://github.com/Rehab-Robotics-Lab/FloSystemV2.git
-WORKDIR /home/ohmnidev/FloSystemV2
-RUN git pull
-WORKDIR /home/ohmnidev
-RUN mkdir -p catkin_ws
-WORKDIR /home/ohmnidev/catkin_ws
-ARG ROS_DISTRO=melodic
-ENV ROS_DISTRO="$ROS_DISTRO"
-RUN apt-get update && apt-get install -y ros-$ROS_DISTRO-catkin \
-#install usb utilities to get info on connected devices - might not be as useful. comment next line if not needed.
-#usbutils\
-#The following 2 lines download libraries for control of arduino via ros
-#ros-$ROS_DISTRO-rosserial \
-#ros-$ROS_DISTRO-rosserial-arduino\
-#THE following line downloads the dynamixel sdk for ros. 
-ros-melodic-dynamixel-sdk\
-#The following line downloads the dynamixel sdk examples for ros.
-ros-melodic-dynamixel-sdk-examples
-
+git \
+ros-$ROS_DISTRO-catkin \
+ros-$ROS_DISTRO-dynamixel-sdk\
+ros-$ROS_DISTRO-dynamixel-sdk-examples
 
 #Lidar libraries
 #RUN git clone https://github.com/Slamtec/rplidar_ros.git
 
 #Build the catkin_ws
-#RUN catkin_make -j1 -l1
+# clear cache
+RUN apt-get clean
+
+RUN mkdir -p home/git
+WORKDIR /home/git
+RUN git clone https://github.com/Rehab-Robotics-Lab/FloSystemV2.git
+WORKDIR /home/git
+RUN mkdir -p catkin_ws
+RUN cp -r /FloSystemV2/flo_humanoid /catkin_ws/src catkin_ws/flo_humanoid
+RUN cp -r /FloSystemV2/flo_humanoid_defs /catkin_ws/src catkin_ws/flo_humanoid_defs
+WORKDIR /home/git/catkin_ws
+RUN catkin_make -j1 -l1
 
+ENTRYPOINT ["./ros_entrypoint.sh"]
+CMD ["bash"]
 
-#add as neccessary.
 
 
 

flo_humanoid/config/joints

@@ -1,13 +1,15 @@
 #fill this table with the joints you want to control in the humanoid robot and their configurations.
-<<<<<<< HEAD
-#address refers to the motor address set in the dynamixel wizard
-address    name                             neutral    min    max   inversion
-#eg:
-# 1        left_shoulder_flexionextension   765        10     500   1
-=======
 (dynamixel motor address and joint name for each motor)
->>>>>>> 6a1935e1108d90aad7556325ae2f6b80f855f72c
-address    name                             neutral    min    max   inversion
+address    name                             type            neutral    min    max   inversion
 #eg:
-# 1        left_shoulder_flexionextension   765        10     500   1
-
+# 1        left_shoulder_flexionextension   <motortype>     765        10     500    1
+10         placeholder                      XC-430-W240-T   0           0      0     0     
+11         placeholder                      XL-430-W250-T   0           0      0     0 
+12         placeholder                      XL-430-W250-T   0           0      0     0
+13         placeholder                      XM-430-W350-T   0           0      0     0
+14         placeholder                      MX-64           0           0      0     0
+20         placeholder                      XC-430-W240-T   0           0      0     0
+21         placeholder                      XL-430-W250-T   0           0      0     0
+22         placeholder                      XL-430-W250-T   0           0      0     0
+23         placeholder                      XM-430-W350-T   0           0      0     0
+24         placeholder                      MX-64           0           0      0     0

flo_humanoid/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>flo_humanoid_defs</name>
+  <version>0.0.0</version>
+  <description>Contains code to pass commands to and read position information from the dynamixel motors used in the flo v2 humanoid</description>
+  <maintainer email="[email protected]">Ajay Anand</maintainer>
+  <license>proprietery</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>flo_humanoid_defs</exec_depend>
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>