Backup diff of ROS integration(No. 3)

The added line is THIS COLOR.
The deleted line is THIS COLOR.
[[Tutorial]]

The aim of this tutorial is to explain how to integrate SIGVerse with ROS operating system.

First we will show how to install ROS on your operating system, then we will explain step by step how to run SIGVerse controller in ROS node and how to communicate with another node.

Ros tutorial on SIGverse
-How to Use ROS with SIGverse
-User has to create A SIGverse node using the following code:
--In this tutorial two topics are used 
--Message Topic to send messages from SIGverse Node to Command Node and Velocity --format Topic to send the value of velocity to the SIGverse node.
The ROS part tutorial is based on the official [[ROS wiki:http://www.ros.org/wiki/]], you can check it for more details.


#contents



*Overview[#ed1b8322]

In order to integrate SIGVerse and ROS You need to build the following basic system. You first have to install ROS on your computer then build two ROS packages.
-The first package will run with the SIGVerse Controller in order to perform the message reception from the SIGViewer and the robot motion with velocity command.
-the second package will receive the messages and perform the correct command
those two packages will contains nodes and will use two topics to perform comunication.
-the first topic is used to send messages.
-the second topic is used to feedback the command velocity.


&ref(Simple_Ros.PNG,,80%);


*Installing ROS [#ed1b8326]

= Ubuntu install of ROS Groovy =

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source ('''not recommended'''), please see [[groovy/Installation/Source|source (download-and-compile) installation instructions]].



=== Installation ===

First, make sure your Debian package index is up-to-date:

  $ sudo apt-get update



There are many different libraries and tools in ROS.  We provided four default configurations to get you started.  You can also install ROS packages individually.

  
   $ sudo apt-get install ros-groovy-desktop-full
 


   $ sudo apt-get install ros-groovy-desktop



ROS-Base: (Bare Bones)
-ROS package, build, and communication libraries. No GUI tools.

 
  $ sudo apt-get install ros-groovy-ros-base




Individual Package:

- You can also install a specific ROS package (replace underscores with dashes of the package name):

 $ sudo apt-get install ros-groovy-PACKAGE

 $ sudo apt-get install ros-groovy-slam-gmapping


To find available packages, use:

 $ apt-cache search ros-groovy


=== Initialize rosdep ===

Before you can use ROS, you will need to initialize `rosdep`. `rosdep` enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.


 $ sudo rosdep init
 $ rosdep update




=== Getting rosinstall ===

[[rosinstall]] is a frequently used command-line tool in ROS that is distributed separately.  It enables you to easily download many source trees for ROS packages with one command.

- To install this tool on Ubuntu, run: 


 $ sudo apt-get install python-rosinstall


**Creating ROS workspace [#ed1b8324]
In our project we are using catkin, here is the step to follow to create a ROS workspace:

*Creating SIGVerse Package [#ed1b8323]
Run the following command:
 $ source /opt/ros/groovy/setup.sh

- You need to create a new Ros Package to perform the ROS SIGverse integration
To create a catkin workspace:

- Let’s create a new directory  named catkin_ws and let’s perform those few tasks
 $ mkdir -p ~/catkin_ws/src
 $ cd ~/catkin_ws/src
 $ catkin_init_workspace

- Create a new folder named src.
You can build even though no project is created yet, you just need MakeLists.txt:

- Now let’s initialize our workspace by using the following command:
 $ cd ~/catkin_ws/
 $ catkin_make

**Catkin Workspace initialization  [#ed1b8136]
  $catkin_init_workspace in the ~/catkin_ws folder  
Run the setup.bash

 $ source devel/setup.bash

- Now we have our workspace let’s create our SIGverse  Package 
*Overview[#ed1b8322]

In order to integrate SIGVerse and ROS You need to build the following basic system.
First, we need to create two ROS packages, SIGVerse controller and ROS command package which will run as nodes.
The first node, SIGVerse controller node, will receive data from the SIGViewer as messages, which will publish them on the message topic, in the other part, ROS command node receives reads these data and subscribe the convenient velociy on the velocity topic, the velocity command will be retrieved by the SIGVerse controller node to be used for controlling the robot.

-Firstable we need to make a new folder named SIGverse  then  edit the Cmake  file and  Sig_app.cpp in a new src folder which PATH is: 
&ref(Simple_Ros.PNG,,80%);

  $~/catkin_ws/src/Sigvers_Ros/src.


 $ cd ~/catkin_ws/src
 $ catkin_create_pkg Sigvers_Ros


-Now  make  Cmake file in order to create the wanted package.
Catkin_make will generate a /devel folder which contains /devel/lib folder and in there the Cmake file generated a libSig_app.so file which will be used by the xml world file to control the robot simulation.
Now let’s souce our package by using the following command:

*Creating Packages [#ed1b8323]
We need to create two new packages in the catkin_ws directory.

   $source ~/catkin_ws2/devel/setup.sh 
**SIGVerse Package [#ed1b8333]
This package is used to receive data from the SIGViewer, and receive the command to be sent the robot from the ROS command.

- To create a new package, go to catkin_ws:
 $ cd ~/catkin_ws/src
 $ catkin_create_pkg Sigvers_Ros

- Create a new cpp file named Sig_app.cpp
 $ cd ~/catkin_ws/src/
 $ vim Sig_app.cpp

-Now we can check our package by executing this command 
--Roscd Sigvers_Ros so we get the following result:

** Compiling the project [#ed1b8353]

You need Cmake installed on your server.

CMakeLists.txt
include
msg
package.xml
src
Let's edit the CMakeLists.txt file to compile the project:


This shows that the Sigvers_Ros packages exists
Cmake parameters:



Cmake parameters:
For Sig.cpp:
 cmake_minimum_required(VERSION 2.8.3)
 project(Sigvers_Ros)
  find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation )




 ## Generate messages in the 'msg' folder
     add_message_files(
     FILES
     Velocity.msg
     )




  ## Generate added messages and services with any dependencies listed here
     generate_messages(
     DEPENDENCIES
     std_msgs
     )


  ## include libraries
  include_directories(include ${catkin_INCLUDE_DIRS})
  include_directories(/home/ericgt/sigverse-2.2.0/include/sigverse/home/ericgt/sigverse-2.2.0/include/sigverse/comm/controller)

  ADD_LIBRARY(Sig_app src/Sig_app.cpp)
  target_link_libraries(Sig_app ${catkin_LIBRARIES})
  add_dependencies(Sig_app Sigvers_Ros_gencpp)

- These lines allow to generate the sig_app library:

 ADD_LIBRARY(Sig_app src/Sig_app.cpp)
 target_link_libraries(Sig_app ${catkin_LIBRARIES})
 add_dependencies(Sig_app Sigvers_Ros_gencpp)


- We use the target_link_libraries which generates the .so file 
  include_directories(include ${catkin_INCLUDE_DIRS})
  include_directories(/home/ericgt/sigverse-2.2.0/include/sigverse/home/ericgt/sigverse-2.2.0/include/sigverse/comm/controller)
- To compile the package, run the following commands:
 $ cd ~/catkin_ws
 $ catkin_make

A new library will be generated in ~/catkin_ws/devel/lib.

- Here you include SiGverse .h files to compile our controller’s source code
Catkin Command:

-- catkin_make 
Run the following command to add this package to ROS packages:

-we compile our code using Cmake parameters so we generate .so  file used by the xml world file to control the robot simulation.
   $source ~/catkin_ws2/devel/setup.sh 



-Now let's check if our package is recognized by ROS:
 & Roscd Sigvers_Ros 

We must have the following output:

 $ CMakeLists.txt include msg package.xml src


This shows that the Sigvers_Ros packages exists.




*Creating ROS Package [#ed1b8324]
This package is used to receive data from the SIGVerse controller node and send it the velocity command.

- Create a new package:

 $ cd ~/catkin_ws/src
 $ catkin_create_pkg key_sig

Create a new cpp file named Sig_command.cpp

 $ cd ~/catkin_ws/src/
 $ vim Sig_app.cpp

**Compiling the project [#ld30b58a]

We have to edit the CMakeLists.txt file to compile the project:

Cmake parameters:

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
 )

include_directories(include
  ${catkin_INCLUDE_DIRS}
)


- The following lines allow to generate the executable file:
 add_executable(Sig_command src/Sig_command.cpp)
 target_link_libraries(Sig_command ${catkin_LIBRARIES})
 add_dependencies(Sig_command key_sig_generate_message_cpp)
 add_dependencies(Sig_command key_sig_gencpp)


- To compile the package, run the following commands:
 $ cd ~/catkin_ws
 $ catkin_make


Run the following command to add this package to ROS packages:

   $source ~/catkin_ws2/devel/setup.sh 



-Now let's check if our package is recognized by ROS:
 & Roscd key_sig

We must have the following output:

 $ CMakeLists.txt include msg package.xml src


This shows that the Sigvers_Ros packages exists.





*Source Code understanding [#ed1b8324]

-Let’s study this example step by step 
Now let’s create the callback function which preforms the command on the velocity of the robot’s wheels:


**Message Sender [#ed1b8136]

   void SendController::poseCallback(const Sigvers_Ros::VelocityConstPtr& vel)
   {     Wheel_one =  vel->linear;
         Wheel_two =  vel->angular;
      
         printf("Velocity 1!!!  %f\n", Wheel_one);
         printf("Velocity 2!!!  %f\n", Wheel_two);
      
   }

- read from the Velocity Topic
- Printing the Velocity value applied on the robot



**Node Initialization [#ed1b8137]

  void SendController::onInit(InitEvent &evt)
   { Wheel_one = 0.0;
    Wheel_two = 0.0;
    int argc =0;
    char** argv = NULL;
    my = this->getRobotObj(this->myname());
    my->setWheel(10.0, 10.0);
    ros::init(argc, argv, "Sigvers_controller_node");
    ros::NodeHandle n;
    velocity = 1;
    chatter_pub = n.advertise<std_msgs::String>("CommandMess", 1);
    pose_sub = n.subscribe<Sigvers_Ros::Velocity>("mycommand_velocity",    1,&SendController::poseCallback,this);
    ros::Rate loop_rate(10);
   }




**Robot Controller [#ed1b8138]

 double SendController::onAction(ActionEvent &evt)
 {
  my->setWheelVelocity(Weel_one,Weel_two);
  ros::spinOnce();
  return 1.0;
 }


- Now let’s create a Node to control the robot’s velocity:


**Command Node initialization ROS Side [#ed1b8139]

  CommandSig::CommandSig():
   linear_(0),
   angular_(0),
   l_scale_(2.0),
   a_scale_(2.0)
   {
    nh_.param("scale_angular", a_scale_, a_scale_);
    nh_.param("scale_linear", l_scale_, l_scale_);
    vel_pub_ = nh_.advertise<Sigvers_Ros::Velocity>("mycommand_velocity", 1);
    mess_sub =    nh_.subscribe("CommandMess",100,&CommandSig::chatterCallback,this);
    
    }
- Initialization of the command Node's Parameters 

- The Node will send velocity information using mycommand_velocity Topic

- The Node will receive information using CommandMess Topic

- And finally let’s write the main function which launches the command  node

**Main to execute the Node [#v1bef770]

 int main(int argc, char** argv)
  {
   ros::init(argc, argv, "Sigvers_Command_node");
   CommandSig Command_sig;
   ros::Rate loop_rate(10);
   ros::spin();
   return(0);
  }

- this command creates and does initialization on the Sigvers_Command_node
Node 

**Message Sender [#ed1b8140]

-Now let’s create the callback function which receveces message from Sigverse - Node and  sends the right command to the robot:

** Robot Motion Command ROS Side [#ed1b8141]

   void CommandSig::chatterCallback (const std_msgs::String::ConstPtr& msg)
   {
    Sigvers_Ros::Velocity vel;
    if(strcmp("go",msg->data.c_str())==0)
    {
    vel.angular = 3.0;
    vel.linear = 3.0;
    vel_pub_.publish(vel);
    }
    else if(strcmp("back",msg->data.c_str())==0)
   {
    vel.angular = -3.0;
    vel.linear = -3.0;
    vel_pub_.publish(vel);
    }
    else if(strcmp("left" ,msg->data.c_str())==0)
   {
   vel.angular = 0.78;
   vel.linear = -0.78;
   vel_pub_.publish(vel);
   sleep(1.8);
   vel.angular = 0.0;
   vel.linear = 0.0;
   vel_pub_.publish(vel);
   }
   else if(strcmp("right" ,msg->data.c_str())==0)
   {
   vel.angular = -0.78;
   vel.linear = 0.78;
   vel_pub_.publish(vel);
   sleep(1.8);
   vel.angular = 0.0;
   vel.linear =  0.0;
   vel_pub_.publish(vel);
   }
   else if(strcmp("stop",msg->data.c_str())==0)
  {
   vel.angular = 0.0;
   vel.linear = 0.0;
   vel_pub_.publish(vel);
  }
 ………
 }


*world file [#ed1b8152]

RobotInMove.xml:

 <?xml version="1.0" encoding="utf-8"?>
 <world name="myworld1">
  <gravity x="0.0" y="-980.7" z="0.0"/>
 <instanciate class="WheelRobot-nii-v1.xml" type="Robot">
    <set-attr-value name="name" value="robot_000"/>
    <set-attr-value name="language" value="c++"/>
    <set-attr-value name="implementation"
                    value="./libSig_app.so"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-100.0"/>
    <set-attr-value name="y" value="30.0"/>
    <set-attr-value name="z" value="-130.0"/>
    <set-attr-value name="collision" value="true"/>
    <!--stereo camera right-->
    <camera id="1"
            link="REYE_LINK"
            direction="0.0 -1.0 1.0"
            position="0.0 0.0 3.0"/>
    <!--stereo camera left-->
    <camera id="2"
            link="LEYE_LINK"
            direction="0.0 -1.0 1.0"
            position="0.0 0.0 3.0"/>
    <!--distance sensor-->
    <camera id="3"
            link="WAIST_LINK0"
            direction="0.0 1.0 0.0"
            position="0.0 -5.0 20.0"/>
    <!--monitoring camera-->
    <camera id="4"
            link="WAIST_LINK2"
            direction="0 0 1"
            quaternion="0.0 0.0 -0.966 0.259"
            position="0.0 40.0 120.0"/>
  </instanciate>
 </world>



*Running the server [#ed1b8132]

To run the server you have to follow the following steps:

Go to catkin_ws and execute the follwing command :
 
-Run the ROS system:

 $ roscore
run the ros ROS node :

-run the ros ROS node :

 $ rosrun key_sig sig_app 
Go to ~/catkin_ws/devel/lib/libsig_app and run the sigverse controller:
$ cd ~/catkin_ws/devel/lib/libsig_app
$ sigserver.sh -w ./move_robot.xml

-Go to ~/catkin_ws/devel/lib/libsig_app and run the sigverse controller:

 $ cd ~/catkin_ws/devel/lib/libsig_app
 $ sigserver.sh -w ./move_robot.xml

*Download the project [#ed1b8232]
Backup diff of ROS integration (No. 3)
