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[[SIGVerse]]
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.
#contents
*Overview[#ed1b8322]
&ref(Simple_Ros.PNG,,80%);
*The Topic [#ed1b8323]
-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);
}
………
}
- Create a new ROS Package :
- We need to create a new Ros Package to perform the ROS SIGverse integration
- Let’s create a new directory named catkin_ws and let’s perform those few tasks
- Create a new folder named src.
- Now let’s initialize our workspace by using the following command:
**Catkin command [#ed1b8136]
$catkin_init_workspace in the ~/catkin_ws folder
- Now we have our workspace let’s create our SIGverse ROS Package
-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:
$~/catkin_ws/src/Sigvers_Ros/src.
-Now make Cmake file in order to create the wanted package.
Catkin_make will generate a /devel folder with 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:
$source ~/catkin_ws2/devel/setup.sh
-Now we can check our package by executing this command
--Roscd Sigvers_Ros so we get the following result:
CMakeLists.txt
include
msg
package.xml
src
This shows that the Sigvers_Ros packages exists
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
)
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)
- We include SiGverse .h files to compile our controller’s source code
Catkin Command:
-- catkin_make we compile our code using Cmake parameters so we generate .so file used by the xml world file to control the robot simulation.
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