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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] 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%); *The Topic [#ed1b8323] *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 SIGVerse Package [#ed1b8323] - You 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 Workspace initialization [#ed1b8136] $catkin_init_workspace in the ~/catkin_ws folder - Now we have our workspace let’s create our SIGverse 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. $ 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: $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) - Here you 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. *Creating ROS Package [#ed1b8324] *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); } ……… } *Running the server [#ed1b8132] To run the server you have to follow the following steps: - Create a new ROS Package : - We need to create a new Ros Package to perform the ROS SIGverse integration Go to catkin_ws and execute the follwing command : -Run the ROS system: $ roscore run the ros ROS node : - Let’s create a new directory named catkin_ws and let’s perform those few tasks $ 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 - 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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