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Merge branch 'main' of https://github.com/IvanSnap360/OmniBot
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@IvanSnap360
IvanSnap360 committed Jun 12, 2023
2 parents abd39fc + 2c268b8 commit 97592f8
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Showing 58 changed files with 3,054 additions and 369 deletions.
2 changes: 1 addition & 1 deletion firmware/battery_controller_firmware_V1/battery_controller_firmware_V1.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ float getVoltsFromPin(int pin)
{
float vin = 0.0;
vin = ((analogRead(pin) * SOURCE_VOLTAGE_VOLTS) / ADC_MAX_VALUE) / (R2 / (R1 + R2));
if (vin < 0.1)
if (vin < 0.3)
vin = 0.0;

return abs(vin);
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6 changes: 3 additions & 3 deletions firmware/battery_controller_firmware_V1/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,10 +32,10 @@ enum
#define ON HIGH


#define RESITOR_DIVIDER__R1_VAL_Om (float)2200.0
#define RESITOR_DIVIDER__R2_VAL_Om (float)1000.0
#define RESITOR_DIVIDER__R1_VAL_Om (float)100000.0
#define RESITOR_DIVIDER__R2_VAL_Om (float)39000.0
#define ADC_MAX_VALUE (float)1024.0
#define SOURCE_VOLTAGE_VOLTS (float)4.6
#define SOURCE_VOLTAGE_VOLTS (float)4.7

const int battery_1_cell_pins[BATTERIES_SERIAL_CONFIGURATION] = {
BATTERY_1_CELL_1_PIN,
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1 change: 1 addition & 0 deletions platform_teleop.sh
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@@ -1,2 +1,3 @@
source_ws
roslaunch omnibot_platform_teleop omnibot_platform_teleop.launch control_keys_variant:=numpad

4 changes: 3 additions & 1 deletion src/omnibot_bringup/launch/omnibot_real.launch
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Expand Up @@ -36,7 +36,9 @@
<param name="baud" value="115200"/>
</node>


<include file="$(find omnibot_manipulator_hw_controller)/launch/omnibot_manipulator_hw_controller.launch"/>

<include file="$(find omnibot_core)/launch/omnibot_core.launch"/>
<!-- -->
<include file="$(find sensor_odom_manager)/launch/sensor_odom_manager.launch"/>

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51 changes: 26 additions & 25 deletions src/omnibot_bringup/launch/omnibot_sim.launch
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@@ -1,16 +1,16 @@
<?xml version="1.0"?>
<launch>
<!-- -->
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}"/>
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}" />

<!-- -->
<arg name="use_manipulator" default="true" />
<arg name="rviz" default="true"/>
<arg name="rtabmap_viz" default="false"/>
<arg name="localization" default="false"/>
<arg name="rviz" default="true" />
<arg name="rtabmap_viz" default="false" />

<arg name="localization" default="false" />


<!-- -->
<include file="$(find omnibot_description)/launch/load_description.launch">
<arg name="gui" value="false" />
Expand All @@ -19,28 +19,31 @@
</include>

<!-- -->
<include file="$(find omnibot_control)/launch/omnibot_control.launch"/>
<include file="$(find omnibot_control)/launch/omnibot_control.launch" />

<!-- -->
<include file="$(find omnibot_platform_control)/launch/omnibot_platform_contol.launch">
<arg name="namespace" value="omnibot_robot"/>
<arg name="namespace" value="omnibot_robot" />
</include>

<!-- -->
<include file="$(find omnibot_platform_drv)/launch/omnibot_platform_drv.launch"/>
<include file="$(find omnibot_platform_drv)/launch/omnibot_platform_drv.launch" />

<!-- -->
<include file="$(find sensor_odom_manager)/launch/sensor_odom_manager.launch"/>
<include file="$(find sensor_odom_manager)/launch/sensor_odom_manager.launch" />

<!-- -->
<group if="$(arg use_manipulator)">
<include file="$(find omnibot_manipulator_control)/launch/omnibot_manipulator_control_server.launch"/>

<include file="$(find omnibot_manipulator_moveit)/launch/demo.launch">
<include
file="$(find omnibot_manipulator_bringup)/launch/omnibot_manipulator_bringup.launch">
<arg name="sim" value="true" />
<arg name="use_rviz" value="false"/>
</include>
</group>


<include file="$(find omnibot_core)/launch/omnibot_core.launch" />

<!-- -->
<group if="$(arg rviz)">
<include file="$(find omnibot_bringup)/launch/rviz.launch" />
Expand All @@ -51,22 +54,20 @@
</group>

<!-- -->
<include file="$(find omnibot_gazebo)/launch/omnibot_gazebo.launch"/>
<include file="$(find omnibot_gazebo)/launch/omnibot_gazebo.launch" />

<!-- -->
<group if="$(arg localization)">
<!-- <include file="$(find omnibot_platform_navigation)/launch/load_map.launch"/> -->
</group>

<!-- -->
<include file="$(find omnibot_platform_navigation)/launch/omnibot_platform_navigation.launch" >
<arg name="sim" value="true"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="initial_pose" value=""/>
<include file="$(find omnibot_platform_navigation)/launch/omnibot_platform_navigation.launch">
<arg name="sim" value="true" />
<arg name="localization" value="$(arg localization)" />
<arg name="initial_pose" value="" />
</include>



<!-- START ROS WEB BRIDGE -->
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
<!-- START ROS WEB BRIDGE -->
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
</launch>
171 changes: 164 additions & 7 deletions src/omnibot_bringup/rviz/rviz.rviz
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Expand Up @@ -83,6 +83,26 @@ Visualization Manager:
Value: true
base_link:
Value: true
d400_arm_bottom_screw_frame:
Value: true
d400_arm_color_frame:
Value: true
d400_arm_color_optical_frame:
Value: true
d400_arm_depth_frame:
Value: true
d400_arm_depth_optical_frame:
Value: true
d400_arm_left_ir_frame:
Value: true
d400_arm_left_ir_optical_frame:
Value: true
d400_arm_link:
Value: true
d400_arm_right_ir_frame:
Value: true
d400_arm_right_ir_optical_frame:
Value: true
d400_bottom_screw_frame:
Value: true
d400_color_frame:
Expand Down Expand Up @@ -277,6 +297,20 @@ Visualization Manager:
{}
ang_link7:
{}
d400_arm_bottom_screw_frame:
d400_arm_link:
d400_arm_depth_frame:
d400_arm_color_frame:
d400_arm_color_optical_frame:
{}
d400_arm_depth_optical_frame:
{}
d400_arm_left_ir_frame:
d400_arm_left_ir_optical_frame:
{}
d400_arm_right_ir_frame:
d400_arm_right_ir_optical_frame:
{}
tip_link:
{}
base_link:
Expand Down Expand Up @@ -457,7 +491,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Boxes
Topic: /rtabmap/local_grid_obstacle
Topic: /rtabmap/cloud_map
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Expand Down Expand Up @@ -606,6 +640,47 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
d400_arm_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_left_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_left_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
d400_arm_right_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_right_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_bottom_screw_frame:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -1588,6 +1663,47 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
d400_arm_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_left_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_left_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
d400_arm_right_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_right_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_bottom_screw_frame:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -2089,6 +2205,47 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
d400_arm_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_left_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_left_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
d400_arm_right_ir_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_arm_right_ir_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
d400_bottom_screw_frame:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -2528,25 +2685,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 5.916483402252197
Distance: 0.7304148077964783
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.28880730271339417
Y: 0.11647143214941025
Z: 0.5200644731521606
X: -0.04267846792936325
Y: 0.2888927161693573
Z: 0.13738508522510529
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.8103974461555481
Pitch: -0.12460232526063919
Target Frame: base_link
Yaw: 1.2335915565490723
Yaw: 2.0085926055908203
Saved: ~
Window Geometry:
Displays:
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12 changes: 10 additions & 2 deletions src/omnibot_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,12 @@ find_package(catkin REQUIRED COMPONENTS
moveit_core
moveit_ros_planning_interface
moveit_visual_tools

)

find_package(omnibot_manipulator_control REQUIRED COMPONENTS ...)
include_directories(${omnibot_manipulator_control_INCLUDE_DIRS})

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)

Expand Down Expand Up @@ -153,12 +157,16 @@ add_library(${PROJECT_NAME}
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp src/${PROJECT_NAME}_lib/${PROJECT_NAME}_lib.cpp src/state_machine_lib/state_machine_lib.cpp )
add_executable(${PROJECT_NAME}_node
src/${PROJECT_NAME}_node.cpp
src/${PROJECT_NAME}_lib/${PROJECT_NAME}_lib.cpp
src/state_machine_lib/state_machine_lib.cpp )


## Rename C++ executable without prefix
Expand Down
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