Ported the ROS2 fox drivers to ROS1 Noetic

.gitignore

@@ -1 +1,2 @@
 *.swp
+.vscode/

README.md

@@ -1,5 +1,8 @@
 # Veddar VESC Interface
+# ROS1 VESC Package
 
 ![ROS1 CI Workflow](https://github.com/f1tenth/vesc/workflows/ROS1%20CI%20Workflow/badge.svg)
 
 Packages to interface with Veddar VESC motor controllers. See https://vesc-project.com/ for details
+
+The ```noetic``` branch contains the ROS2 branch back ported to ROS1 such that it is compatible with VESC (tested on the VESC EDU)

vesc.yaml

@@ -0,0 +1,42 @@
+
+# erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset
+speed_to_erpm_gain: 5420 #4614
+speed_to_erpm_offset: 0.0
+
+# Set gains for converting acceleration to current and brake control values
+accel_to_current_gain: 100
+accel_to_brake_gain: -80
+
+tachometer_ticks_to_meters_gain: 0.00225
+# servo smoother - limits rotation speed and smooths anything above limit
+max_servo_speed: 3.2 # radians/second
+servo_smoother_rate: 75.0 # messages/sec
+
+# servo smoother - limits acceleration and smooths anything above limit
+max_acceleration: 2.5 # meters/second^2
+throttle_smoother_rate: 75.0 # messages/sec
+
+# servo value (0 to 1) =  steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset
+steering_angle_to_servo_gain: -1.2135
+steering_angle_to_servo_offset: 0.55 #0.5304
+
+# publish odom to base link tf
+vesc_to_odom/publish_tf: false
+
+# car wheelbase is about 25cm 
+wheelbase: .256
+
+vesc_driver:
+  port: /dev/sensors/vesc
+  duty_cycle_min: 0.0
+  duty_cycle_max: 0.0
+  current_min: 0.0
+  current_max: 100.0
+  brake_min: -20000.0
+  brake_max: 200000.0
+  speed_min: -23250
+  speed_max: 23250
+  position_min: 0.0
+  position_max: 0.0
+  servo_min: 0.15
+  servo_max: 0.85

vesc/package.xml

@@ -1,26 +1,27 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
+<package>
   <name>vesc</name>
-  <version>1.1.0</version>
+  <version>0.0.1</version>
   <description>
     Metapackage for ROS interface to the Vedder VESC open source motor controller.
   </description>
-  <maintainer email="[email protected]">Johannes Betz</maintainer>
+
+  <maintainer email="[email protected]">Michael T. Boulet</maintainer>
+  <author email="[email protected]">Michael T. Boulet</author>
   <license>BSD</license>
+
   <url type="website">http://www.ros.org/wiki/vesc</url>
-  <url type="repository">https://github.com/f1tenth/vesc</url>
-  <url type="bugtracker">https://github.com/f1tenth/vesc/issues</url>
-  <author email="[email protected]">Michael T. Boulet</author>
-  <author email="[email protected]">Joshua Whitley</author>
+  <url type="repository">https://github.mit.edu/racecar/vesc</url>
+  <url type="bugtracker">https://github.mit.edu/racecar/vesc/issues</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>vesc_driver</exec_depend>
-  <exec_depend>vesc_msgs</exec_depend>
-  <exec_depend>vesc_ackermann</exec_depend>
+  <run_depend>vesc_driver</run_depend>
+  <run_depend>vesc_msgs</run_depend>
+  <run_depend>vesc_ackermann</run_depend>
 
   <export>
     <metapackage/>
   </export>
+
 </package>

vesc_ackermann/CMakeLists.txt

@@ -1,38 +1,29 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(vesc_ackermann)
 
-# Setting C++ standard to 11
-if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}")
-  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
-  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
-  set(CMAKE_CXX_STANDARD 11)
-endif()
-
 find_package(catkin REQUIRED COMPONENTS
-  ackermann_msgs
-  geometry_msgs
-  nav_msgs
   nodelet
   pluginlib
   roscpp
-  roslint
+  nav_msgs
   std_msgs
+  geometry_msgs
   tf
+  ackermann_msgs
   vesc_msgs
 )
 
 catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS
-    ackermann_msgs
-    geometry_msgs
-    nav_msgs
     nodelet
     pluginlib
+    roscpp
+    nav_msgs#!/usr/bin/env python
     std_msgs
+    geometry_msgs
     tf
+    ackermann_msgs
     vesc_msgs
 )
 
@@ -42,6 +33,7 @@ catkin_package(
 
 include_directories(
   include
+  ${Boost_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -70,9 +62,6 @@ target_link_libraries(vesc_ackermann_nodelet
   ${catkin_LIBRARIES}
 )
 
-set(ROSLINT_CPP_OPTS "--filter=-build/c++11")
-roslint_cpp()
-
 #############
 ## Install ##
 #############
@@ -96,6 +85,4 @@ install(DIRECTORY launch/
 ## Testing ##
 #############
 
-if(CATKIN_ENABLE_TESTING)
-  roslint_add_test()
-endif()
+# TODO

vesc_ackermann/include/vesc_ackermann/ackermann_to_vesc.h

@@ -1,28 +1,3 @@
-// Copyright 2020 F1TENTH Foundation
-//
-// Redistribution and use in source and binary forms, with or without modification, are permitted
-// provided that the following conditions are met:
-//
-// 1. Redistributions of source code must retain the above copyright notice, this list of conditions
-//    and the following disclaimer.
-//
-// 2. Redistributions in binary form must reproduce the above copyright notice, this list
-//    of conditions and the following disclaimer in the documentation and/or other materials
-//    provided with the distribution.
-//
-// 3. Neither the name of the copyright holder nor the names of its contributors may be used
-//    to endorse or promote products derived from this software without specific prior
-//    written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
-// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
-// FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
-// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
-// WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
 // -*- mode:c++; fill-column: 100; -*-
 
 #ifndef VESC_ACKERMANN_ACKERMANN_TO_VESC_H_
@@ -37,29 +12,26 @@ namespace vesc_ackermann
 class AckermannToVesc
 {
 public:
+
   AckermannToVesc(ros::NodeHandle nh, ros::NodeHandle private_nh);
 
 private:
   // ROS parameters
   // conversion gain and offset
-  bool previous_mode_speed_ = true;
   double speed_to_erpm_gain_, speed_to_erpm_offset_;
-  double accel_to_current_gain_, accel_to_brake_gain_;
   double steering_to_servo_gain_, steering_to_servo_offset_;
 
   /** @todo consider also providing an interpolated look-up table conversion */
 
   // ROS services
   ros::Publisher erpm_pub_;
   ros::Publisher servo_pub_;
-  ros::Publisher current_pub_;
-  ros::Publisher brake_pub_;
   ros::Subscriber ackermann_sub_;
 
   // ROS callbacks
   void ackermannCmdCallback(const ackermann_msgs::AckermannDriveStamped::ConstPtr& cmd);
 };
 
-}  // namespace vesc_ackermann
+} // namespace vesc_ackermann
 
-#endif  // VESC_ACKERMANN_ACKERMANN_TO_VESC_H_
+#endif // VESC_ACKERMANN_ACKERMANN_TO_VESC_H_

vesc_ackermann/include/vesc_ackermann/vesc_to_odom.h

@@ -1,39 +1,12 @@
-// Copyright 2020 F1TENTH Foundation
-//
-// Redistribution and use in source and binary forms, with or without modification, are permitted
-// provided that the following conditions are met:
-//
-// 1. Redistributions of source code must retain the above copyright notice, this list of conditions
-//    and the following disclaimer.
-//
-// 2. Redistributions in binary form must reproduce the above copyright notice, this list
-//    of conditions and the following disclaimer in the documentation and/or other materials
-//    provided with the distribution.
-//
-// 3. Neither the name of the copyright holder nor the names of its contributors may be used
-//    to endorse or promote products derived from this software without specific prior
-//    written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
-// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
-// FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
-// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
-// WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
 // -*- mode:c++; fill-column: 100; -*-
 
 #ifndef VESC_ACKERMANN_VESC_TO_ODOM_H_
 #define VESC_ACKERMANN_VESC_TO_ODOM_H_
 
-#include <memory>
-#include <string>
-
 #include <ros/ros.h>
 #include <vesc_msgs/VescStateStamped.h>
 #include <std_msgs/Float64.h>
+#include <boost/shared_ptr.hpp>
 #include <tf/transform_broadcaster.h>
 
 namespace vesc_ackermann
@@ -42,6 +15,7 @@ namespace vesc_ackermann
 class VescToOdom
 {
 public:
+
   VescToOdom(ros::NodeHandle nh, ros::NodeHandle private_nh);
 
 private:
@@ -58,20 +32,20 @@ class VescToOdom
 
   // odometry state
   double x_, y_, yaw_;
-  std_msgs::Float64::ConstPtr last_servo_cmd_;  ///< Last servo position commanded value
-  vesc_msgs::VescStateStamped::ConstPtr last_state_;  ///< Last received state message
+  std_msgs::Float64::ConstPtr last_servo_cmd_; ///< Last servo position commanded value
+  vesc_msgs::VescStateStamped::ConstPtr last_state_; ///< Last received state message
 
   // ROS services
   ros::Publisher odom_pub_;
   ros::Subscriber vesc_state_sub_;
   ros::Subscriber servo_sub_;
-  std::shared_ptr<tf::TransformBroadcaster> tf_pub_;
+  boost::shared_ptr<tf::TransformBroadcaster> tf_pub_;
 
   // ROS callbacks
   void vescStateCallback(const vesc_msgs::VescStateStamped::ConstPtr& state);
   void servoCmdCallback(const std_msgs::Float64::ConstPtr& servo);
 };
 
-}  // namespace vesc_ackermann
+} // namespace vesc_ackermann
 
-#endif  // VESC_ACKERMANN_VESC_TO_ODOM_H_
+#endif // VESC_ACKERMANN_VESC_TO_ODOM_H_