Update to HRI Safety Sense ROS node

hri_safety_sense/CMakeLists.txt

@@ -1,36 +1,62 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(terex ${PROJECT_NAME})
-#rosbuild_add_executable(talker src/talker.cpp)
-#rosbuild_add_executable(listener src/listener.cpp)
-#target_link_libraries(terex hri_common)
-
-rosbuild_add_executable(safe_remote_control src/main.cpp src/VscProcess.cpp src/VehicleInterface.c src/JoystickHandler.cpp src/SerialInterface.c)
+cmake_minimum_required(VERSION 2.8.3)
+project(hri_safety_sense)
+
+find_package(catkin REQUIRED
+        roscpp
+        std_msgs
+        sensor_msgs
+        genmsg
+        message_runtime
+)
+
+include_directories(
+        include
+        ${catkin_INCLUDE_DIRS}
+)
+
+add_service_files(
+        DIRECTORY srv
+        FILES
+        EmergencyStop.srv
+        KeyString.srv
+        KeyValue.srv
+)
+
+generate_messages(
+        DEPENDENCIES
+        std_msgs
+        sensor_msgs
+)
+
+add_library(${PROJECT_NAME}
+        src/JoystickHandler.cpp
+        src/SerialInterface.c
+        src/VehicleInterface.c
+        src/VscProcess.cpp
+)
+target_link_libraries(${PROJECT_NAME}
+        ${catkin_LIBRARIES}
+
+)
+add_dependencies(${PROJECT_NAME}
+        ${catkin_EXPORTED_TARGETS}
+)
+
+catkin_package(
+        INCLUDE_DIRS include
+        LIBRARIES hri_safety_sense
+        CATKIN_DEPENDS
+            roscpp
+            std_msgs
+            sensor_msgs
+            genmsg
+            message_runtime
+)
+
+add_executable(safe_remote_control src/main.cpp)
+target_link_libraries(safe_remote_control
+        ${PROJECT_NAME}
+        ${catkin_LIBRARIES}
+)
+
 

hri_safety_sense/ReadMe.md

@@ -0,0 +1,57 @@
+## HRI Safety Sense
+### Installing the ROS Node
+This node is now compatible with ROS Melodic, and builds in catkin. It launches a wrapper node C Driver that 
+exposes a serial interface to the VSC. 
+
+Installation requires either this folder (named hri_safety_sense) or the cloned git repo "hri-safe-remote-control-system"
+to be in the 'src' directory of your ROS workspace.
+
+Build the package with either
+
+```bash
+catkin_make
+``` 
+or
+```bash
+catkin_build
+```
+if you have catkin tools installed. Install with: `sudo apt-get install python-catkin-tools`
+
+## Launching the ROS Node
+This package has an included launch file (located in hri_safety_sense/launch/) that can be used to launch
+the node. The command to use this file is
+```bash
+roslaunch hri_safety_sense vsc_interface.launch safety_port:=${port} vsc_interface_enable:=${yN}
+```
+
+There are two arguments listed in the launch file:
+* safety_port: the serial port that the device is on (default is /dev/ttyACM0)
+* vsc_interface_enable: a predicate that stops the node from launching if set false (default is true).
+
+Another method of launching the ROS node is by using the command:
+```bash
+rosrun hri_safety_sense safe_remote_control
+```
+Using the launch file is recommended, however, because it is setup to auto-restart the node should it die 
+unexpectedly.
+
+## ROS Topics:
+Running this node exposes the following topics:
+* /safety/emergency_stop
+
+## Updates to Build System
+As of July 2019, this node is updated to be compatible with catkin. 
+
+The functionality of this package is also 
+exported as a library that can be imported by other catkin packages in a ROS environment, enabling other nodes 
+to talk to the VSC.
+
+## Testing
+This node has been tested with a point-to-point configuration with a wired EStop Button, as well as a Wireless EStop Device.
+
+Further testing with multi-point configurations, and configurations with a SRC are needed.
+
+####Authorship
+In addition to [HRI/Fort Robotics](https://hriwiki.atlassian.net/wiki/spaces/DOC/overview) Robotics, this node was contributed to and maintained by [Jackson Stanhope](js@greenzie.co) with support from [Greenzie](www.greenzie.com).
+
+

hri_safety_sense/launch/vsc_interface.launch

@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- Start a serial interface with the vsc on "safety_port" -->
+  <arg name="safety_port" default="/dev/ttyACM0"/>
+  <arg name="vsc_interface_enable"  default="true"/>
+    <group if="$(arg vsc_interface_enable)">
+      <!-- Start a serial interface to vsc on 'safety_port' -->
+        <node name="vsc_serial_interface"
+              pkg="hri_safety_sense"
+              type="safe_remote_control"
+              respawn="true">
+          <param name="port" value="$(arg safety_port)"/>
+        </node>
+    </group>
+</launch>

hri_safety_sense/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>hri_safety_sense</name>
+  <version>0.1.5</version>
+  <description>HRI Library for Serial Communication in ROS</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <author>hri</author>
+  <maintainer email="js@greenzie.co">Jackson Stanhope</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <depend>genmsg</depend>
+  <depend>message_runtime</depend>
+</package>
+

hri_safety_sense/src/JoystickHandler.cpp

@@ -18,8 +18,8 @@
 #include "ros/ros.h"
 #include "sensor_msgs/Joy.h"
 
-#include "VehicleMessages.h"
-#include "JoystickHandler.h"
+#include <VehicleMessages.h>
+#include <JoystickHandler.h>
 
 using namespace hri_safety_sense;
 

hri_safety_sense/src/SerialInterface.c

@@ -24,7 +24,7 @@
 #include <string.h>
 #include <fcntl.h>
 
-#include "SerialInterface.h"
+#include <SerialInterface.h>
 
 /**
  * Open a serial port

hri_safety_sense/src/VscProcess.cpp

@@ -31,10 +31,10 @@
 /**
  * Includes
  */
-#include "VscProcess.h"
-#include "JoystickHandler.h"
-#include "VehicleInterface.h"
-#include "VehicleMessages.h"
+#include <VscProcess.h>
+#include <JoystickHandler.h>
+#include <VehicleInterface.h>
+#include <VehicleMessages.h>
 
 using namespace hri_safety_sense;
 
@@ -43,7 +43,7 @@ VscProcess::VscProcess() :
 {
 	ros::NodeHandle nh("~");
 	std::string serialPort = "/dev/ttyACM0";
-	if(nh.getParam("serial", serialPort)) {
+	if(nh.getParam("port", serialPort)) {
 		ROS_INFO("Serial Port updated to:  %s",serialPort.c_str());
 	}