humanisticrobotics · mabelzhang · Oct 15, 2019 · Oct 17, 2019 · Oct 17, 2019 · Nov 22, 2019
diff --git a/README.md b/README.md
@@ -4,7 +4,5 @@
 <h3><a href="http://humanisticrobotics.com/products/safe-remote-control" target="_blank">Safe Remote Control System (SRCS)</a></h3>
 
 
-#### Tutorial Instructions: [Running_Tutorials] (Running_Tutorials.md)
-#### C Drivers: [/drivers] (/drivers)
-#### ROS Drivers: [/hri_safety_sense] (/hri_safety_sense)
-
+#### C Drivers tutorial instructions: [hri_c_driver](hri_c_driver/README.md)
+#### ROS Drivers: [hri_safety_sense](hri_safety_sense/README.md)
diff --git a/Running_Tutorials.txt b/Running_Tutorials.txt
diff --git a/hri_c_driver/CMakeLists.txt b/hri_c_driver/CMakeLists.txt
@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hri_c_driver)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES hri_c_driver
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## 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_library(hri_c_driver src/SerialInterface.c src/VehicleInterface.c)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(hri_c_driver
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS hri_c_driver
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/drivers/C/Makefile → hri_c_driver/Makefile b/drivers/C/Makefile → hri_c_driver/Makefile
@@ -25,7 +25,7 @@ VERSION = 1.1
 
 TARGET  = lib/hri_vsc_interface.$(VERSION).so
 SOURCES = $(shell echo src/*.c)
-HEADERS = $(shell echo include/*.h)
+HEADERS = $(shell echo include/hri_c_driver/*.h)
 OBJECTS = $(SOURCES:.c=.o)
 TUTORIAL_SRC =  $(shell echo tutorials/*.c) 
 
@@ -42,7 +42,3 @@ $(TARGET): $(OBJECTS)
 
 clean: 
 	rm $(OBJECTS) $(TARGET) $(TUTORIAL_SRC:.c=)
-
-
-
-
diff --git a/Running_Tutorials.md → hri_c_driver/README.md b/Running_Tutorials.md → hri_c_driver/README.md
@@ -1,5 +1,5 @@
 Tutorials Provided at: 
-####[Tutorials](/drivers/C/tutorials)
+####[Tutorials](tutorials)
 
 ####Tutorial Descriptions (Refer to Source for Details):
 * vsc_tutorial_1: A message of type UserHeartbeatMsgType containing the EStopStatus is sent at a rate of 20Hz to the VSC. This is a basic example where the joystick and button values can be seen as received by the VSC.
@@ -12,13 +12,17 @@ on the first tutorial and expands it by settings three default display lines, an
 * vsc_tutorial_4: The fourth example shows how to switch the SRC into the user value displa mode. The example shows how to constantly update user feedback values and also send motor control commands to the SRC.
 
 ####Basic Instructions:
+
+To compile:
+```
+make
+```
+
 To run vsc_tutorial_1, ensure that the SRC and VSC are on the same network. 
 Under the cloned directory /driver/C execute the following command in your terminal:
-	./tutorials/vsc_tutorial_1 /ttyACM* 115200
+```
+./tutorials/vsc_tutorial_1 /ttyACM* 115200
+```
 where * replaces the serial port being used for the VSC. 
 Note: This example assumes the VSC is connected via USB to a user computer. Ports used 
 can be found under /dev directory in Mac and Linux systems. Usually, ttyACM0/1, tty.usbserial.
-
-
-
-
diff --git a/drivers/C/include/SerialInterface.h → ...er/include/hri_c_driver/SerialInterface.h b/drivers/C/include/SerialInterface.h → ...er/include/hri_c_driver/SerialInterface.h
diff --git a/drivers/C/include/VehicleInterface.h → ...r/include/hri_c_driver/VehicleInterface.h b/drivers/C/include/VehicleInterface.h → ...r/include/hri_c_driver/VehicleInterface.h
@@ -31,7 +31,7 @@ extern "C" {
 typedef struct {
 	uint32_t front;
 	uint32_t back;
-	int32_t fd;
+	int fd;
 	uint8_t  recvbuffer[SIZE_RECEIVE_BUFFER];
 } VscInterfaceType;
 

diff --git a/drivers/C/include/VehicleMessages.h → ...er/include/hri_c_driver/VehicleMessages.h b/drivers/C/include/VehicleMessages.h → ...er/include/hri_c_driver/VehicleMessages.h
diff --git a/hri_c_driver/package.xml b/hri_c_driver/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>hri_c_driver</name>
+  <version>1.1.0</version>
+  <description>
+
+      hri_c_driver
+
+  </description>
+
+  <maintainer email="contact@fortrobotics.com">hri</maintainer>
+  <license>BSD</license>
+  <author>hri</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/drivers/C/src/SerialInterface.c → hri_c_driver/src/SerialInterface.c b/drivers/C/src/SerialInterface.c → hri_c_driver/src/SerialInterface.c
@@ -24,7 +24,7 @@
 #include <string.h>
 #include <fcntl.h>
 
-#include "SerialInterface.h"
+#include "hri_c_driver/SerialInterface.h"
 
 /**
  * Open a serial port

diff --git a/drivers/C/src/VehicleInterface.c → hri_c_driver/src/VehicleInterface.c b/drivers/C/src/VehicleInterface.c → hri_c_driver/src/VehicleInterface.c
@@ -25,9 +25,9 @@
 #include <unistd.h>
 #include <sys/types.h>
 
-#include "VehicleMessages.h"
-#include "VehicleInterface.h"
-#include "SerialInterface.h"
+#include "hri_c_driver/VehicleMessages.h"
+#include "hri_c_driver/VehicleInterface.h"
+#include "hri_c_driver/SerialInterface.h"
 
 /**
  * Calculate the Fletcher 16 Checksum

diff --git a/drivers/C/tutorials/vsc_tutorial_1.c → hri_c_driver/tutorials/vsc_tutorial_1.c b/drivers/C/tutorials/vsc_tutorial_1.c → hri_c_driver/tutorials/vsc_tutorial_1.c
@@ -38,8 +38,8 @@
 #include <sys/time.h>
 #include <sys/select.h>
 
-#include "VehicleMessages.h"
-#include "VehicleInterface.h"
+#include "hri_c_driver/VehicleMessages.h"
+#include "hri_c_driver/VehicleInterface.h"
 
 /* File descriptor for VSC Interface */
 VscInterfaceType* vscInterface;

diff --git a/drivers/C/tutorials/vsc_tutorial_2.c → hri_c_driver/tutorials/vsc_tutorial_2.c b/drivers/C/tutorials/vsc_tutorial_2.c → hri_c_driver/tutorials/vsc_tutorial_2.c
@@ -38,8 +38,8 @@
 #include <sys/time.h>
 #include <sys/select.h>
 
-#include "VehicleMessages.h"
-#include "VehicleInterface.h"
+#include "hri_c_driver/VehicleMessages.h"
+#include "hri_c_driver/VehicleInterface.h"
 
 /* File descriptor for VSC Interface */
 VscInterfaceType* vscInterface;

diff --git a/drivers/C/tutorials/vsc_tutorial_3.c → hri_c_driver/tutorials/vsc_tutorial_3.c b/drivers/C/tutorials/vsc_tutorial_3.c → hri_c_driver/tutorials/vsc_tutorial_3.c
@@ -38,8 +38,8 @@
 #include <sys/time.h>
 #include <sys/select.h>
 
-#include "VehicleMessages.h"
-#include "VehicleInterface.h"
+#include "hri_c_driver/VehicleMessages.h"
+#include "hri_c_driver/VehicleInterface.h"
 
 /* File descriptor for VSC Interface */
 VscInterfaceType* vscInterface;

diff --git a/drivers/C/tutorials/vsc_tutorial_4.c → hri_c_driver/tutorials/vsc_tutorial_4.c b/drivers/C/tutorials/vsc_tutorial_4.c → hri_c_driver/tutorials/vsc_tutorial_4.c
@@ -38,8 +38,8 @@
 #include <sys/time.h>
 #include <sys/select.h>
 
-#include "VehicleMessages.h"
-#include "VehicleInterface.h"
+#include "hri_c_driver/VehicleMessages.h"
+#include "hri_c_driver/VehicleInterface.h"
 
 /* File descriptor for VSC Interface */
 VscInterfaceType* vscInterface;

diff --git a/hri_safety_sense/CMakeLists.txt b/hri_safety_sense/CMakeLists.txt
@@ -1,36 +1,63 @@
-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)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+  sensor_msgs
+  hri_c_driver
+  hri_safety_sense_srvs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  CATKIN_DEPENDS roscpp std_msgs sensor_msgs hri_c_driver hri_safety_sense_srvs
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## 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(safe_remote_control src/main.cpp src/VscProcess.cpp src/JoystickHandler.cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(safe_remote_control
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS safe_remote_control
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/hri_safety_sense/README.md b/hri_safety_sense/README.md
@@ -0,0 +1,55 @@
+# To compile ROS driver:
+```
+catkin build hri_safety_sense
+```
+
+# To read from joystick, modify permissions to port:
+```
+sudo chmod 666 <port>
+```
+where port is for example `/dev/ttyACM1`.
+
+# To run driver:
+```
+. devel/setup.bash
+roscore
+roslaunch hri_safety_sense safe_remote_control.launch [serial:=/dev/ttyACM1 frame_id:=/joystick]
+```
+
+Optionally pass in serial port and/or joystick frame ID, if different from default values in launch file.
+
+# ROS parameters:
+
+`serial`: Serial port, `/dev/ttyACM0` by default
+`serial_speed`: Serial port speed, `115200` by default
+`set_priority`: Set priority, `false` by default
+`frame_id`: Frame ID, `/srcs` for Safe Remote Control System by default
+
+# ROS topics:
+
+`/safety/emergency_stop`: Boolean indicating whether the emergency stop is pressed
+`/joy`: Status of joystick and buttons.
+
+Example joystick message:
+```
+$ rostopic echo /joy
+header: 
+  seq: 892
+  stamp: 
+    secs: 1574381173
+    nsecs: 920995966
+  frame_id: "/joystick"
+axes: [-0.21114370226860046, -1.0, 0.0, 0.0, 0.0, 0.0]
+buttons: [0, 0, 0, 0, 0, 0, 0, 0]
+```
+
+`axes` fields are in this order for the 2 joysticks:
+Left X, Left Y, Left Z, Right X, Right Y, Right Z
+Note that Z axis is on the back of the controller.
+
+`buttons` fields are in this order for the 8 buttons:
+Left down, Left right, Left up, Left left, Right down, Right right, Right up, Right left
+
+# Troubleshoot
+
+Joystick goes to sleep automatically after some time. After turning it back on, press button 1 as indicated on the joystick screen to go into remote mode. Then values will show on `/joy` topic.