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vda5050_tb3_adapter package from vda5050_adapter_examples repo

vda5050_tb3_adapter vda5050_template_package

Package Summary

Tags	No category tags.
Version	1.0.0
License	BSD Clause 3
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/inorbit-ai/vda5050_adapter_examples.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2022-12-22
Dev Status	UNKNOWN
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

VDA5050 Turtlebot 3 adapter example

Additional Links

No additional links.

Maintainers

TBD

Authors

Leandro Pineda

vda5050_tb3_adapter/README.md

VDA5050 TB3 Adapter

ROS2 package with a Python implementation of the adapter for a Turtlebot 3. It contains the following directories:

config: provides a connector_tb3.yaml file to configure the MQTT bridge, controller and adapter parameters.
launch: provides two .launch.py files, one for running the tb3_adapter node alone and the other to run the whole connector (mqtt_bridge and controller nodes from the vda5050_connector package, as well as the tb3_adapter node).

Running the TB3 adapter

To test the TB3 adapter sample, follow these steps:

Execute the simulation environment (see docker environment).
Inside the development container:

  # Build workspace packages
  colcon build && source install/setup.bash
  # Set gazebo simulated `tb3` initial pose
  ros2 topic pub -1 --qos-reliability reliable /initialpose geometry_msgs/PoseWithCovarianceStamped \
    "{header: {frame_id: map}, pose: {pose: {position: {x: -2.1, y: -0.5, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0, w: 1.0000000}}, covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942]}}"
  # Launch the TB3 VDA5050 connector
  ros2 launch vda5050_tb3_adapter connector_tb3.launch.py
  

Attach a new terminal to the development container by running docker compose exec development bash inside the docker/deployment/ folder (see docker environment). Send any of the following samples.

4 nodes order

    mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/order -m '
    {
        "orderId": "'$(cat /proc/sys/kernel/random/uuid)'",
        "orderUpdateId": 0,
        "version": "2.0.0",
        "manufacturer": "OSRF",
        "serialNumber": "TB3_1",
        "nodes": [
            {
                "nodeId": "node1",
                "released": true,
                "sequenceId": 0,
                "nodePosition": {
                    "x": 2.0,
                    "y": 0.95,
                    "theta": -0.66,
                    "mapId": "map"
                },
                "actions": []
            },
            {
                "nodeId": "node2",
                "released": true,
                "sequenceId": 2,
                "nodePosition": {
                    "x": 1.18,
                    "y": -1.76,
                    "theta": 0.0,
                    "mapId": "map"
                },
                "actions": []
            },
            {
                "nodeId": "node3",
                "released": true,
                "sequenceId": 4,
                "nodePosition": {
                    "x": -0.38,
                    "y": 1.89,
                    "theta": 0.0,
                    "mapId": "map"
                },
                "actions": []
            },
            {
                "nodeId": "node4",
                "released": true,
                "sequenceId": 6,
                "nodePosition": {
                    "x": -0.17,
                    "y": 1.74,
                    "theta": -2.6,
                    "mapId": "map"
                },
                "actions": []
            },
            {
                "nodeId": "node1",
                "released": true,
                "sequenceId": 8,
                "nodePosition": {
                    "x": 2.0,
                    "y": 0.95,
                    "theta": -0.66,
                    "mapId": "map"
                },
                "actions": []
            }
        ],
        "edges": [
            {
                "edgeId": "edge1",
                "released": true,
                "sequenceId": 1,
                "startNodeId": "node1",
                "endNodeId": "node2",
                "actions": []
            },
            {
                "edgeId": "edge2",
                "released": true,
                "sequenceId": 3,
                "startNodeId": "node2",
                "endNodeId": "node3",
                "actions": []
            },
            {
                "edgeId": "edge3",
                "released": true,
                "sequenceId": 5,
                "startNodeId": "node3",
                "endNodeId": "node4",
                "actions": []
            },
            {
                "edgeId": "edge4",
                "released": true,
                "sequenceId": 7,
                "startNodeId": "node4",
                "endNodeId": "node1",
                "actions": []
            }
        ]
    }'
    

</details>

4 nodes order with actions

```sh mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/order -m ' { "orderId": "'$(cat /proc/sys/kernel/random/uuid)'", "orderUpdateId": 0, "version": "2.0.0", "manufacturer": "OSRF", "serialNumber": "TB3_1", "nodes": [ { "nodeId": "node1", "released": true, "sequenceId": 0, "nodePosition": { "x": 2.0, "y": 0.95, "theta": -0.66, "mapId": "map" }, "actions": [] }, { "nodeId": "node2", "released": true, "sequenceId": 2, "nodePosition": { "x": 1.18, "y": -1.76, "theta": 0.0, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] }, { "nodeId": "node3", "released": true, "sequenceId": 4, "nodePosition": { "x": -0.38, "y": 1.89, "theta": 0.0, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] }, { "nodeId": "node4", "released": true, "sequenceId": 6, "nodePosition": { "x": -0.17, "y": 1.74, "theta": -2.6, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] }, { "nodeId": "node1", "released": true, "sequenceId": 8, "nodePosition": { "x": 2.0, "y": 0.95, "theta": -0.66, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] } ], "edges": [ { "edgeId": "edge1", "released": true, "sequenceId": 1, "startNodeId": "node1", "endNodeId": "node2", "actions": [] }, { "edgeId": "edge2", "released": true, "sequenceId": 3, "startNodeId": "node2", "endNodeId": "node3", "actions": [] }, { "edgeId": "edge3", "released": true, "sequenceId": 5, "startNodeId": "node3", "endNodeId": "node4", "actions": [] }, { "edgeId": "edge4", "released": true, "sequenceId": 7, "startNodeId": "node4", "endNodeId": "node1", "actions": [] } ] }' ```

Init position instant action

```sh mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/instantActions -m ' { "version": "2.0.0", "manufacturer": "OSRF", "serialNumber": "TB3_1", "actions": [ { "actionType": "initPosition", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "blockingType": "NONE", "actionParameters": [ { "key": "x", "value": "2.0" }, { "key": "y", "value": "-0.5" }, { "key": "theta", "value": "0.0" }, { "key": "mapId", "value": "map" } ] } ] }' ```

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_copyright
	ament_flake8
	ament_pep257
	vda5050_connector
	rclpy
	vda5050_msgs
	geometry_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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