Implement simple quadcopter control.

.dockerignore

@@ -0,0 +1,34 @@
+# Include any files or directories that you don't want to be copied to your
+# container here (e.g., local build artifacts, temporary files, etc.).
+#
+# For more help, visit the .dockerignore file reference guide at
+# https://docs.docker.com/go/build-context-dockerignore/
+
+**/.classpath
+**/.dockerignore
+**/.env
+**/.git
+**/.gitignore
+**/.project
+**/.settings
+**/.toolstarget
+**/.vs
+**/.vscode
+**/.next
+**/.cache
+**/*.*proj.user
+**/*.dbmdl
+**/*.jfm
+**/charts
+**/docker-compose*
+**/compose*
+**/Dockerfile*
+**/node_modules
+**/npm-debug.log
+**/obj
+**/secrets.dev.yaml
+**/values.dev.yaml
+**/build
+**/dist
+LICENSE
+README.md

CMakeLists.txt

@@ -12,6 +12,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 ##########################################################################
 add_subdirectory(external/107-Arduino-Cyphal)
@@ -29,7 +30,7 @@ add_executable(${VIPER_TARGET}
 target_link_libraries(${VIPER_TARGET} cyphal++ socketcan mp-units)
 #######################################################################################
 target_compile_features(${VIPER_TARGET} PRIVATE cxx_std_20)
-ament_target_dependencies(${VIPER_TARGET} rclcpp std_msgs geometry_msgs)
+ament_target_dependencies(${VIPER_TARGET} rclcpp std_msgs sensor_msgs geometry_msgs)
 #######################################################################################
 install(TARGETS ${VIPER_TARGET} DESTINATION lib/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

Dockerfile

@@ -0,0 +1,38 @@
+# syntax=docker/dockerfile:1
+
+# Comments are provided throughout this file to help you get started.
+# If you need more help, visit the Dockerfile reference guide at
+# https://docs.docker.com/go/dockerfile-reference/
+
+# Want to help us make this template better? Share your feedback here: https://forms.gle/ybq9Krt8jtBL3iCk7
+
+ARG NODE_VERSION=Viper
+
+FROM node:${NODE_VERSION}-alpine
+
+# Use production node environment by default.
+ENV NODE_ENV production
+
+
+WORKDIR /usr/src/app
+
+# Download dependencies as a separate step to take advantage of Docker's caching.
+# Leverage a cache mount to /root/.npm to speed up subsequent builds.
+# Leverage a bind mounts to package.json and package-lock.json to avoid having to copy them into
+# into this layer.
+RUN --mount=type=bind,source=package.json,target=package.json \
+    --mount=type=bind,source=package-lock.json,target=package-lock.json \
+    --mount=type=cache,target=/root/.npm \
+    npm ci --omit=dev
+
+# Run the application as a non-root user.
+USER node
+
+# Copy the rest of the source files into the image.
+COPY . .
+
+# Expose the port that the application listens on.
+EXPOSE 8088
+
+# Run the application.
+CMD ros2 launch viper viper-quad.py

README.Docker.md

@@ -0,0 +1,22 @@
+### Building and running your application
+
+When you're ready, start your application by running:
+`docker compose up --build`.
+
+Your application will be available at http://localhost:8088.
+
+### Deploying your application to the cloud
+
+First, build your image, e.g.: `docker build -t myapp .`.
+If your cloud uses a different CPU architecture than your development
+machine (e.g., you are on a Mac M1 and your cloud provider is amd64),
+you'll want to build the image for that platform, e.g.:
+`docker build --platform=linux/amd64 -t myapp .`.
+
+Then, push it to your registry, e.g. `docker push myregistry.com/myapp`.
+
+Consult Docker's [getting started](https://docs.docker.com/go/get-started-sharing/)
+docs for more detail on building and pushing.
+
+### References
+* [Docker's Node.js guide](https://docs.docker.com/language/nodejs/)

README.md

@@ -13,16 +13,19 @@ Generic ROS based drone flight stack for the [Pika Spark](https://pika-spark.io/
 #### How-to-build
 Note: Don't forget to install the [dependencies](https://github.com/107-systems/viper#install-dependencies) (see at the end of this file).
 ```bash
-cd $COLCON_WS/src
+cd my_colcon_ws/src
 git clone --recursive https://github.com/107-systems/viper
-cd $COLCON_WS
+cd my_colcon_ws
+cd Documents/DEV/src
+git clone --recursive https://github.com/inusha47/viper-WOP.git
+cd Documents/DEV
 source /opt/ros/humble/setup.bash
 colcon build --packages-select viper
 ```
 
 #### How-to-run
 ```bash
-cd $COLCON_WS
+cd my_colcon_ws
 . install/setup.bash
 ros2 launch viper viper-quad.py
 ```

compose.yaml

@@ -0,0 +1,51 @@
+# Comments are provided throughout this file to help you get started.
+# If you need more help, visit the Docker compose reference guide at
+# https://docs.docker.com/go/compose-spec-reference/
+
+# Here the instructions define your application as a service called "server".
+# This service is built from the Dockerfile in the current directory.
+# You can add other services your application may depend on here, such as a
+# database or a cache. For examples, see the Awesome Compose repository:
+# https://github.com/docker/awesome-compose
+services:
+  server:
+    build:
+      context: .
+    environment:
+      NODE_ENV: production
+    ports:
+      - 8088:8088
+
+# The commented out section below is an example of how to define a PostgreSQL
+# database that your application can use. `depends_on` tells Docker Compose to
+# start the database before your application. The `db-data` volume persists the
+# database data between container restarts. The `db-password` secret is used
+# to set the database password. You must create `db/password.txt` and add
+# a password of your choosing to it before running `docker-compose up`.
+#     depends_on:
+#       db:
+#         condition: service_healthy
+#   db:
+#     image: postgres
+#     restart: always
+#     user: postgres
+#     secrets:
+#       - db-password
+#     volumes:
+#       - db-data:/var/lib/postgresql/data
+#     environment:
+#       - POSTGRES_DB=example
+#       - POSTGRES_PASSWORD_FILE=/run/secrets/db-password
+#     expose:
+#       - 5432
+#     healthcheck:
+#       test: [ "CMD", "pg_isready" ]
+#       interval: 10s
+#       timeout: 5s
+#       retries: 5
+# volumes:
+#   db-data:
+# secrets:
+#   db-password:
+#     file: db/password.txt
+

include/viper/Node.h

@@ -1,4 +1,4 @@
-/**
+ /**
  * Copyright (c) 2023 LXRobotics GmbH.
  * Author: Alexander Entinger <[email protected]>
  * Contributors: https://github.com/107-systems/viper/graphs/contributors.
@@ -16,6 +16,7 @@
 
 #include <std_msgs/msg/float32.hpp>
 
+#include <sensor_msgs/msg/imu.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 
 #include <cyphal++/cyphal++.h>
@@ -76,9 +77,35 @@ class Node : public rclcpp::Node
   quantity<rad/s> _target_angular_velocity_x, _target_angular_velocity_y, _target_angular_velocity_z;
   void init_teleop_sub();
 
+  rclcpp::QoS _imu_qos_profile;
+  rclcpp::SubscriptionOptions _imu_sub_options;
+  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr _imu_sub;
+  sensor_msgs::msg::Imu _imu_data;
+  void init_imu_sub();
+
+
   static uint16_t constexpr CYPHAL_DEMO_PORT_ID = 1234;
   cyphal::Publisher<uavcan::primitive::scalar::Integer8_1_0> _cyphal_demo_pub;
 
+  static uint16_t constexpr SETPOINT_VELOCITY_ID_1 = 113;
+  cyphal::Publisher<zubax::primitive::real16::Vector4_1_0> _setpoint_velocity_pub_1;
+
+  static uint16_t constexpr SETPOINT_VELOCITY_ID_2 = 114;
+  cyphal::Publisher<zubax::primitive::real16::Vector4_1_0> _setpoint_velocity_pub_2;
+
+
+  static uint16_t constexpr SETPOINT_VELOCITY_ID_3 = 115;
+  cyphal::Publisher<zubax::primitive::real16::Vector4_1_0> _setpoint_velocity_pub_3;
+
+  static uint16_t constexpr SETPOINT_VELOCITY_ID_4 = 116;
+  cyphal::Publisher<zubax::primitive::real16::Vector4_1_0> _setpoint_velocity_pub_4;
+
+
+
+
+
+
+
   static std::chrono::milliseconds constexpr CTRL_LOOP_RATE{10};
   rclcpp::TimerBase::SharedPtr _ctrl_loop_timer;
   void ctrl_loop();
@@ -88,4 +115,4 @@ class Node : public rclcpp::Node
  * NAMESPACE
  **************************************************************************************/
 
-} /* viper */
+} /* viper */

launch/viper-quad.py

@@ -1,21 +1,31 @@
 from launch import LaunchDescription
+from launch.actions import ExecuteProcess
 from launch_ros.actions import Node
 
 def generate_launch_description():
-  return LaunchDescription([
-    Node(
-      package='viper',
-      executable='viper_node',
-      name='viper',
-      namespace='viper',
-      output='screen',
-      emulate_tty=True,
-      parameters=[
-        {'can_iface' : 'can0'},
-        {'can_node_id' : 100},
-        {'teleop_topic': 'cmd_vel'},
-        {'teleop_topic_deadline_ms': 100},
-        {'teleop_topic_liveliness_lease_duration': 1000},
-      ]
-    )
-  ])
+    return LaunchDescription([
+        Node(
+            package='viper',
+            executable='viper_node',
+            name='viper',
+            namespace='viper',
+            output='screen',
+            emulate_tty=True,
+            parameters=[
+                {'can_iface': 'can0'},
+                {'can_node_id': 100},
+                {'teleop_topic': 'cmd_vel'},
+                {'teleop_topic_deadline_ms': 100},
+                {'teleop_topic_liveliness_lease_duration': 1000},
+                {'imu_topic': '/imu'},
+                {'imu_topic_deadline_ms': 100},
+                {'imu_topic_liveliness_lease_duration': 1000},
+            ]
+        ),
+        ExecuteProcess(
+            cmd=['ros2', 'topic', 'echo', 'imu'],
+            output='screen',
+            additional_env={'period': '0.1', 'msg': '[100, 100, 100, 100]', 'topic': '113:zubax.primitive.real16.Vector4'}
+        ),
+
+    ])

package.xml

@@ -11,6 +11,7 @@
 
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>