Add lidarbot aruco package

README.md

@@ -49,10 +49,11 @@ Hardware components are written for the Waveshare Motor Driver HAT and MPU6050 s
 
 
 ## 🗃️ Package Overview
+- [`lidarbot_aruco`](./lidarbot_aruco/) : Contains configuration, launch and node files to use ArUco markers with lidarbot.
 - [`lidarbot_base`](./lidarbot_base/) : Contains the ROS2 control hardware component for the lidarbot with low-level code for the Waveshare Motor Driver HAT.
 - [`lidarbot_bringup`](./lidarbot_bringup/) : Contains hardware component for the MPU6050 module, launch files to bring up the camera, lidar and the real lidarbot.
 - [`lidarbot_description`](./lidarbot_description/) : Contains the URDF description files for lidarbot, sensors and `ros2 control`.
-- [`lidarbot_gazebo`](./lidarbot_gazebo/) : Contains configuration, launch and world files needed to simulate lidarbot in Gazebo.
+- [`lidarbot_gazebo`](./lidarbot_gazebo/) : Contains configuration, launch and world files needed to simulate lidarbot in Gazebo Classic.
 - [`lidarbot_navigation`](./lidarbot_navigation/) : Contains launch, configuration and map files used for lidarbot navigation.
 - [`lidarbot_slam`](./lidarbot_slam/) : Contains configuration files for the slam toolbox and RViz, launch file to generate maps using SLAM.
 - [`lidarbot_teleop`](./lidarbot_teleop/) : Contains configuration and launch files used to enable joystick control of the lidarbot in simulation and physically.

lidarbot/package.xml

@@ -4,7 +4,7 @@
   <name>lidarbot</name>
   <version>0.0.0</version>
   <description>Lidarbot meta package</description>
-  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

lidarbot_aruco/package.xml

@@ -0,0 +1,18 @@
+<?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">
+  <name>lidarbot_aruco</name>
+  <version>0.0.0</version>
+  <description>Lidarbot aruco package</description>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <license>BSD 3-Clause</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

lidarbot_aruco/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/lidarbot_aruco
+[install]
+install_scripts=$base/lib/lidarbot_aruco

lidarbot_aruco/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'lidarbot_aruco'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='noobinventor',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

lidarbot_aruco/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

lidarbot_aruco/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

lidarbot_aruco/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

lidarbot_base/package.xml

@@ -4,7 +4,7 @@
   <name>lidarbot_base</name>
   <version>0.0.0</version>
   <description>Lidarbot base motor driver package</description>
-  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

lidarbot_bringup/package.xml

@@ -4,7 +4,7 @@
   <name>lidarbot_bringup</name>
   <version>0.0.0</version>
   <description>Lidarbot bringup package</description>
-  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
   <license>CC-BY-SA-4.0 license </license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

lidarbot_description/package.xml

@@ -4,7 +4,7 @@
   <name>lidarbot_description</name>
   <version>0.0.0</version>
   <description>Lidarbot Description Package</description>
-  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

lidarbot_gazebo/package.xml

@@ -4,7 +4,7 @@
   <name>lidarbot_gazebo</name>
   <version>0.0.0</version>
   <description>Lidarbot gazebo package</description>
-  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

lidarbot_navigation/scripts/trajectory_visualizer.py

@@ -21,10 +21,13 @@ def __init__(self, name):
         # Declare parameters
         self.max_poses_param = self.declare_parameter("max_poses", 1000).value
         self.threshold_param = self.declare_parameter("threshold", 0.001).value
-        self.frame_id_param = self.declare_parameter("frame_id", "map").value
+        # self.frame_id_param = self.declare_parameter("frame_id", "map").value
+        self.frame_id_param = self.declare_parameter("frame_id", "odom").value
 
         self.trajectory_path_msg = Path()
         self.previous_pose_position = Point()
+        # self.previous_pose_position.x = 0.0
+        # self.previous_pose_position.y = 0.0
 
         # Setup trajectory path publisher
         self.trajectory_path_pub = self.create_publisher(Path, "/trajectory_path", 10)
@@ -53,7 +56,15 @@ def publish_trajectory_path(self, position):
 
             # Add current pose to path
             self.trajectory_path_msg.header.stamp = self.get_clock().now().to_msg()
-            self.trajectory_path_msg.header.frame_id = self.frame_id_param
+            # self.trajectory_path_msg.header.stamp.sec = (
+            #     self.get_clock().now().to_msg().sec()
+            # )
+            #
+            # self.trajectory_path_msg.header.stamp.nanosec = (
+            #     self.get_clock().now().to_msg().nanosec()
+            # )
+
+            self.trajectory_path_msg.header.frame_id = "map"  # self.frame_id_param
             pose_stamped_msg = PoseStamped()
             pose_stamped_msg.header.stamp = self.get_clock().now().to_msg()
             pose_stamped_msg.pose.position.x = position.x

lidarbot_slam/package.xml

@@ -4,7 +4,7 @@
   <name>lidarbot_slam</name>
   <version>0.0.0</version>
   <description>Lidarbot SLAM package</description>
-  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

lidarbot_teleop/package.xml

@@ -4,7 +4,7 @@
   <name>lidarbot_teleop</name>
   <version>0.0.0</version>
   <description>Lidarbot teleop package</description>
-  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
+  <maintainer email="[email protected]">Chinedu Amadi</maintainer>
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>