Merge pull request #12 from ArendJan/revert-7-mirte-master-dev-no-root

Revert "Mirte master namespace-able"

README.md

@@ -1,26 +1,26 @@
 # API
 
-The motors are controlled with PWM as as service. By default the topic published by the ROS diff_drive_controller (`mobile_base_controller/cmd_vel`) will call that service. One has to disable the ROS diff_drive_controller () to manually set the PWM signal by using the service (eg from commandline).
+The motors are controlled with PWM as as service. By default the topic published by the ROS diff_drive_controller (/mobile_base_controller/cmd_vel) will call that service. One has to disable the ROS diff_drive_controller () to manually set the PWM signal by using the service (eg from commandline).
 Currently, the default parameters are set to use the Mirte Arduino-nano PCB.
 
 ## Subscribed Topics
-`mobile_base_controller/cmd_vel` (geometry_msgs/Twist)
+/mobile_base_controller/cmd_vel (geometry_msgs/Twist)
 
 ## Published Topics
 Topics published to depend on the parameters given.
 
-`mirte/<name>_distance` (sensor_msgs/Range)
-`mirte/<name>_encoder` (mirte_msgs/Encoder)
-`mirte/<name>_intensity` (mirte_msgs/Intensity)
+/mirte/<name>_distance (sensor_msgs/Range)
+/mirte/<name>_encoder (mirte_msgs/Encoder)
+/mirte/<name>_intensity (mirte_msgs/Intensity)
 
 ## Services
-`mirte_navigation/move`
-`mirte_navigation/turn`
-`mirte_pymata/set_<name>_motor_pwm`
-`mirte/get_pin_value`
-`mirte/set_pin_mode`
-`mirte/set_pin_value`
-`mirte_service_api/get_<topic_name>`
+/mirte_navigation/move
+/mirte_navigation/turn
+/mirte_pymata/set_<name>_motor_pwm
+/mirte/get_pin_value
+/mirte/set_pin_mode
+/mirte/set_pin_value
+/mirte_service_api/get_<topic_name>
 
 
 ## Parameters
@@ -33,26 +33,26 @@ device/mirte/dev (string, default: "/dev/ttyUSB0")
     The linux device name of the board.
 
 #### Distance sensor
-`distance/<name>_distance/dev` (string, default: "mirte")
-`distance/<name>_distance/frequency` (int, default: 10)
+distance/<name>_distance/dev (string, default: "mirte")
+distance/<name>_distance/frequency (int, default: 10)
     The frequency to publish new sensor data
-`distance/<name>_distance/pin` (array)
+distance/<name>_distance/pin (array)
     The (arduino/stm32) pins it is connected to [trigger-pin, echo-pin] (eg [8. 13])
 
 #### Encoder sensor
 Note: the encoder sensor does not have a frequency since it uses the interrupt pins
-`encoder/<name>_encoder/device` (string, default: "mirte")
-`encoder/<name>_encoder/pin` (int)
-`encoder/<name>_encoder/ticks_per_wheel` (int, default: 20)
+encoder/<name>_encoder/device (string, default: "mirte")
+encoder/<name>_encoder/pin (int)
+encoder/<name>_encoder/ticks_per_wheel (int, default: 20)
 
 #### Intensity sensor
-`intensity/<name>_intensity/device` (string, default: "mirte")
-`intensity/<name>_intensity/frequency` (int, default: 10)
-`intensity/<name>_intensity/pin` (int)
+intensity/<name>_intensity/device (string, default: "mirte")
+intensity/<name>_intensity/frequency (int, default: 10)
+intensity/<name>_intensity/pin (int)
 
 #### Motor settings
-`motor/<name>_motor/device` (string, default: "mirte")
-`motor/<name>_motor/pin` (array)
+motor/<name>_motor/device (string, default: "mirte")
+motor/<name>_motor/pin (array)
      The (arduino/stm32) pins the motor (h-bridge) is connected to. When using 2 pins per motor it will assume MX1919 (both PWM signals). When using 3 pins it will assume L298N (1 PWM, 2 non-PWM)
 
 
@@ -72,4 +72,4 @@ clang-format --Werror ./**/**.cpp -style=llvm -i
 ```
 
 # Required packages Telemetrix
-Requires https://github.com/mirte-robot/tmx-pico-aio.git to be installed ( ```pip install git+https://github.com/mirte-robot/tmx-pico-aio.git``` ) for the Pico and https://github.com/mirte-robot/telemetrix-aio.git for the STM32 and Arduino Nano (```pip install git+https://github.com/mirte-robot/telemetrix-aio.git```).
+Requires https://github.com/mirte-robot/tmx-pico-aio.git to be installed ( ```pip install git+https://github.com/mirte-robot/tmx-pico-aio.git``` ) for the Pico and https://github.com/mirte-robot/telemetrix-aio.git for the STM32 and Arduino Nano (```pip install git+https://github.com/mirte-robot/telemetrix-aio.git```).

mirte_control/mirte_base_control/include/my_robot_hw_interface.h

@@ -37,8 +37,8 @@
 #include <mutex>
 #include <thread>
 // const unsigned int NUM_JOINTS = 4;
-const auto service_format = "mirte/set_%s_speed";
-const auto encoder_format = "mirte/encoder/%s";
+const auto service_format = "/mirte/set_%s_speed";
+const auto encoder_format = "/mirte/encoder/%s";
 const auto max_speed = 100; // Quick fix hopefully for power dip.
 
 bool equal_gains(control_toolbox::Pid::Gains lhs,
@@ -239,7 +239,7 @@ void MyRobotHWInterface::init_service_clients() {
 
 unsigned int detect_joints(ros::NodeHandle &nh) {
   std::string type;
-  nh.param<std::string>("mobile_base_controller/type", type, "");
+  nh.param<std::string>("/mobile_base_controller/type", type, "");
   if (type.rfind("mecanum", 0) == 0) { // starts with mecanum
     return 4;
   } else if (type.rfind("diff", 0) == 0) { // starts with diff
@@ -256,13 +256,13 @@ MyRobotHWInterface::MyRobotHWInterface()
           "start", &MyRobotHWInterface::start_callback, this)),
       stop_srv_(nh.advertiseService("stop", &MyRobotHWInterface::stop_callback,
                                     this)) {
-  nh.param<double>("mobile_base_controller/wheel_radius", _wheel_diameter,
-                   0.06);
+  private_nh.param<double>("/mobile_base_controller/wheel_radius",
+                           _wheel_diameter, 0.06);
   _wheel_diameter *= 2; // convert from radius to diameter
-  nh.param<double>("mobile_base_controller/max_speed", _max_speed,
-                   2.0); // TODO: unused
-  nh.param<double>("mobile_base_controller/ticks", ticks, 40.0);
-  this->NUM_JOINTS = detect_joints(nh);
+  private_nh.param<double>("/mobile_base_controller/max_speed", _max_speed,
+                           2.0); // TODO: unused
+  private_nh.param<double>("/mobile_base_controller/ticks", ticks, 40.0);
+  this->NUM_JOINTS = detect_joints(private_nh);
   if (this->NUM_JOINTS > 2) {
     this->bidirectional = true;
   }
@@ -314,11 +314,13 @@ MyRobotHWInterface::MyRobotHWInterface()
   registerInterface(&jnt_state_interface);
   registerInterface(&jnt_vel_interface);
 
-  nh.param<bool>("mobile_base_controller/enable_pid", enablePID, false);
+  private_nh.param<bool>("/mobile_base_controller/enable_pid", enablePID,
+                         false);
+  enablePID = true;
   if (enablePID) {
     // dummy pid for dynamic reconfigure.
     this->reconfig_pid = std::make_shared<control_toolbox::Pid>(1, 0, 0);
-    this->reconfig_pid->initParam("mobile_base_controller/", false);
+    this->reconfig_pid->initParam("/mobile_base_controller/", false);
     auto gains = this->reconfig_pid->getGains();
     for (auto i = 0; i < NUM_JOINTS; i++) {
       auto pid = std::make_shared<control_toolbox::Pid>(1, 1, 1);

mirte_control/ros_control_boilerplate/rrbot_control/src/rrbot_hw_interface.cpp

@@ -90,13 +90,13 @@ RRBotHWInterface::RRBotHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model)
     : ros_control_boilerplate::GenericHWInterface(nh, urdf_model) {
   this->connectServices();
 
-  sub0 = nh.subscribe("mirte/servos/servoRot/position", 1,
+  sub0 = nh.subscribe("/mirte/servos/servoRot/position", 1,
                       rrbot_control::callbackJoint0);
-  sub1 = nh.subscribe("mirte/servos/servoShoulder/position", 1,
+  sub1 = nh.subscribe("/mirte/servos/servoShoulder/position", 1,
                       rrbot_control::callbackJoint1);
-  sub2 = nh.subscribe("mirte/servos/servoElbow/position", 1,
+  sub2 = nh.subscribe("/mirte/servos/servoElbow/position", 1,
                       rrbot_control::callbackJoint2);
-  sub3 = nh.subscribe("mirte/servos/servoWrist/position", 1,
+  sub3 = nh.subscribe("/mirte/servos/servoWrist/position", 1,
                       rrbot_control::callbackJoint3);
 
   ROS_INFO_NAMED("rrbot_hw_interface", "RRBotHWInterface Ready.");
@@ -105,20 +105,20 @@ RRBotHWInterface::RRBotHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model)
 void RRBotHWInterface::connectServices() {
   ROS_INFO_NAMED("rrbot_hw_interface", "Connecting to the services...");
 
-  ros::service::waitForService("mirte/set_servoRot_servo_angle", -1);
-  ros::service::waitForService("mirte/set_servoShoulder_servo_angle", -1);
-  ros::service::waitForService("mirte/set_servoElbow_servo_angle", -1);
-  ros::service::waitForService("mirte/set_servoWrist_servo_angle", -1);
+  ros::service::waitForService("/mirte/set_servoRot_servo_angle", -1);
+  ros::service::waitForService("/mirte/set_servoShoulder_servo_angle", -1);
+  ros::service::waitForService("/mirte/set_servoElbow_servo_angle", -1);
+  ros::service::waitForService("/mirte/set_servoWrist_servo_angle", -1);
   { // Only mutex when actually writing to class vars.
     const std::lock_guard<std::mutex> lock(this->service_clients_mutex);
     client0 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-        "mirte/set_servoRot_servo_angle", true);
+        "/mirte/set_servoRot_servo_angle", true);
     client1 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-        "mirte/set_servoShoulder_servo_angle", true);
+        "/mirte/set_servoShoulder_servo_angle", true);
     client2 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-        "mirte/set_servoElbow_servo_angle", true);
+        "/mirte/set_servoElbow_servo_angle", true);
     client3 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-        "mirte/set_servoWrist_servo_angle", true);
+        "/mirte/set_servoWrist_servo_angle", true);
   }
   ROS_INFO_NAMED("rrbot_hw_interface", "Connected to the services");
 }