Add SLATE Base ROS 2 Drivers (#35)

* [ros_slate] Add the Interbotix Slate ROS 2 driver

* Reconfigure base services

* Don't install launch directory

* Remove unneeded install directive

* Lint

* Add logging to service callbacks

* Return service success

* Swap base_node and base files

* Add COLCON_IGNORE to ros_xseries

* Update SLATE driver function docstrings

* Update some language in SLATE base node

* Add SLATE base humble workflow

* Modify ROS 2 workflows to remove new COLCON_IGNORE

* Fix workflow syntax

* Remove broken dependency

* Fix xs-humble CI steps

* Revert change to galactic workflow

.github/workflows/slate-humble.yaml

@@ -0,0 +1,31 @@
+name: build-slate-humble
+
+on:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  slate-humble:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: humble, ROS_REPO: main}
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/interbotix_ros_core
+      - name: Prepare Workspace
+        run: |
+          rm src/interbotix_ros_core/interbotix_ros_slate/COLCON_IGNORE
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

.github/workflows/xs-humble.yaml

@@ -24,6 +24,9 @@ jobs:
       - uses: actions/checkout@v3
         with:
           submodules: recursive
-          path: src
+          path: src/interbotix_ros_core
+      - name: Prepare Workspace
+        run: |
+          rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

.github/workflows/xs-rolling.yaml

@@ -24,6 +24,9 @@ jobs:
       - uses: actions/checkout@v3
         with:
           submodules: recursive
-          path: src
+          path: src/interbotix_ros_core
+      - name: Prepare Workspace
+        run: |
+          rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

interbotix_ros_slate/interbotix_ros_slate/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(interbotix_ros_slate)
+find_package(ament_cmake REQUIRED)
+unset(CATKIN_INSTALL_INTO_PREFIX_ROOT)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

interbotix_ros_slate/interbotix_ros_slate/README.md

@@ -0,0 +1 @@
+# interbotix_ros_slate

interbotix_ros_slate/interbotix_ros_slate/package.xml

@@ -0,0 +1,21 @@
+<?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>interbotix_ros_slate</name>
+  <version>0.0.0</version>
+  <description>The interbotix_ros_slate metapackage</description>
+  <maintainer email="trsupport@trossenrobotics.com">Trossen Robotics</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>interbotix_slate_driver</depend>
+  <depend>interbotix_slate_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

interbotix_ros_slate/interbotix_slate_driver/CMakeLists.txt

@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 3.10.0)
+project(interbotix_slate_driver)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(CMAKE_BUILD_TYPE "Release")
+
+set(serial_driver "chassis_driver")
+
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(interbotix_slate_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+
+include_directories(include)
+
+set(ROS_DEPENDENCIES
+  geometry_msgs
+  interbotix_slate_msgs
+  nav_msgs
+  rclcpp
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf2_geometry_msgs
+  tf2_ros
+)
+
+link_directories(${CMAKE_CURRENT_SOURCE_DIR}/lib)
+
+add_library(slate_base
+  src/slate_base.cpp
+  src/base_driver.cpp
+)
+
+ament_target_dependencies(slate_base ${ROS_DEPENDENCIES})
+
+target_link_libraries(slate_base
+  ${serial_driver}
+)
+
+add_executable(slate_base_node
+  src/slate_base_node.cpp
+)
+
+target_link_libraries(slate_base_node
+  slate_base
+)
+
+install(
+  TARGETS slate_base
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  TARGETS
+    slate_base_node
+  RUNTIME DESTINATION
+    lib/${PROJECT_NAME}
+)
+
+install(
+  FILES
+    lib/lib${serial_driver}.so
+  DESTINATION
+    lib
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

interbotix_ros_slate/interbotix_slate_driver/README.md

@@ -0,0 +1 @@
+# interbotix_slate_driver

interbotix_ros_slate/interbotix_slate_driver/include/interbotix_slate_driver/base_driver.hpp

@@ -0,0 +1,72 @@
+// Copyright 2024 Trossen Robotics
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef INTERBOTIX_SLATE_DRIVER__BASE_DRIVER_HPP_
+#define INTERBOTIX_SLATE_DRIVER__BASE_DRIVER_HPP_
+
+#include <string>
+
+#include "interbotix_slate_driver/od_index.hpp"
+
+namespace base_driver
+{
+
+bool chassisInit(std::string & dev);
+bool chassisControl(float aim_x_vel, float aim_z_omega);
+bool getChassisInfo(float & x_vel, float & z_omega);
+bool getChassisOdom(float & odom_x, float & odom_y, float & odom_theta);
+
+bool getBatteryInfo(float & vol, float & cur, int & percent);
+bool getChassisState(SystemState & state);
+bool getChassisCollision(int & collision);
+bool getVersion(char * text);
+bool getJoyState(int & state);
+
+// Limited to 100 characters
+bool setText(const char * text);
+
+// 0 / 1
+bool setCharge(int charge);
+
+// 0 / 1
+bool setAlarm(int alarm);
+
+bool motorCtrl(int v);
+
+bool setIo(int io);
+
+bool getIo(int & io_state);
+
+// 0 ~ 100
+bool setLight(int light);
+
+bool setStateLight(int light);
+
+}  // namespace base_driver
+
+#endif  // INTERBOTIX_SLATE_DRIVER__BASE_DRIVER_HPP_

interbotix_ros_slate/interbotix_slate_driver/include/interbotix_slate_driver/od_index.hpp

@@ -0,0 +1,86 @@
+// Copyright 2024 Trossen Robotics
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef INTERBOTIX_SLATE_DRIVER__OD_INDEX_HPP_
+#define INTERBOTIX_SLATE_DRIVER__OD_INDEX_HPP_
+
+#define PORT "chassis"
+
+typedef enum
+{
+  SYS_INIT = 0x00,
+  SYS_NORMAL,
+  SYS_REMOTE,
+  SYS_ESTOP,
+  SYS_CALIB,
+  SYS_TEST,
+  SYS_CHARGING,
+
+  SYS_ERR = 0x10,
+  SYS_ERR_ID,
+  SYS_ERR_COM,
+  SYS_ERR_ENC,
+  SYS_ERR_COLLISION,
+  SYS_ERR_LOW_VOLTAGE,
+  SYS_ERR_OVER_VOLTAGE,
+  SYS_ERR_OVER_CURRENT,
+  SYS_ERR_OVER_TEMP,
+
+  SYS_STATE_LEN,
+} SystemState;
+
+typedef enum
+{
+  INDEX_SYS_STATE = 0,
+  INDEX_SYS_POWER_PERCENTAGE = 1,
+
+  INDEX_CHASSIS_VEL = 2,
+  INDEX_CHASSIS_POS_OR_OMEGA = 3,
+  INDEX_CHASSIS_ODOM_X = 4,
+  INDEX_CHASSIS_ODOM_Y = 5,
+  INDEX_CHASSIS_ODOM_THETA = 6,
+
+  INDEX_SYS_VOLTAGE = 7,
+  INDEX_SYS_CURRENT = 8,
+
+  INDEX_AIM_CHASSIS_VEL = 9,
+  INDEX_AIM_CHASSIS_POS_OR_OMEGA = 10,
+
+  INDEX_SYS_CHARGE = 11,
+  INDEX_SYS_ALARM = 12,
+  INDEX_SYS_TEXT = 13,
+  INDEX_SYS_LIGHT = 14,
+  INDEX_SYS_COLLISION = 15,
+  INDEX_SYS_VERSION = 16,
+  INDEX_STATE_LIGHT = 17,
+  INDEX_STATE_JOY = 18,
+  INDEX_STATE_IO = 21,
+  INDEX_SYS_CMD = 22,
+} OdIndex;
+
+#endif  // INTERBOTIX_SLATE_DRIVER__OD_INDEX_HPP_