First Commit

scanse · Sep 29, 2016 · 1b45436 · 1b45436
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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+cmake_minimum_required(VERSION 2.8.3)
+project(sweep_ros)
+
+set(SWEEP_SDK_PATH "sweep-sdk-cpp")
+set(CPP_SERIAL_PATH "sweep-sdk-cpp/src/serial")
+
+FILE(GLOB SWEEP_SDK_SRC
+        "${SWEEP_SDK_PATH}/src/*.cc"
+        "${CPP_SERIAL_PATH}/*.cc"
+        "${CPP_SERIAL_PATH}/arch/*.cc"
+        )
+
+find_package(catkin REQUIRED COMPONENTS
+        rosconsole
+        roscpp
+        sensor_msgs
+        pcl_msgs
+        )
+
+find_package(PCL REQUIRED)
+
+include_directories(
+        ${SWEEP_SDK_PATH}/inc
+        ${SWEEP_SDK_PATH}/inc/serial
+        ${SWEEP_SDK_PATH}/src
+        ${PCL_INCLUDE_DIRS}
+)
+
+## Add link directories
+link_directories(
+        ${PCL_LIBRARY_DIRS}
+)
+
+catkin_package()
+
+add_executable(sweep_node src/node.cpp ${SWEEP_SDK_SRC})
+
+target_link_libraries(sweep_node ${catkin_LIBRARIES})
+
+
+install(TARGETS sweep_node
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        )
+
+install(DIRECTORY sweep-sdk-cpp
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        USE_SOURCE_PERMISSIONS
+        )
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016, Scanse LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/README.md b/README.md
@@ -0,0 +1,7 @@
+# sweep-ros
+
+[![Join the chat at https://gitter.im/scannable/sweep-ros](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/scanse/sweep-ros?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
+
+Scanse Sweep ROS Driver and Node
+
+This node is currently publishing a pointcloud2 msg. Use sweep2scan.launch for conversion to laserscan msg.
diff --git a/launch/sweep.launch b/launch/sweep.launch
@@ -0,0 +1,8 @@
+<launch>
+  <node name="sweep_node"	pkg="sweep_ros"  type="sweep_node" output="screen">
+  	<param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
+  	<param name="serial_baudrate"     type="int"    value="115200"/>
+  	<param name="frame_id"            type="string" value="laser_frame"/>
+  	<param name="rotation_speed"	  type="int" value="5"/>
+  </node>
+</launch>
diff --git a/launch/sweep2scan.launch b/launch/sweep2scan.launch
@@ -0,0 +1,38 @@
+<launch>
+
+    <!-- run sweep_node node -->
+    <node name="sweep_node"          pkg="sweep_ros"  type="sweep_node" output="screen">
+            <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
+            <param name="serial_baudrate"     type="int"    value="115200"/>
+            <param name="frame_id"            type="string" value="laser_frame"/>
+    </node>
+
+    <!-- run pointcloud_to_laserscan node -->
+    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
+
+        <remap from="cloud_in" to="pc2"/>
+        <rosparam>
+            target_frame: laser_frame # Leave disabled to output scan in pointcloud frame
+            transform_tolerance: 0.001
+            min_height: -1.0
+            max_height: 1.0
+
+            angle_min: -3.14 # -M_PI/2
+            angle_max: 3.14 # M_PI/2
+            angle_increment: 0.001 # M_PI/360.0
+            scan_time: 0.1
+            range_min: 0.0
+            range_max: 40.0
+            use_inf: true
+
+            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
+            # 0 : Detect number of cores
+            # 1 : Single threaded
+            # 2->inf : Parallelism level
+            concurrency_level: 1
+        </rosparam>
+
+    </node>
+
+</launch>
+
diff --git a/launch/view_sweep_laser_scan.launch b/launch/view_sweep_laser_scan.launch
@@ -0,0 +1,5 @@
+<launch>
+  <include file="$(find sweep_ros)/launch/sweep2scan.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find sweep_ros)/rviz/sweep_laser_scan.rviz" />
+</launch>
diff --git a/launch/view_sweep_pc2.launch b/launch/view_sweep_pc2.launch
@@ -0,0 +1,5 @@
+<launch>
+  <include file="$(find sweep_ros)/launch/sweep.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find sweep_ros)/rviz/sweep_pc2.rviz" />
+</launch>
diff --git a/package.xml b/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<package>
+    <name>sweep_ros</name>
+    <version>0.1.0</version>
+    <description>The sweep_ros package</description>
+
+    <maintainer email="support@scanse.io">Kent Williams</maintainer>
+
+    <license>MIT</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <build_depend>rosconsole</build_depend>
+    <build_depend>roscpp</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>pcl_conversions</build_depend>
+    <run_depend>pcl_conversions</run_depend>
+    <run_depend>rosconsole</run_depend>
+    <run_depend>roscpp</run_depend>
+    <run_depend>sensor_msgs</run_depend>
+    <run_depend>pointcloud_to_laserscan</run_depend>
+
+    <!-- The export tag contains other, unspecified, tags -->
+    <export>
+        <!-- Other tools can request additional information be placed here -->
+
+    </export>
+</package>
diff --git a/rviz/sweep_laser_scan.rviz b/rviz/sweep_laser_scan.rviz
@@ -0,0 +1,140 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1
+        - /LaserScan1
+      Splitter Ratio: 0.5
+    Tree Height: 895
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: laser_frame
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 14.0493
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.5404
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.435398
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1176
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c0000040efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000040e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000040efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000040e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005290000040e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 3840
+  Y: 24