jones2126

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jones2126

#! /usr/bin/python
# credit Matt Droter

import rospy
import actionlib

from nav_msgs.msg import Path, Odometry
from geometry_msgs.msg import  PoseStamped, Pose    
from tf.transformations import quaternion_from_euler
from math import pow, atan2, sqrt

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<launch>

  <!-- A simple launch file for the nmea_serial_driver node. -->

  <arg name="port" default="/dev/gps" />
  <arg name="baud" default="115200" />
  <arg name="frame_id" default="gps" />
  <arg name="use_GNSS_time" default="False" />
  <arg name="time_ref_source" default="gps" />
  <arg name="useRMC" default="False" />

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<launch>
	<?ignore  - used to comment out lines
	# taking out the potentiometer because I will first use the joystick connected to the laptop as well as command line cmd_vel statements
	<node ns="potentiometer_teensy" name="potentiometer_output" pkg="rosserial_python" type="serial_node.py" args="/dev/potentiometer_control" output="screen" />

	Intial Steer Settings:
		steer_left_max = 28900;
		steer_right_max = 46300;
		steer_straight = 36500;
		max_steer_eff = 50;

jones2126

#!/usr/bin/env python
# gps_odom.py  credit Matt Droter
import rospy
import tf
import math
from nav_msgs.msg import Odometry
from tf.transformations import euler_from_quaternion, quaternion_from_euler, quaternion_multiply
from geometry_msgs.msg import Transform, Quaternion, QuaternionStamped, Pose, Point
from sensor_msgs.msg import NavSatFix, NavSatStatus, TimeReference

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<?xml version="1.0"?>
<robot name="lawn_tractor" xmlns:xacro='http://www.ros.org/wiki/xacro'>

<!-- TODO:  collision link element to be added -->
<!-- TODO:  inertial link element to be added -->

<!-- define base link, center of rear axle for an ackermann vehicle -->
  <link name="base_link">
    <visual>
      <origin xyz='0.55 0 0' rpy='0 0 ${pi}' />

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<!-- file: robot_in_stage.launch -->
<launch>
<!-- ************** Global Parameters *************** -->
<param name="/use_sim_time" value="false"/>

<!-- ************** Stage Simulator ***************   -->

<!-- ************** Robot Description *************** -->
    <!-- robot_description is used by nodes that publish to joint_states. -->
    <param name="robot_description"

jones2126

#!/usr/bin/env python

# modelled after: https://raw.githubusercontent.com/ablarry91/quadcopter_IR_control/e782f49390d5527ed86678acda727f5d698c0c07/monocular_pose_estimator/src/Tkinter_GUI.py
# inspired by: https://raw.githubusercontent.com/mturktest123/rosGUI/master/ROS_GUI.py
import subprocess
import time
from Tkinter import *
import rospy
from std_msgs.msg import Int16
from sensor_msgs.msg import NavSatFix, NavSatStatus, TimeReference

jones2126

# Software License Agreement (BSD License)
#
# Copyright (c) 2013, Eric Perko
# All rights reserved.
#
# 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

jones2126

/*

This program is designed to run on a Teensy that is connected to a SuperServo to make the Super Servo ROS enabled and control 
the transmission of a lawn tractor.  It is started in a launch file as one of multiple nodes with the command: 
<node ns="transmission_teensy" name="transmission_cntrl" pkg="rosserial_python" type="serial_node.py" args="/dev/transmission_control" output="screen" />

Overview:
    subscribe to a target speed in cmd_vel format (i.e. cmd_vel.linear.x)
    subscribe to actual speed from the rear wheels 
    adjust servo position to match actual speed to target speed