jones2126

/*

steer_motor_v1.cpp

Subscribes to cmd_vel 
Sends commands to motor controller connected to Teensy using commands digitalWrite(DIRPin, HIGH); 

*/
#include "ros.h"
#include "std_msgs/UInt16.h"

jones2126

0.0 0.0 0.0
1.0 0.0 0.0
2.0 0.0 0.0
3.0 0.0 0.0
4.0 0.0 0.0
5.0 0.0 0.0
6.0 0.0 0.0
7.0 0.0 0.0
8.0 0.0 0.0
9.0 0.0 0.0

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

jones2126

<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" />

jones2126

<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

jones2126

<?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}' />

jones2126

<!-- 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