Merge pull request #119 from bluesat/RSC-2-science-module-sa

RSC-2 science module draft

rover/src/owr_messages/CMakeLists.txt

@@ -63,6 +63,7 @@ add_message_files(
   board.msg
   adc.msg
   stop.msg
+  science.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -99,7 +100,7 @@ add_message_files(
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES owr_messages
-#  CATKIN_DEPENDS message_runtime roscpp rospy sensor_msgs std_msgs
+ CATKIN_DEPENDS message_runtime roscpp rospy sensor_msgs std_msgs
 #  DEPENDS system_lib
 )
 
@@ -178,3 +179,4 @@ include_directories(
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+

rover/src/owr_messages/msg/science.msg

@@ -0,0 +1,9 @@
+uint32 temperature
+uint32 humidity
+float32 mag_x
+float32 mag_y
+float32 mag_z
+uint16 colour_temperature
+uint16 illuminance
+float32 weight
+uint16 moisture

rover/src/owr_messages/package.xml

@@ -45,13 +45,14 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
-  <run_depend>message_runtime</run_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>message_runtime</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
-
+  <run_depend>message_runtime</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

rover/src/owr_numbat_tf/CMakeLists.txt

@@ -1,14 +1,14 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-project(owr_numbat_tf)
-
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-find_package(roslaunch)
-
-foreach(dir config launch meshes urdf)
-	install(DIRECTORY ${dir}/
-		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+cmake_minimum_required(VERSION 2.8.3)
+
+project(owr_numbat_tf)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

rover/src/owr_numbat_tf/config/joint_names_Assembly.SLDASM.yaml

@@ -1 +1 @@
-controller_joint_names: ['front_left_swerve', 'front_left_rotate', 'back_left_swerve', 'back_left_Rotate', 'back_right_swerve', 'back_RIght_wheel_axel', 'front_right_swerve', 'front_right_Rotate', ]
+controller_joint_names: ['front_left_swerve', 'front_left_rotate', 'back_left_swerve', 'back_left_Rotate', 'back_right_swerve', 'back_RIght_wheel_axel', 'front_right_swerve', 'front_right_Rotate', ]

rover/src/owr_numbat_tf/launch/display.launch

@@ -1,26 +1,26 @@
-<launch>
-  <arg
-    name="model" />
-  <arg
-    name="gui"
-    default="False" />
-  <param
-    name="robot_description"
-    textfile="$(find owr_numbat_tf)/robots/owr_numbat_tf.urdf" />
-  <param
-    name="use_gui"
-    value="$(arg gui)" />
-  <node
-    name="joint_state_publisher"
-    pkg="joint_state_publisher"
-    type="joint_state_publisher" />
-  <node
-    name="robot_state_publisher"
-    pkg="robot_state_publisher"
-    type="state_publisher" />
-  <node
-    name="rviz"
-    pkg="rviz"
-    type="rviz"
-    args="-d $(find owr_numbat_tf)/urdf.rviz" />
+<launch>
+  <arg
+    name="model" />
+  <arg
+    name="gui"
+    default="False" />
+  <param
+    name="robot_description"
+    textfile="$(find owr_numbat_tf)/robots/owr_numbat_tf.urdf" />
+  <param
+    name="use_gui"
+    value="$(arg gui)" />
+  <node
+    name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find owr_numbat_tf)/urdf.rviz" />
 </launch>

rover/src/owr_numbat_tf/launch/gazebo.launch

@@ -1,29 +1,29 @@
-<launch>
-  <rosparam file="$(find owr_bluetounge2_tf)/config/bluetounge_control.yaml" command="load"/>
-  <include
-    file="$(find gazebo_ros)/launch/empty_world.launch" />
-  <node
-    name="tf_footprint_base"
-    pkg="tf"
-    type="static_transform_publisher"
-    args="0 0 0 0 0 0 base_link base_footprint 40" />
-  <node
-    name="spawn_model"
-    pkg="gazebo_ros"
-    type="spawn_model"
-    args="-file $(find owr_numbat_tf)/robots/owr_numbat_tf.urdf -urdf -model owr_numbat_tf"
-    output="screen" />
-  <node
-    name="fake_joint_calibration"
-    pkg="rostopic"
-    type="rostopic"
-    args="pub /calibrated std_msgs/Bool true" />
-  <!-- load the controllers -->
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" ns="/" 
-    args="joint_state_controller laser_tilt_joint_controller front_left_wheel_axel_controller back_left_wheel_axel_controller front_right_wheel_axel_controller  back_right_wheel_axel_controller front_left_swerve_controller back_left_swerve_controller front_right_swerve_controller  back_right_swerve_controller "/>
-
-  <!-- convert joint states to TF transforms for rviz, etc -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
-    respawn="false" output="screen"/>
+<launch>
+  <rosparam file="$(find owr_bluetounge2_tf)/config/bluetounge_control.yaml" command="load"/>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find owr_numbat_tf)/robots/owr_numbat_tf.urdf -urdf -model owr_numbat_tf"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+  <!-- load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" ns="/" 
+    args="joint_state_controller laser_tilt_joint_controller front_left_wheel_axel_controller back_left_wheel_axel_controller front_right_wheel_axel_controller  back_right_wheel_axel_controller front_left_swerve_controller back_left_swerve_controller front_right_swerve_controller  back_right_swerve_controller "/>
+
+  <!-- convert joint states to TF transforms for rviz, etc -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
+    respawn="false" output="screen"/>
 </launch>

rover/src/owr_numbat_tf/package.xml

@@ -1,21 +1,21 @@
-<package>
-  <name>owr_numbat_tf</name>
-  <version>1.0.0</version>
-  <description>
-    <p>URDF Description package for owr_numbat_tf</p>
-    <p>This package contains configuration data, 3D models and launch files
-for owr_numbat_tf robot</p>
-  </description>
-  <author>me</author>
-  <maintainer email="[email protected]" />
-  <license>MIT</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roslaunch</build_depend>
-  <run_depend>robot_state_publisher</run_depend>
-  <run_depend>rviz</run_depend>
-  <run_depend>joint_state_publisher</run_depend>
-  <run_depend>gazebo</run_depend>
-  <export>
-    <architecture_independent />
-  </export>
+<package>
+  <name>owr_numbat_tf</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for owr_numbat_tf</p>
+    <p>This package contains configuration data, 3D models and launch files
+for owr_numbat_tf robot</p>
+  </description>
+  <author>me</author>
+  <maintainer email="[email protected]" />
+  <license>MIT</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>gazebo</run_depend>
+  <export>
+    <architecture_independent />
+  </export>
 </package>