Spectro

.github/workflows/main.yml

@@ -33,9 +33,20 @@ jobs:
           rosdep install --from-paths . --ignore-src -r -y
         shell: bash
 
+      - name: Create raman_msgs symlink
+      run: |
+          ln -s $GITHUB_WORKSPACE/src/msgs/raman_msgs $GITHUB_WORKSPACE/../raman_msgs
+        shell: bash
+
+      - name: Build raman_msgs first
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select raman_msgs
+        shell: bash
+
       - name: Build workspace
         run: |
           source /opt/ros/humble/setup.bash
           colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
-            --packages-skip zed_components zed_debug zed_ros2 zed_wrapper obstacle_detection athena_sensors nav_bringup
+            --packages-skip zed_components zed_debug zed_ros2 zed_wrapper obstacle_detection athena_sensors nav_bringup raman_msgs
         shell: bash

src/description/ros2_control/science/science.ccd.ros2_control.xacro

@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="ccd_ros2_control" params="name can_interface:=can0">
+
+        <ros2_control name="${name}" type="system">
+
+            <hardware>
+                <plugin>ccd_ros2_control/CCDHardwareInterface</plugin>
+                <param name="can_interface">${can_interface}</param>
+                <param name="can_id">0x100</param>
+                <param name="update_rate">10</param> <!-- Hz -->
+                <param name="logger_rate">5</param>  <!-- Hz -->
+                <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
+            </hardware>
+
+            <gpio name="${name}">
+                <command_interface name="capture_binary"/>
+                <command_interface name="capture_byte"/>
+                <command_interface name="status_request"/>
+                <command_interface name="maintenance_request"/>
+                <command_interface name="maintenance_frame_high"/>
+                <command_interface name="maintenance_frame_low"/>
+                <command_interface name="maintenance_data_count"/>
+
+
+                <state_interface name="is_connected"/>
+                <state_interface name="command_success"/>
+                <state_interface name="acquisition_in_progress"/>
+                <state_interface name="data_ready"/>
+                <state_interface name="frames_received"/>
+                <state_interface name="last_frame_id"/>
+                <state_interface name="status"/>
+
+            </gpio>
+
+        </ros2_control>
+
+    </xacro:macro>
+
+</robot>
+

src/description/ros2_control/science/science.dc.ros2_control.xacro

@@ -17,7 +17,6 @@
       <joint name="dc_auger">
         <param name="node_id">0</param>
         <param name="joint_type">revolute</param>
-
         <param name="gear_ratio">50.9</param>
         <param name="inverted">true</param>
         <command_interface name="position"/>

src/description/ros2_control/science/science.laser.ros2_control.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:macro name="laser_ros2_control" params="name can_interface:=can0">
+    <xacro:macro name="laser_ros2_control" params="name can_interface:=can0 port_id:=0">
 
         <ros2_control name="${name}" type="system">
 

src/description/ros2_control/science/science.mock_talon.ros2_control.xacro

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="mock_talon_ros2_control" params="name">
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <plugin>mock_components/GenericSystem</plugin>
+      </hardware>
+      <!-- Mirror whatever joints/interfaces your real talon xacro defines -->
+      <joint name="talon_joint">
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+    </ros2_control>
+  </xacro:macro>
+</robot>

src/description/ros2_control/science/science.sensor_diode.ros2_control.xacro

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="sensor_diode_ros2_control" params="name can_interface:=can0">
+
+        <ros2_control name="${name}" type="system">
+
+            <hardware>
+                <plugin>sensor_diode_ros2_control/SensorDiodeHardwareInterface</plugin>
+                <param name="can_interface">${can_interface}</param>
+                <param name="can_id">0x110</param>
+                <param name="update_rate">10</param> <!-- Hz -->
+                <param name="logger_rate">5</param>  <!-- Hz -->
+                <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
+            </hardware>
+
+            <gpio name="${name}">
+                <command_interface name="request_measurement"/>
+                <command_interface name="status_request"/>
+                <command_interface name="maintenance_request"/>
+                <command_interface name="maintenance_frame_high"/>
+                <command_interface name="maintenance_frame_low"/>
+                <command_interface name="maintenance_data_count"/>
+
+                <state_interface name="wavelength_intensity"/>
+                <state_interface name="command_success"/>
+                <state_interface name="is_connected"/>
+                <state_interface name="status"/>
+            </gpio>
+
+        </ros2_control>
+
+    </xacro:macro>
+
+</robot>
+

src/description/urdf/athena_science.urdf.xacro

@@ -13,6 +13,8 @@
   <xacro:include filename="$(find description)/ros2_control/science/science.dc.ros2_control.xacro"/>
   <xacro:include filename="$(find description)/ros2_control/science/science.talon.ros2_control.xacro"/>
   <xacro:include filename="$(find description)/ros2_control/science/science.laser.ros2_control.xacro"/>
+  <xacro:include filename="$(find description)/ros2_control/science/science.ccd.ros2_control.xacro"/>
+  <xacro:include filename="$(find description)/ros2_control/science/science.sensor_diode.ros2_control.xacro"/>
   <xacro:include filename="$(find description)/ros2_control/science/science.led.ros2_control.xacro"/>
   <xacro:include filename="$(find description)/ros2_control/science/science.limit_switch.ros2_control.xacro"/>
 
@@ -44,6 +46,12 @@
     <!-- Import laser ros2_control description (CAN-based) -->
     <xacro:laser_ros2_control name="spectrometry_laser" can_interface="$(arg can_interface)"/>
 
+    <!-- Import CCD ros2_control description (CAN-based) -->
+    <xacro:ccd_ros2_control name="spectrometry_ccd"/>
+
+    <!-- Import sensor diode ros2_control description (CAN-based) -->
+    <xacro:sensor_diode_ros2_control name="sensor_diode"/>
+
     <!-- Import LED and limit switch ros2_control descriptions -->
     <xacro:science_led_ros2_control name="fluoro_led_hwi" can_interface="$(arg can_interface)"/>
     <xacro:science_limit_switch_ros2_control name="science_limit_switch_hwi" can_interface="$(arg can_interface)"/>

src/hardware_interfaces/ccd_ros2_control/CMakeLists.txt

@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.8)
+project(ccd_ros2_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  umdloop_can_library
+  realtime_tools
+  msgs
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+find_package(raman_msgs REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_auto_find_build_dependencies()
+
+include_directories(include)
+
+add_library(
+  ccd_ros2_control
+  SHARED
+  src/ccd_hardware_interface.cpp
+)
+
+target_compile_features(ccd_ros2_control PUBLIC cxx_std_20)
+target_include_directories(ccd_ros2_control PUBLIC
+$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+$<INSTALL_INTERFACE:include/ccd_ros2_control>
+)
+
+# Link CAN library
+target_link_libraries(ccd_ros2_control PUBLIC umdloop_can_library::umdloop_can_library)
+
+ament_target_dependencies(
+  ccd_ros2_control PUBLIC
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  msgs
+  raman_msgs 
+)
+
+# Export hardware plugins
+pluginlib_export_plugin_description_file(hardware_interface ccd_hardware_interface.xml)
+
+# INSTALL
+install(
+  DIRECTORY include/
+  DESTINATION include/ccd_ros2_control
+)
+
+install(TARGETS ccd_ros2_control
+  EXPORT export_ccd_ros2_control
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_targets(export_ccd_ros2_control)
+ament_export_include_directories(include)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

src/hardware_interfaces/ccd_ros2_control/ccd_hardware_interface.xml

@@ -0,0 +1,9 @@
+<library path="ccd_ros2_control">
+  <class name="ccd_ros2_control/CCDHardwareInterface"
+         type="ccd_ros2_control::CCDHardwareInterface"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      Hardware interface for spectrometry ccd control via ros2_control.
+    </description>
+  </class>
+</library>