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Merge pull request #67 from quic-penwang/ROS2-IMU-dev
Added IMU ROS2 node sample code
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‎ROS2-IMU/LICENSE‎

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Copyright (c) 2020 Qualcomm Innovation Center, Inc. All Rights Reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted
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provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions
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and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of
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conditions and the following disclaimer in the documentation and/or other materials
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provided with the distribution.
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* Neither the name of the copyright holder nor the names of its contributors may be used to
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endorse or promote products derived from this software without specific prior written
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permission.
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NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
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IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Where there is uncertainty as to how, or
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where, to apply marks, open an OSR to escalate to OSG for review.
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SPDX-License-Identifier: BSD-3-Clause-Clear

‎ROS2-IMU/README.md‎

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# ROS2-IMU
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## Overview
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This document shows how to run imu-ros2node with ROS2 environments. And shows the IMUD daemon/library sample code for build own IMU node.
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- sensor-daemon: the IMUD service to access IMU data from DSP.
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- sensor-client: the library for communicating with IMUD.
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- imu-ros2node: the sample implementation of IMU node based on ROS2.
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**TIP:** All these components are built-in in RB5 image as binary programs. You can run the imu-ros2node with following steps.
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## 1 Set up the WLAN
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**1.1 Pull WLAN config to PC**
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```bash
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adb pull /data/misc/wifi/wpa_supplicant.conf
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```
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**1.2 Change SSID and password with your Router in wpa_supplicant.conf**
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example:
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```
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network={
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ssid="Monkey1"
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key_mgmt=WPA-PSK
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pairwise=TKIP CCMP
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group=TKIP CCMP
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psk="MY_PASSWORD"
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}
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```
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**1.3 Push wpa_supplicant.conf to device**
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```
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adb push wpa_supplicant.conf /data/misc/wifi/
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```
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**1.4 Reboot device and wait for device boot up**
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```
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adb reboot
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```
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**1.5 Wait for 1mins after device boot up, and you will be found device have been auto connected to your Router**
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```
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adb shell
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ifconfig wlan0
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```
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You will see the ip address if WLAN connected, like this:
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```
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wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
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inet 10.91.4.85 netmask 255.255.252.0 broadcast 10.91.7.255
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inet6 fe80::dc7a:257b:cf30:3842 prefixlen 64 scopeid 0x20<link>
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ether 00:03:7f:12:1e:b3 txqueuelen 3000 (Ethernet)
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RX packets 19 bytes 2498 (2.4 KB)
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RX errors 0 dropped 0 overruns 0 frame 0
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TX packets 37 bytes 3424 (3.4 KB)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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```
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Now the WLAN connected successfully!
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## 2 Set up ROS2 environment
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The built-in IMU ROS node supports ROS2 Dashing only.
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**2.1 Connect RB5 with adb**
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```
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adb shell
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```
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**2.2 Install ROS2 via Debian package**
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You can reference the official ROS document:
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https://docs.ros.org/en/dashing/Installation/Ubuntu-Install-Debians.html
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Or you can directly use these commands:
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```bash
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# update locales
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apt update && apt install locales
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locale-gen en_US en_US.UTF-8
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update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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# add apt source
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apt update && apt install curl gnupg2 lsb-release
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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apt update
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# install ROS2 package
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apt install ros-dashing-ros-base
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```
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Wait until all ROS2 packages are installed completely.
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**2.2 Verify the ROS2 installation**
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```bash
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source /opt/ros/dashing/setup.bash
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ros2
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```
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Will show the ros2 help message if installation is complete.
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## 3 Run IMU ROS node
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**3.1 Init ROS2 environment**
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```
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source /opt/ros/dashing/setup.bash
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```
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**2.2 Run IMU ROS node with `ros2 run` command**
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The IMU ROS node is provided with RB5 ubuntu image. You could run the node directly.
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```
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ros2 run imu-ros2node imu-ros2node
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```
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**2.3 Test the IMU ROS node**
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Open another terminal
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```
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adb shell
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```
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Init ROS2 environment and test IMU node with
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```
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source /opt/ros/dashing/setup.bash
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ros2 topic echo /imu
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```
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Pick up RB5 and shake it, you could see the IMU data are changing in the log:
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![imu-data](image/imu-data.png)
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## License
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This is licensed under the BSD 3-clause-Clear “New” or “Revised” License. Check out the [LICENSE](LICENSE) for more details.

‎ROS2-IMU/image/imu-data.png‎

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‎ROS2-IMU/imu-ros2node/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8.2)
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project(imu-ros2node
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LANGUAGES C CXX)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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include_directories (./include)
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if (CMAKE_CROSSCOMPILING)
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set(ament_cmake_core_DIR "${DASHING_DIR}/share/ament_cmake_core/cmake")
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include (${DASHING_DIR}/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake)
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include_directories (${SYSROOT_INCDIR})
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include_directories (${SYSROOT_INCDIR}/Poco)
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include_directories (${DASHING_DIR}/include)
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link_directories(${SYSROOT_LIBDIR})
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link_directories(${DASHING_DIR}/lib)
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else ()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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endif ()
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add_executable(imu-ros2node src/imu_node.cpp)
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add_executable(imu-ros2test src/imu_node_test.cpp)
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if (CMAKE_CROSSCOMPILING)
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set(ROS-DASHING
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rclcpp
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rcutils
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yaml
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rcl
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rcl_interfaces__rosidl_generator_c
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rcl_interfaces__rosidl_typesupport_c
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rcl_interfaces__rosidl_typesupport_cpp
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rcl_logging_noop
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rcl_yaml_param_parser
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rosgraph_msgs__rosidl_typesupport_cpp
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message_filters
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ament_index_cpp
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class_loader
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rmw
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rmw_implementation
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rosidl_generator_c
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rosidl_typesupport_c
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rosidl_typesupport_cpp
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std_msgs__rosidl_generator_c
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std_msgs__rosidl_typesupport_c
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std_msgs__rosidl_typesupport_cpp
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sensor_msgs__rosidl_typesupport_cpp
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console_bridge
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builtin_interfaces__rosidl_generator_c
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)
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target_link_libraries(imu-ros2node PRIVATE
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pthread
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imu_client
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PocoFoundation
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${ROS-DASHING}
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)
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target_link_libraries(imu-ros2test PRIVATE
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imu_client
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PocoFoundation
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${ROS-DASHING}
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)
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install(TARGETS imu-ros2node imu-ros2test
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RUNTIME DESTINATION ${INSTALL_LIBDIR}/${PROJECT_NAME}
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)
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else ()
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ament_target_dependencies(imu-ros2node
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rclcpp
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sensor_msgs
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geometry_msgs
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)
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target_link_libraries(imu-ros2node
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pthread
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imu_client
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)
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ament_target_dependencies(imu-ros2test
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rclcpp
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sensor_msgs
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geometry_msgs
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)
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install(TARGETS imu-ros2node imu-ros2test
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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endif()
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if (NOT CMAKE_CROSSCOMPILING)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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endif()
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ament_package()

‎ROS2-IMU/imu-ros2node/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>imu-ros2node</name>
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<version>0.1.0</version>
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<description>imu ros2node</description>
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<maintainer email="penwang@qti.qualcomm.com">Peng Wang</maintainer>
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<license>Qualcomm-Technologies-Inc.-Proprietary</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<exec_depend>rclcpp</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎ROS2-IMU/imu-ros2node/readme.txt‎

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imu-ros2node is a ROS2 node for publishing IMU sensor data to ROS2 topic.
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Development Preparation:
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1. Install ROS2 Dashing+. Reference: https://index.ros.org/doc/ros2/Installation/
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2. Install colcon: apt install python3-colcon-common-extensions
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Create Workspace:
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mkdir ~/ros_ws
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mv imu-ros2node ~/ros_ws/
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Build Code:
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cd ~/ros_ws
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source /opt/ros/dashing/setup.bash
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colcon build
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Install:
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cd ~/ros_ws
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. install/local_setup.sh
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Run:
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ros2 run imu-ros2node imu-ros2node
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Test:
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ros2 run imu-ros2node imu-ros2test
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# or
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ros2 topic echo /imu

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