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add parameter for serial port

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Sem van der Hoeven
2023-04-17 11:27:23 +02:00
parent b6f02f2146
commit 4c2b5c17c1
3 changed files with 88 additions and 19 deletions
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12
.vscode/settings.json vendored
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@@ -2,5 +2,15 @@
"ros.distro": "humble",
"files.associations": {
"chrono": "cpp"
}
},
"python.autoComplete.extraPaths": [
"/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"python.analysis.extraPaths": [
"/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
]
}

2
src/beacon_positioning/CMakeLists.txt
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@@ -28,8 +28,8 @@ add_executable(tracker_position src/tracker_position.cpp)
ament_target_dependencies(tracker_position rclcpp std_msgs)
target_link_libraries(tracker_position
positioning_systems_api::follow_me_driver
positioning_systems_api::serial_communication
positioning_systems_api::rtls_driver
)
target_include_directories(tracker_position PUBLIC

65
src/beacon_positioning/src/tracker_position.cpp
View File

@@ -6,25 +6,84 @@
#include "rtls_driver/rtls_driver.hpp"
// from the example: https://github.com/Terabee/positioning_systems_api/blob/master/examples/rtls_tracker_example.cpp
#include "serial_communication/serial.hpp"
using SerialInterface = terabee::serial_communication::Serial;
using namespace std::chrono_literals;
class BeaconPositioningPublisher : public rclcpp::Node
{
public:
BeaconPositioningPublisher() : Node("beacon_positioning_publisher") {
BeaconPositioningPublisher() : Node("beacon_positioning_publisher")
{
this->declare_parameter("tracker_serial_port", "/dev/ttyUSB0");
std::string serial_port_name = this->get_parameter("tracker_serial_port").as_string();
RCLCPP_INFO(this->get_logger(), "serial port is %s\n", serial_port_name.c_str());
serial_port = std::make_shared<SerialInterface>("/dev/ttyUSB0");
serial_port->setBaudrate(115200);
serial_port->setTimeout(800ms);
RCLCPP_INFO(this->get_logger(), "Opening serial port of tracker!");
serial_port->open();
if (!serial_port->isOpen())
{
RCLCPP_ERROR(this->get_logger(), "Failed to open serial port!");
return;
}
rtls_device = terabee::RtlsDevice(serial_port);
publisher_ = this->create_publisher<std_msgs::msg::String>("beacon_positioning", 10);
timer_ = this->create_wall_timer(
500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
}
private:
void timer_callback() {
void timer_callback()
{
auto message = std_msgs::msg::String();
message.data = "Hello beacons!";
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
publisher_->publish(message);
}
void setup_rtlsdevice(int priority, int label, int update_time, int network_id, bool long_message)
{
rtls_device.disableTrackerStream();
serial_port->flushInput();
rtls_device.setDevice(terabee::RtlsDevice::device_type::tracker, priority);
rtls_device.setLabel(label);
rtls_device.setUpdateTime(update_time);
rtls_device.setNetworkId(network_id);
if (long_message)
{
rtls_device.setTrackerMessageLong();
}
else
{
rtls_device.setTrackerMessageShort();
}
rtls_device.enableLED();
rtls_device.requestConfig();
device_configuration = rtls_device.getConfig();
rtls_device.enableTrackerStream();
}
rclcpp::TimerBase::SharedPtr timer_; // timer to trigger the
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; // pointer to publisher object
// terabee tower evo variables
std::shared_ptr<terabee::serial_communication::ISerial> serial_port; // serial port for communicating with tracker
terabee::RtlsDevice rtls_device;
terabee::RtlsDevice::config_t device_configuration;
terabee::RtlsDevice::OnTrackerDataCallback tracker_data_callback_;
};
int main(int argc, char **argv)
@@ -32,7 +91,7 @@ int main(int argc, char ** argv)
(void)argc;
(void)argv;
printf("hello world beacon_positioning package\n");
printf("starting tracker node of beacon_positioning package\n");
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<BeaconPositioningPublisher>());