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Init of ROS files
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‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(navio2_ros)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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message_generation
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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RCIn.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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CATKIN_DEPENDS message_runtime
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)
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catkin_install_python(PROGRAMS
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nodes/rcinput
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nodes/rcoutput
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(navio2_ros
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# src/${PROJECT_NAME}/navio2py.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(navio2py ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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# add_executable(navio2py_node src/navio2py_node.cpp)
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(navio2py_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(navio2py_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS navio2py navio2py_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_navio2py.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎msg/RCIn.msg

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std_msgs/Header header
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uint16[] channels

‎nodes/rcinput

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#!/usr/bin/env python
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from navio2_ros.navio import rcinput
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from navio2_ros.navio import util
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import rospy
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from navio2_ros.msg import RCIn
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rospy.init_node('rcinput')
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pub = rospy.Publisher('rcinput', RCIn, queue_size=2)
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rate = rospy.Rate(20)
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rcin = rcinput.RCInput()
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while not rospy.is_shutdown():
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rc_input = RCIn()
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rc_input.channels = (
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int(rcin.read(0)),
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int(rcin.read(1)),
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int(rcin.read(2)),
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int(rcin.read(3)),
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int(rcin.read(4)),
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int(rcin.read(5)),
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int(rcin.read(6)),
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int(rcin.read(7)),
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int(rcin.read(8)))
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rc_input.header.stamp = rospy.Time.now()
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pub.publish(rc_input)
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rate.sleep()

‎nodes/rcoutput

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#!/usr/bin/env python
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import rospy
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from navio2_ros.msg import RCIn
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from navio2_ros.navio.pwm import PWM
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def callback(msg):
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for ch, val in enumerate(msg.channels):
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pwm = PWM(ch)
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pwm.set_period(50)
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if val > 1960:
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val = 1960
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if val < 1024:
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val = 1024
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pwm.set_duty_cycle(val/1000.0)
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rospy.init_node('rcoutput')
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sub = rospy.Subscriber('rcoutput', RCIn, callback)
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rospy.spin()

‎package.xml

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<?xml version="1.0"?>
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<package>
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<name>navio2_ros</name>
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<version>0.0.1</version>
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<description>ROS Python bindings for Navio2</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<maintainer email="[email protected]">Lee Hicks</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>BSD</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/navio2py</url> -->
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<build_depend>message_generation</build_depend>
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<run_depend>message_runtime</run_depend>
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>rospy</build_depend>
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<run_depend>rospy</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎setup.py

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from distutils.core import setup
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from catkin_pkg.python_setup import generate_distutils_setup
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d = generate_distutils_setup(
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packages=['navio2_ros'],
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package_dir={'': 'src'},
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requires=['rospy']
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)
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setup(**d)

‎src/navio2_ros/__init__.py

Whitespace-only changes.

‎src/navio2_ros/navio/__init__.py

Whitespace-only changes.

‎src/navio2_ros/navio/adc.py

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class ADC():
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channel_count = 6
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channels = []
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def __init__(self):
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for i in range(0, self.channel_count):
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try:
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f = open("/sys/kernel/rcio/adc/ch%d" % i, "r")
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self.channels.append(f)
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except:
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print ("Can't open file /sys/kernel/rcio/adc/ch%d" % i)
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def read(self, ch):
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value = self.channels[ch].read()
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position = self.channels[ch].seek(0, 0)
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return float(value[:-1])
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‎src/navio2_ros/navio/leds.py

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ON = 0
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OFF = 1
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class Pin():
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def __init__(self, folder_name):
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self.pin = folder_name
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try:
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open("/sys/class/leds/%s/brightness" % self.pin, "w")
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except:
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print "Can't open file 'brightness'"
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def write(self, value):
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with open("/sys/class/leds/%s/brightness" % self.pin, "w") as value_file:
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value_file.write(str(value))
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class Led():
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def __init__(self):
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self.ledR = Pin("rgb_led0")
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self.ledB = Pin("rgb_led1")
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self.ledG = Pin("rgb_led2")
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self.ledR.write(OFF)
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self.ledG.write(OFF)
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self.ledB.write(OFF)
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def setColor(self, color):
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self.ledR.write(self.gamma[color][0])
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self.ledG.write(self.gamma[color][1])
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self.ledB.write(self.gamma[color][2])
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gamma = {
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'Black': (OFF, OFF, OFF),
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'Red': (ON, OFF, OFF),
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'Green': (OFF, ON, OFF),
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'Blue': (OFF, OFF, ON),
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'Cyan': (OFF, ON, ON),
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'Magneta': (ON, OFF, ON),
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'Yellow': (ON,ON,OFF),
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'White': (ON, ON, ON)
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}

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