add ranger topic examples

README.md

@@ -77,7 +77,96 @@ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
 roslaunch ranger_bringup ranger_teleop_keyboard.launch
 ```
 
-## Examples
+
+
+
+
+
+
+----
+
+## Ros Topic Examples
+
+* Input:   the car linear velocity and the heading angle
+* Output:  total linear velocity, x direction velocity, y direction velocity, angular velocity, central steer angle and rotate radius, .etc
+
+### Publish topic to control the car
+
+see `ranger_ros/ranger_examples/src/input.cpp` for details
+
+```c++
+////----------------control by ros topic---------------------------------
+ros::Publisher motion_mode =
+    node.advertise<ranger_msgs::RangerSetting>("/ranger_setting", 1);
+ranger_msgs::RangerSetting setting;
+setting.motion_mode = ranger_msgs::RangerSetting::MOTION_MODE_ACKERMAN;
+motion_mode.publish(setting);
+
+////------------------move by ros topic --------------------------------
+ros::Publisher move_cmd =
+    node.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
+geometry_msgs::Twist cmd;
+cmd.linear.x = 0.1;                   // the motor will run at 0.1m/s
+cmd.angular.z = 30.0 / 180.0 * M_PI;  // the heading angle of the car
+
+// publish robot state at 50Hz while listening to twist commands
+ros::Rate rate(50);
+while (ros::ok()) {
+    ros::spinOnce();
+
+    // /cmd_vel topic must send at 50Hz, even stop need send 0m/s
+    move_cmd.publish(cmd);
+
+    rate.sleep();
+}
+```
+
+or publish by command line
+
+```shell
+rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[0.1, 0.0, 0.0]' '[0.0, 0.0, 0.52358]'  # 0.52358 = 30 degree
+```
+
+
+
+### Subcribe the car output
+
+see `ranger_ros/ranger_examples/src/output.cpp` for details
+
+```c++
+ros::Subscriber status_sub = node.subscribe<ranger_msgs::RangerStatus>(
+    "/ranger_status", 10, StatusCallback);
+```
+
+```c++
+void StatusCallback(ranger_msgs::RangerStatus::ConstPtr msg) {
+    std::cout << "linear velocity: " << msg->linear_velocity << std::endl;
+    std::cout << "angular velocity: " << msg->angular_velocity << std::endl;
+    std::cout << "x direction linear velocity: " << msg->x_linear_vel << std::endl;
+    std::cout << "y direction linear linear velocity: " << msg->y_linear_vel << std::endl;
+    std::cout << "rotate radius: " << msg->motion_radius << std::endl;
+    std::cout << "car heading angle: " << msg->steering_angle << std::endl;
+    // ...etc
+}
+```
+
+
+
+or show the data by rostopic 
+
+```shell
+rostopic echo /ranger_status
+```
+
+
+
+
+
+
+
+----
+
+## Sdk API Examples
 
 ### 0. enable can control
 

ranger_examples/CMakeLists.txt

@@ -143,6 +143,10 @@ add_executable(change_the_mode src/change_the_mode.cpp)
 target_link_libraries(change_the_mode ${catkin_LIBRARIES})
 add_executable(control_the_car src/control_the_car.cpp)
 target_link_libraries(control_the_car ${catkin_LIBRARIES})
+add_executable(input src/input.cpp)
+target_link_libraries(input ${catkin_LIBRARIES})
+add_executable(output src/output.cpp)
+target_link_libraries(output ${catkin_LIBRARIES})
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the

ranger_examples/src/control_the_car.cpp

@@ -47,6 +47,7 @@ int main(int argc, char *argv[]) {
   // publish robot state at 50Hz while listening to twist commands
   ros::Rate rate(50);
   while (ros::ok()) {
+    // send command in 50hz, nor will timeout
     robot->SetMotionCommand(l_v, angle_z);
     ros::spinOnce();
     rate.sleep();

ranger_examples/src/input.cpp

@@ -0,0 +1,69 @@
+/**
+ * @Kit       : Qt-Creator: Desktop
+ * @Author    : Wang Zhe
+ * @Date      : 2021-04-26  18:47:25
+ * @FileName  : input.cpp
+ * @Mail      : [email protected]
+ * Copyright  : AgileX Robotics (2021)
+ **/
+
+#include <memory>
+
+#include <nav_msgs/Odometry.h>
+#include <ros/ros.h>
+
+#include <geometry_msgs/Twist.h>
+#include <ranger_msgs/RangerSetting.h>
+#include "ranger_base/ranger_messenger.hpp"
+#include "ugv_sdk/ranger_base.hpp"
+
+using namespace westonrobot;
+
+std::shared_ptr<RangerBase> robot;
+
+int main(int argc, char *argv[]) {
+  // setup ROS node
+  ros::init(argc, argv, "input");
+  ros::NodeHandle node(""), private_node("~");
+
+  // instantiate a robot object
+  robot = std::make_shared<RangerBase>();
+
+  robot->Connect("can0");
+  robot->EnableCommandedMode();
+
+  ////-----------------direct control by call the sdk function-------------
+  // 0 Arckmann 1 Slide 2 round, 3 Sloping
+  robot->SetMotionMode(0);
+  //  robot->SetMotionMode(1);
+  //  robot->SetMotionMode(2);
+  //  robot->SetMotionMode(3);
+
+  //  robot->SetMotionCommand(0.1, 30.0/180.0 * M_PI); // steer angle = 30°
+
+  ////----------------control by ros topic---------------------------------
+  ros::Publisher motion_mode =
+      node.advertise<ranger_msgs::RangerSetting>("/ranger_setting", 1);
+  ranger_msgs::RangerSetting setting;
+  setting.motion_mode = ranger_msgs::RangerSetting::MOTION_MODE_ACKERMAN;
+  motion_mode.publish(setting);
+
+  ////------------------move by ros topic --------------------------------
+  ros::Publisher move_cmd =
+      node.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
+  geometry_msgs::Twist cmd;
+  cmd.linear.x = 0.1;                   // the motor will run at 0.1m/s
+  cmd.angular.z = 30.0 / 180.0 * M_PI;  // the heading angle of the car
+
+  // publish robot state at 50Hz while listening to twist commands
+  ros::Rate rate(50);
+  while (ros::ok()) {
+    ros::spinOnce();
+
+    // /cmd_vel topic must send at 50Hz, even stop need send 0m/s
+    move_cmd.publish(cmd);
+
+    rate.sleep();
+  }
+  return 0;
+}

ranger_examples/src/output.cpp

@@ -0,0 +1,40 @@
+/**
+ * @Kit       : Qt-Creator: Desktop
+ * @Author    : Wang Zhe
+ * @Date      : 2021-04-26  18:47:49
+ * @FileName  : output.cpp
+ * @Mail      : [email protected]
+ * Copyright  : AgileX Robotics (2021)
+ **/
+
+#include <ranger_msgs/RangerStatus.h>
+#include <ros/ros.h>
+#include <iostream>
+
+void StatusCallback(ranger_msgs::RangerStatus::ConstPtr msg) {
+  std::cout << "linear velocity: " << msg->linear_velocity << std::endl;
+  std::cout << "angular velocity: " << msg->angular_velocity << std::endl;
+  std::cout << "x direction linear velocity: " << msg->x_linear_vel
+            << std::endl;
+  std::cout << "y direction linear linear velocity: " << msg->y_linear_vel
+            << std::endl;
+  std::cout << "rotate radius: " << msg->motion_radius << std::endl;
+  std::cout << "car heading angle: " << msg->steering_angle << std::endl;
+  // ...etc
+}
+
+int main(int argc, char *argv[]) {
+  // setup ROS node
+  ros::init(argc, argv, "output");
+  ros::NodeHandle node(""), private_node("~");
+
+  ros::Subscriber status_sub = node.subscribe<ranger_msgs::RangerStatus>(
+      "/ranger_status", 10, StatusCallback);
+
+  ros::Rate rate(50);
+  while (ros::ok()) {
+    ros::spinOnce();
+    rate.sleep();
+  }
+  return 0;
+}