Merge pull request #27 from cwruRobotics/readme-template-update

Readme template update

README.md

@@ -13,25 +13,13 @@ Then create a workspace:
 
 If you're using VSCode, access WSL by opening VSCode, pressing `ctrl`+`` ` `` (below the `esc` key), clicking the dropdown arrow on the right and selecting `Ubuntu (WSL)`. You can also view your WSL files by opening `File Explorer > Linux (bottom left) > Ubuntu > home > your Ubuntu username`.
 
-Run
-
-<!-- ``` bash
-mkdir -p rov_23_ws/src
-```
-
-```bash
-cd rov_23_ws/
-``` -->
-
 ```bash
 git clone --recurse-submodules [email protected]:cwruRobotics/rov-24.git
 ```
 
-<!-- (the src is important) -->
-
 If you've never contributed to a git repository before, you might receive an error message saying you don't have access. In that case visit [this tutorial](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/about-ssh) to set up SSH for local GitHub access.
 
-If you don't have `ros2_video_streamer` in the new `src` folder, run this:
+If you don't have `ros2_video_streamer` in the `src` folder, run this:
 
 ```bash
 git submodule update --init --recursive
@@ -73,7 +61,7 @@ Make sure you're updated (only on the first build or if something breaks)
 rosdep update --rosdistro=$ROS_DISTRO
 ```
 
-Install dependecies (only on the first build or if something breaks)
+Install dependencies (only on the first build or if something breaks)
 
 ```bash
 rosdep install --from-paths src --ignore-src -r -y

doc/TEMPLATE.md

@@ -8,8 +8,6 @@ https://github.com/leggedrobotics/ros_best_practices/blob/main/ros_package_templ
 
 This is a template: replace, remove, and add where required. Describe here what this package does and what it's meant for in a few sentences.
 
-* **Author: John Doe**
-
 ## Installation
 
 Describe any dependencies not install by rosdep

src/interfaces/README.md

@@ -0,0 +1,35 @@
+# interfaces
+
+## Overview
+
+This is the package for all our msg, srv, and action definitions.
+
+## Msg files
+
+[CameraControllerSwitch.msg](msg/CameraControllerSwitch.msg)
+
+Used for toggling through camera feeds in the pilot gui.
+
+[Manip.msg](msg/Manip.msg)
+
+Used for toggling manipulators on and off.
+
+[TaskFeedback.msg](msg/TaskFeedback.msg)
+
+Used for communicating current task.
+
+## Srv files
+
+[TaskRequest.srv](srv/TaskRequest.srv)
+
+Used for communicating current task and receiving response.
+
+## Action files
+
+[BasicTask.action](action/BasicTask.action)
+
+BasicTask responds with a string.
+
+[Example.action](action/Example.action)
+
+An example action.

src/interfaces/package.xml

@@ -2,10 +2,12 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>interfaces</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>MATE ROV Custom ROS Interfaces</description>
   <maintainer email="[email protected]">Benjamin Poulin</maintainer>
-  <maintainer email="[email protected]">ericy</maintainer>
+  <maintainer email="[email protected]">Eric Yarnot</maintainer>
+  <maintainer email="[email protected]">Michael Carlstrom</maintainer>
+
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

src/pi/camera_streamer/README.md

@@ -1,15 +1,24 @@
-# Camera Streaming
 
-## Pi & Pi Compute Module
+# camera_streamer
 
-IP: `192.168.2.2`
+## Overview
 
-Username: `rov`
+Currently launches our regular cameras.
 
-Password: `rov12345`
-
-## Symlinks are auto-generated by V4L2
+### Symlinks are auto-generated by V4L2
 
 `ls /dev/v4l/by-id` for id based symlinks
 
 `ls /dev/v4l/by-path` for usb slot based symlinks
+
+## Usage
+
+Run the main launch file with
+
+```bash
+ros2 launch camera_streamer camera_launch.py
+```
+
+## Launch files
+
+* **camera_launch.py:** Launches 2 v4l2_camera_node to manage our cameras.

src/pi/camera_streamer/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>camera_streamer</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>Capture video from usb and pi cameras and send it as MJPEG streams on ROS topics</description>
   <maintainer email="[email protected]">Noah Mollerstuen</maintainer>
   <license>Apches License 2.0</license>

src/pi/camera_streamer/setup.py

@@ -1,12 +1,13 @@
-from setuptools import setup
-from glob import glob
 import os
+from glob import glob
+
+from setuptools import setup
 
 package_name = 'camera_streamer'
 
 setup(
     name=package_name,
-    version='0.0.0',
+    version='1.0.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -20,7 +21,7 @@
     zip_safe=True,
     maintainer='Noah Mollerstuen',
     maintainer_email='[email protected]',
-    description='contains camera information aswell as camera launch files',
+    description='contains camera information as well as camera launch files',
     license='Apaches License 2.0',
     tests_require=['pytest'],
     entry_points={

src/pi/manipulators/README.md

@@ -0,0 +1,53 @@
+# manipulators
+
+## Overview
+
+This package is used to toggle manipulators plugged into the I2C bus on the motherboard.
+
+## Installation
+
+These should be done for you but, in case something has gone wrong use these command and it should fix your installation.
+
+```bash
+git submodule add [email protected]:leloup314/TCA9555.git src/pi/manipulators/TCA9555
+```
+
+```bash
+pip install wiringpi
+```
+
+## Usage
+
+Run the main node with
+
+```bash
+ros2 run manipulators manipulator
+```
+
+Run the test node with
+
+```bash
+ros2 run manipulators test
+```
+
+## Launch files
+
+* **manip_launch.py:** Launches the manipulators node.
+
+## Nodes
+
+### manipulator
+
+On receiving a msg it toggles a manipulator on or off.
+
+#### Subscribed Topics
+
+* **`/manipulator_control`** ([msg/Manip])
+
+    The control msg for activating manipulators.
+
+### test
+
+Sends on and off signals to the IC2 board to confirm it is working. There is no ROS features being used.
+
+[msg/Manip]:../../interfaces/msg/Manip.msg

src/pi/manipulators/package.xml

@@ -2,8 +2,9 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>manipulators</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>Code for manipulators.</description>
+  <maintainer email="[email protected]">Georgia Martinez</maintainer>
   <maintainer email="[email protected]">Michael Carlstrom</maintainer>
   <license>Apache License, Version 2.0</license>
 

src/pi/manipulators/setup.py

@@ -1,8 +1,8 @@
 import os
-from glob import glob
-from setuptools import setup
 import sys
+from glob import glob
 
+from setuptools import setup
 
 major_num = sys.version_info[0]
 minor_num = sys.version_info[1]
@@ -11,7 +11,7 @@
 
 setup(
     name=package_name,
-    version='0.0.0',
+    version='1.0.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -25,8 +25,8 @@
     ],
     install_requires=['setuptools', 'bitstring', 'wiringpi'],
     zip_safe=True,
-    maintainer='taz',
-    maintainer_email='[email protected]',
+    maintainer='Georgia Martinez, Michael Carlstrom',
+    maintainer_email='[email protected], [email protected]',
     description='Code for manipulators',
     license='Apache 2.0',
     tests_require=['pytest'],

src/pi/pi_main/README.md

@@ -1,12 +1,14 @@
 # Pi Main
 
-[Tutorial followed](https://roboticsbackend.com/make-ros-launch-start-on-boot-with-robot_upstart/)
+## Overview
+
+This package launches the rest of the Pi packages. It should be run on Pi boot up.
 
-Commands to be run to get launch file running on pi on boot.
+[Tutorial followed](https://roboticsbackend.com/make-ros-launch-start-on-boot-with-robot_upstart/)
 
-Should be in run src folder after a colcon build in the ws folder.
+## Installation
 
-Warning need to install python packages with sudo.
+You need to run these commands to get the launch file running on Pi boot:
 
 ```bash
 ros2 run pi_main install 
@@ -16,32 +18,46 @@ ros2 run pi_main install
 sudo systemctl daemon-reload
 ```
 
+These commands should be run in the `src` folder after a colcon build in the workspace folder.
+
+WARNING: Python packages must be installed with sudo for startup code to see them.
+
 ### Adding udev Rules
 
-This should automatically be done by the prior command `ros2 run pi_main install`. If not copy all the .rules files from `udev_rules` in this package to the `/etc/udev/rules.d` directory to use USB devices properly.
+This should automatically be done by the prior command `ros2 run pi_main install`. If not, copy all the .rules files from `udev_rules` in this package to the `/etc/udev/rules.d` directory to use USB devices properly.
 
-### For Testing without Rebooting
+## Usage
 
-Runs in foreground for testing
+[Tutorial followed](https://roboticsbackend.com/make-ros-launch-start-on-boot-with-robot_upstart/)
+
+### Testing without Rebooting
+
+Installing & setting up this package creates a startup task called `cwrubotix_pi`. You can manually start and stop this task.
+
+You should run the `cwrubotix_pi` task in the foreground for testing (**make sure to kill the background task first - see below**):
 
 ```bash
 sudo cwrubotix_pi-start
 ```
 
-Runs in background
+To run the `cwrubotix_pi` task in the background (happens on Pi startup):
 
 ```bash
 sudo systemctl start cwrubotix_pi.service
 ```
 
-Kills in background
+To kill the `cwrubotix_pi` background task (**do this before starting the foreground task**):
 
 ```bash
 sudo systemctl stop cwrubotix_pi.service
 ```
 
-### Unistall cwrubotix_pi
+To completely uninstall the `cwrubotix_pi` task:
 
 ```bash
 ros2 run robot_upstart uninstall cwrubotix_pi
 ```
+
+## Launch files
+
+- **pi_launch.py**: launch the manipulators, camera streaming, and pixhawk packages

src/pi/pi_main/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pi_main</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>MATE ROV Pi Main</description>
   <maintainer email="[email protected]">Benjamin Poulin</maintainer>
   <license>Apache License 2.0</license>

src/pi/pi_main/setup.py

@@ -1,14 +1,14 @@
-from setuptools import setup
-from glob import glob
 import os
+from glob import glob
 
+from setuptools import setup
 
 package_name = 'pi_main'
 
 
 setup(
     name=package_name,
-    version='0.0.3',
+    version='1.0.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',

src/pi/pixhawk_communication/README.md

@@ -14,8 +14,6 @@ We communicate to the Pixhawk by using [mavros](https://github.com/mavlink/mavro
 
 To set up a Pixhawk USB port use [this](https://docs.px4.io/main/en/companion_computer/pixhawk_companion.html) guide.
 
-* **Author: Michael Carlstrom**
-
 ## Installation
 
 Install geographiclib dependencies.

src/pi/pixhawk_communication/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pixhawk_communication</name>
-  <version>0.0.3</version>
+  <version>1.0.0</version>
   <description>Manages Pixhawk</description>
   <maintainer email="[email protected]">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>

src/pi/pixhawk_communication/setup.py

@@ -1,12 +1,13 @@
-from setuptools import setup
-from glob import glob
 import os
+from glob import glob
+
+from setuptools import setup
 
 package_name = 'pixhawk_communication'
 
 setup(
     name=package_name,
-    version='0.0.3',
+    version='1.0.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',