Merge pull request #4 from rogy-AquaLab/pi-i2c

device/pi_i2c

device/pi_i2c/README.md

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+# nucleo communication
+
+Raspberry PiのI2C接続
+
+## Nodes
+
+- `Depth`: 深さセンサー
+- `Imu`: IMU
+
+## Executables
+
+- `depth`: `Depth`Nodeをspin
+- `imu`: `Imu`Nodeをspin
+- `all`: `Depth`, `Imu`Node2つを同時にspin
+
+## Launches
+
+- `all_launch.py`: `all`executableを`device`namespace下で実行
+- `depth_launch.py`: `depth`executableを`device`namespace下で実行
+- `imu_launch.py`: `imu`executableを`device`namespace下で実行

device/pi_i2c/launch/all_launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    all_exec = Node(
+        package="pi_i2c",
+        executable="all",
+        namespace="device"
+    )
+    return LaunchDescription([all_exec])

device/pi_i2c/launch/depth_launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    depth = Node(
+        package="pi_i2c",
+        executable="depth",
+        namespace="device"
+    )
+    return LaunchDescription([depth])

device/pi_i2c/launch/imu_launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    imu = Node(
+        package="pi_i2c",
+        executable="imu",
+        namespace="device"
+    )
+    return LaunchDescription([imu])

device/pi_i2c/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pi_i2c</name>
+  <version>0.1.0</version>
+  <description>Raspberry PiのI2C接続</description>
+  <maintainer email="[email protected]">h1rono</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>packet_interfaces</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

device/pi_i2c/pi_i2c/all.py

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+import sys
+
+import rclpy
+from rclpy.executors import SingleThreadedExecutor, ExternalShutdownException
+
+from .depth import Depth
+from .imu import Imu
+
+
+def main(args=sys.argv):
+    rclpy.init(args=args)
+    try:
+        depth = Depth()
+        imu = Imu()
+
+        executor = SingleThreadedExecutor()
+        executor.add_node(depth)
+        executor.add_node(imu)
+        executor.spin()
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()

device/pi_i2c/pi_i2c/depth.py

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+import sys
+
+import rclpy
+from rclpy.node import Node
+from packet_interfaces.msg import Depth as DepthMsg
+
+
+class Depth(Node):
+    def __init__(self) -> None:
+        super().__init__("depth")
+        self._current_publisher = self.create_publisher(DepthMsg, "depth", 10)
+        self._timer = self.create_timer(0.5, self._timer_callback)
+
+    def _timer_callback(self) -> None:
+        # TODO
+        # 深さセンサーからデータを取得してpublish
+        self.get_logger().info("tick")
+
+
+def main(args=sys.argv):
+    rclpy.init(args=args)
+    depth = Depth()
+    rclpy.spin(depth)
+    depth.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

device/pi_i2c/pi_i2c/imu.py

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+import sys
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu as ImuMsg
+
+
+class Imu(Node):
+    def __init__(self) -> None:
+        super().__init__("imu")
+        self._current_publisher = self.create_publisher(ImuMsg, "imu", 10)
+        self._timer = self.create_timer(0.5, self._timer_callback)
+
+    def _timer_callback(self) -> None:
+        # TODO
+        # IMUからデータを取得してpublish
+        self.get_logger().info("tick")
+
+
+def main(args=sys.argv):
+    rclpy.init(args=args)
+    imu = Imu()
+    rclpy.spin(imu)
+    imu.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

device/pi_i2c/setup.cfg

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+[develop]
+script_dir=$base/lib/pi_i2c
+[install]
+install_scripts=$base/lib/pi_i2c

device/pi_i2c/setup.py

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+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+
+package_name = 'pi_i2c'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*')))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='h1rono',
+    maintainer_email='[email protected]',
+    description='Raspberry PiのI2C接続',
+    license='MIT',
+    tests_require=[],
+    entry_points={
+        'console_scripts': [
+            "depth = pi_i2c.depth:main",
+            "imu = pi_i2c.imu:main",
+            "all = pi_i2c.all:main"
+        ],
+    },
+)