migrate the group from gitlab to github"

;

Author: alextong1010

.DS_Store

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

arduino_comm/.DS_Store

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+# Copyright 2023 michael. All rights reserved.
+# Use of this source code is governed by a BSD-style
+# license that can be found in the LICENSE file.
+

arduino_comm/.gitignore

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+# Copyright 2023 michael. All rights reserved.
+# Use of this source code is governed by a BSD-style
+# license that can be found in the LICENSE file.
+
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String, Header, Float32
+from ackermann_msgs.msg import AckermannDriveStamped
+from roar_gokart_msgs.msg import VehicleStatus, EgoVehicleControl, Actuation
+from typing import Optional
+import socket
+import time
+import struct
+import json
+from pydantic import BaseModel
+from pydantic.types import confloat
+from rclpy.logging import LoggingSeverity
+import numpy as np
+
+
+class ArduinoActuationModel(BaseModel):
+    throttle: float = 0.0
+    steering: float = 0.0
+    brake: float = 0.0
+    reverse: bool = False
+
+
+class ArduinoVehicleStateModel(BaseModel):
+    is_auto: bool = False
+    is_left_limiter_ON: bool = False
+    is_right_limiter_ON: bool = False
+    angle: float = 0.0
+    angular_velocity: float = 0.0
+    speed: float = 0.0
+    target_speed: float = 0.0
+    target_steering_angle: float = 0.0
+    current_actuation: ArduinoActuationModel = ArduinoActuationModel()
+
+
+class ArduinoEgoVehicleControlMsg(BaseModel):
+    target_speed: float = 0.0
+    steering_angle: float = 0.0
+    brake: confloat(ge=0.0, le=1.0) = 0.0
+    reverse: bool = False
+
+
+class ArduinoCommNode(Node):
+    def __init__(self):
+        super().__init__("arduino_comm_node")
+        self.declare_parameter("ip_address", "10.0.0.9")
+        self.declare_parameter("port", 1883)
+
+        self.declare_parameter("get_state_period", 0.1)
+        self.declare_parameter("write_action_period", 0.1)
+
+        self.declare_parameter("write_timeout", 0.1)
+        self.declare_parameter("vehicle_status_header", "base_link")
+
+        # timers
+        get_state_period: float = (
+            self.get_parameter("get_state_period").get_parameter_value().double_value
+        )
+        self.get_state_timer = self.create_timer(
+            get_state_period, self.get_state_from_arduino
+        )
+        write_action_period: float = (
+            self.get_parameter("write_action_period").get_parameter_value().double_value
+        )
+        self.write_action_timer = self.create_timer(
+            write_action_period, self.write_action_callback
+        )
+
+        # pub / sub
+        self.cmd_sub_ = self.create_subscription(
+            EgoVehicleControl, "ego_vehicle_control", self.cmd_recvd, 10
+        )
+        self.vehicle_state_publisher_ = self.create_publisher(
+            VehicleStatus, "vehicle_status", 10
+        )
+
+        self.state: Optional[VehicleStatus] = None
+        self.latest_control_model: ArduinoEgoVehicleControlMsg = (
+            ArduinoEgoVehicleControlMsg()
+        )
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        self._logger.set_level(LoggingSeverity.INFO)
+
+    def cmd_recvd(self, msg: EgoVehicleControl):
+        self.latest_control_model = self.p_egoVehicleControlMsgToArduinoCmdActionModel(
+            msg
+        )
+        self.get_logger().debug(f"Recevied: {self.latest_control_model}")
+
+    def get_state_from_arduino(self):
+        message = b"s"
+        self.sock.sendto(message, self.p_getIPAndPort())
+
+        data, addr = self.sock.recvfrom(1024)  # Buffer size is 1024 bytes
+        try:
+            string_data = data.decode("utf-8")
+            json_data = json.loads(string_data)
+            latest_model = self.p_dataToVehicleState(json_data)
+            self.p_publish_state(latest_model)
+            self.get_logger().debug(f"Read: [{latest_model}]")
+        except Exception as e:
+            self.get_logger().error(f"Unable to convert [{data}]. Error: {e}")
+
+    def write_action_callback(self):
+        message = self.latest_control_model.json().encode("utf-8")
+        self.get_logger().debug(f"Wrote: {message}")
+        self.sock.sendto(message, self.p_getIPAndPort())
+
+    def p_egoVehicleControlMsgToArduinoCmdActionModel(
+        self, egoVehicleControlMsg: EgoVehicleControl
+    ) -> ArduinoEgoVehicleControlMsg:
+        model = ArduinoEgoVehicleControlMsg()
+        model.brake = np.clip(egoVehicleControlMsg.brake, 0, 1)
+        model.reverse = egoVehicleControlMsg.reverse
+        model.steering_angle = egoVehicleControlMsg.steering_angle
+        model.target_speed = egoVehicleControlMsg.target_speed
+
+        return model
+
+    def p_getIPAndPort(self):
+        ip_address = self.get_parameter("ip_address").get_parameter_value().string_value
+        port = self.get_parameter("port").get_parameter_value().integer_value
+        return (ip_address, port)
+
+    def p_dataToVehicleState(self, data: dict) -> ArduinoVehicleStateModel:
+        model = ArduinoVehicleStateModel.parse_obj(data)
+        return model
+
+    def p_publish_state(self, curr_state: ArduinoVehicleStateModel):
+        header = Header()
+        header.stamp = self.get_clock().now().to_msg()
+        header.frame_id = (
+            self.get_parameter("vehicle_status_header")
+            .get_parameter_value()
+            .string_value
+        )
+        act = Actuation()
+        act.throttle = curr_state.current_actuation.throttle
+        act.steering = curr_state.current_actuation.steering
+        act.brake = curr_state.current_actuation.brake
+        act.reverse = curr_state.current_actuation.reverse
+
+        msg = VehicleStatus()
+
+        msg.angle = curr_state.angle
+        msg.is_auto = curr_state.is_auto
+        msg.is_left_limiter_on = curr_state.is_left_limiter_ON
+        msg.is_right_limiter_on = curr_state.is_right_limiter_ON
+        msg.speed = curr_state.speed
+        msg.target_speed = curr_state.target_speed
+        msg.target_steering_angle = curr_state.target_steering_angle
+        msg.actuation = act
+
+        self.vehicle_state_publisher_.publish(msg)
+
+    def destroy_node(self):
+        super().destroy_node()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ArduinoCommNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    except Exception as e:
+        print(e)
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

arduino_comm/arduino_comm/__init__.py

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+from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
+import launch_ros.actions
+import os
+import yaml
+from launch.substitutions import EnvironmentVariable
+import pathlib
+import launch.actions
+from launch.actions import DeclareLaunchArgument
+from pathlib import Path
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            launch_ros.actions.Node(
+                package="arduino_comm",
+                executable="arduino_comm_node",
+                name="arduino_comm_node",
+                remappings=[
+                    ("ego_vehicle_control", "/roar/gokart/control"),
+                    ("vehicle_status", "/roar/gokart/status"),
+                ],
+            ),
+        ]
+    )

arduino_comm/arduino_comm/arduino_comm_node.py

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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>arduino_comm</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">michael</maintainer>
+  <license>TODO: License declaration</license>
+
+  <exec_depend>roar_gokart_msgs</exec_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>