Add ROS driver package for QCR force sensor

qcr_force_sensor_ros/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(qcr_force_sensor_ros)
+
+find_package(catkin REQUIRED)
+
+catkin_python_setup()
+
+catkin_package(
+)
+
+file(GLOB SCRIPT_PROGRAMS node_scripts/*.py)
+catkin_install_python(PROGRAMS ${SCRIPT_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts
+)
+
+install(DIRECTORY config launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)

qcr_force_sensor_ros/README.md

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+# qcr_force_sensor_ros
+
+ROS driver package for QCR force sensor.
+
+## How to install
+
+- Install dependency of `qcr_force_sensor_ros` (e.g., by `rosdep install`) and build `qcr_force_sensor_ros` (e.g., by `catkin build`)
+  - See http://wiki.ros.org/rosdep#Install_dependency_of_all_packages_in_the_workspace for `rosdep` usage
+
+  For example:
+  ```bash
+  mkdir -p ~/ws_qcr_force_sensor_ros/src
+  cd ~/ws_qcr_force_sensor_ros/src
+  git clone https://github.com/pazeshun/jsk_3rdparty.git -b qcr_force_sensor_ros
+  rosdep install -y -r --ignore-src --from-paths jsk_3rdparty/qcr_force_sensor_ros
+  cd ..
+  catkin build qcr_force_sensor_ros
+  source ~/ws_qcr_force_sensor_ros/devel/setup.bash  # Do this every time you open a new terminal
+  ```
+
+## How to use
+
+```bash
+# First, plug in your sensor and give permission to its device file (e.g., "sudo chmod a+rw /dev/ttyUSB0").
+# Then...
+roslaunch qcr_force_sensor_ros sample.launch port:=/dev/ttyUSB0
+# On another terminal
+rosservice call /qcr_force_sensor_driver/calibrate_offset "{}"  # Do not touch or move the sensor until this command finishes. Call this service every time you want to remove sensor offset
+```

qcr_force_sensor_ros/config/rviz/sample.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Arrow Width: 0.5
+      Class: rviz/WrenchStamped
+      Enabled: true
+      Force Arrow Scale: 2
+      Force Color: 204; 51; 51
+      Hide Small Values: true
+      History Length: 1
+      Name: WrenchStamped
+      Topic: /qcr_force_sensor_driver/output/wrench
+      Torque Arrow Scale: 20
+      Torque Color: 204; 204; 51
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: qcr_force_sensor
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000282000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1267
+  X: 60
+  Y: 27

qcr_force_sensor_ros/launch/sample.launch

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+<launch>
+
+  <arg name="driver_name" default="qcr_force_sensor_driver" />
+  <arg name="port" default="/dev/ttyUSB0" />
+  <arg name="baud" default="115200" />
+  <arg name="n_per_hz" default="0.0000286" />
+  <arg name="offset_calib_sample_number" default="300" />
+  <arg name="sensor_frame_id" default="qcr_force_sensor" />
+  <arg name="rviz" default="true" />
+
+  <include file="$(find qcr_force_sensor_ros)/launch/sensor_driver.launch">
+    <arg name="driver_name" value="$(arg driver_name)" />
+    <arg name="port" value="$(arg port)" />
+    <arg name="baud" value="$(arg baud)" />
+    <arg name="n_per_hz" default="$(arg n_per_hz)" />
+    <arg name="offset_calib_sample_number" default="$(arg offset_calib_sample_number)" />
+    <arg name="sensor_frame_id" default="$(arg sensor_frame_id)" />
+  </include>
+
+  <group if="$(arg rviz)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find qcr_force_sensor_ros)/config/rviz/sample.rviz">
+    </node>
+  </group>
+
+</launch>

qcr_force_sensor_ros/launch/sensor_driver.launch

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+<launch>
+
+  <arg name="driver_name" default="qcr_force_sensor_driver" />
+  <arg name="port" default="/dev/ttyUSB0" />
+  <arg name="baud" default="115200" />
+  <arg name="n_per_hz" default="0.0000286" />
+  <arg name="offset_calib_sample_number" default="300" />
+  <arg name="sensor_frame_id" default="qcr_force_sensor" />
+
+  <node name="$(arg driver_name)"
+        pkg="qcr_force_sensor_ros" type="sensor_driver.py"
+        output="screen">
+    <rosparam subst_value="true">
+      port: $(arg port)
+      baud: $(arg baud)
+      n_per_hz: $(arg n_per_hz)
+      offset_calib_sample_number: $(arg offset_calib_sample_number)
+      sensor_frame_id: $(arg sensor_frame_id)
+    </rosparam>
+  </node>
+
+</launch>

qcr_force_sensor_ros/node_scripts/sensor_driver.py

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+#!/usr/bin/env python
+
+import serial
+import threading
+
+import rospy
+from geometry_msgs.msg import WrenchStamped
+from std_srvs.srv import Empty
+from std_srvs.srv import EmptyResponse
+
+
+class SensorDriver(object):
+
+    def __init__(self):
+        super(SensorDriver, self).__init__()
+        port = rospy.get_param('~port', '/dev/ttyUSB0')
+        baud = rospy.get_param('~baud', 115200)
+        self.n_per_hz = rospy.get_param('~n_per_hz', 0.0000286)
+        self.calib_sample_num = rospy.get_param(
+            '~offset_calib_sample_number', 300)
+        self.sensor_frame_id = rospy.get_param(
+            '~sensor_frame_id', 'qcr_force_sensor')
+        rospy.loginfo('port=%s, baud=%s', port, baud)
+        self.ser = serial.Serial(port, baudrate=baud)
+        self.offset = 0.0
+        self.last_raw_val = None
+        self.last_stamp = None
+        self.lock = threading.Lock()
+        self.calib_srv = rospy.Service(
+            '~calibrate_offset', Empty, self.calib_offset)
+        self.wrench_pub = rospy.Publisher(
+            '~output/wrench', WrenchStamped, queue_size=1)
+
+    def calib_offset(self, req):
+        rospy.loginfo(
+            '[{}] offset calibration started...'.format(
+                rospy.get_name()))
+
+        while self.last_stamp is None:
+            rospy.sleep(0.00001)
+
+        with self.lock:
+            last_stamp_in_vals = self.last_stamp
+            vals = [self.last_raw_val]
+        for i in range(self.calib_sample_num):
+            while self.last_stamp <= last_stamp_in_vals:
+                rospy.sleep(0.00001)
+
+            with self.lock:
+                last_stamp_in_vals = self.last_stamp
+                vals.append(self.last_raw_val)
+
+        with self.lock:
+            self.offset = sum(vals) / float(len(vals))
+        rospy.loginfo(
+            '[{}] offset calibration finished. Offset: {}'.format(
+                rospy.get_name(), self.offset))
+
+        return EmptyResponse()
+
+    def run(self):
+        self.ser.readline()  # Flush first data because it is hardly complete.
+        # Here we assume this process is just after initialization of ser.
+        # Otherwise data in input buffer become too many and collapse.
+        # Flushing them is difficult:
+        # https://github.com/pyserial/pyserial/issues/344
+        while not rospy.is_shutdown():
+            raw_val = float(self.ser.readline())
+            with self.lock:
+                self.last_raw_val = raw_val
+                self.last_stamp = rospy.Time.now()  # Get timestamp ASAP after message arrival
+
+                force = (raw_val - self.offset) * self.n_per_hz
+
+            # Publish force as WrenchStamped
+            wrench_msg = WrenchStamped()
+            wrench_msg.header.stamp = self.last_stamp
+            wrench_msg.header.frame_id = self.sensor_frame_id
+            wrench_msg.wrench.force.x = force
+            wrench_msg.wrench.force.y = 0
+            wrench_msg.wrench.force.z = 0
+            wrench_msg.wrench.torque.x = 0
+            wrench_msg.wrench.torque.y = 0
+            wrench_msg.wrench.torque.z = 0
+            self.wrench_pub.publish(wrench_msg)
+
+
+if __name__ == '__main__':
+    rospy.init_node('qcr_force_sensor_driver')
+    app = SensorDriver()
+    app.run()

qcr_force_sensor_ros/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>qcr_force_sensor_ros</name>
+  <version>2.1.14</version>
+  <description>ROS driver package for QCR force sensor</description>
+
+  <maintainer email="[email protected]">Shun Hasegawa</maintainer>
+  <maintainer email="[email protected]">Kei Okada</maintainer>
+  <author email="[email protected]">Shun Hasegawa</author>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-serial</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-serial</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
+
+  <export>
+  </export>
+</package>

qcr_force_sensor_ros/setup.py

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+#!/usr/bin/env python
+
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup()
+
+setup(**d)