From 094c1b64e0e739d5b4ee46408b5df3982ef29cde Mon Sep 17 00:00:00 2001 From: Kenta Hirachi Date: Mon, 6 Jan 2025 02:33:39 +0900 Subject: [PATCH] test --- README.md | 2 +- package.xml | 1 - setup.cfg | 1 - test/LICENSE | 201 +++++++++++++++++++++++++++++++++++++++++++++++ test/README.md | 65 +++++++++++++++ test/package.xml | 24 ++++++ test/setup.cfg | 14 ++++ test/setup.py | 34 ++++++++ test/test.bash | 7 +- 9 files changed, 344 insertions(+), 5 deletions(-) create mode 100644 test/LICENSE create mode 100644 test/README.md create mode 100644 test/package.xml create mode 100644 test/setup.cfg create mode 100644 test/setup.py diff --git a/README.md b/README.md index b48da12..8a2183a 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # keyboard_teleop ## 概要 -このパッケージはリモートで対象物をキーボード操作するROS2のパッケージです. +このパッケージは対象物をキーボード操作するROS2のパッケージです. ## ノード - keyboard_teleop diff --git a/package.xml b/package.xml index 77c9ef6..bbcf5bf 100644 --- a/package.xml +++ b/package.xml @@ -10,7 +10,6 @@ ament_python rclpy geometry_msgs - sshkeyboard launch_ros ament_copyright diff --git a/setup.cfg b/setup.cfg index 97bc844..71418c0 100644 --- a/setup.cfg +++ b/setup.cfg @@ -3,7 +3,6 @@ packages = find: install_requires = rclpy geometry_msgs - sshkeyboard [options.entry_points] console_scripts = diff --git a/test/LICENSE b/test/LICENSE new file mode 100644 index 0000000..347b541 --- /dev/null +++ b/test/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2025 Kenta Hirachi + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/test/README.md b/test/README.md new file mode 100644 index 0000000..b48da12 --- /dev/null +++ b/test/README.md @@ -0,0 +1,65 @@ +# keyboard_teleop + +## 概要 +このパッケージはリモートで対象物をキーボード操作するROS2のパッケージです. + +## ノード +- keyboard_teleop + - 押されたキーに応じた速度をトピック'cmd_vel'にパブリッシュします. +## このパッケージを使用する前に +### 使用環境 +- Ubuntu 22.04 LTS +- ROS 2 Humble +### セットアップ +- ROS 2インストール +ROS 2は各自でインストールしてください. +- sshkeyboardのインストール +$ pip install sshkeyboard +## 実行例 +- 端末１ +以下のコマンドを実行します. +``` +$ ros2 run keyboard_teleop keyborad_teleop +``` +上のコマンドを実行したターミナルに以下の出力がなされます. +``` +--------------------------- +Moving around: + +q e + w + + a d + + s +z c + +j: Increase x, y speed +k: Decrease x, y speed +l: Reset x, y speed to 0.5 +--------------------------- +``` +wを押すと前進、sを押すと後退、aを押すと左に、dを押すと右に動きます. +qを押すと左上に、eを押すと右上に、zを押すと左下に、cを押すと右下に動きます. + +- 端末2 +以下のコマンドでcmd_velに送られている速度指令の内容を確認できます. +``` +$ ros2 topic echo /cmd_vel +--- +linear: + x: 5.0 + y: 0.0 + z: 0.0 +angular: + x: 0.0 + y: 0.0 + z: 0.0 +--- +``` + +# ライセンス +- このパッケージの[test.yml](https://github.com/kh-23-27/keyboard_teleop/blob/main/.github/workflows/test.yml)では, [コンテナ](https://hub.docker.com/r/ryuichiueda/ubuntu22.04-ros2)（by Ryuichi Ueda）を利用しています. +- このパッケージはApache License, Version 2.0に基づき公開されています. +- 詳細は[LICENSE](https://github.com/kh-23-27/keyboard_teleop/blob/main/LICENSE)を確認してください。 +- © 2024 Kenta Hirachi diff --git a/test/package.xml b/test/package.xml new file mode 100644 index 0000000..77c9ef6 --- /dev/null +++ b/test/package.xml @@ -0,0 +1,24 @@ + + + + keyboard_teleop + 0.0.1 + A ROS 2 package for teleoperation using keyboard input. + Kenta Hirach + Apache-2.0 + MIT (for test files) + ament_python + rclpy + geometry_msgs + sshkeyboard + launch_ros + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/test/setup.cfg b/test/setup.cfg new file mode 100644 index 0000000..97bc844 --- /dev/null +++ b/test/setup.cfg @@ -0,0 +1,14 @@ +[options] +packages = find: +install_requires = + rclpy + geometry_msgs + sshkeyboard + +[options.entry_points] +console_scripts = + keyboard_teleop = keyboard_teleop.keyboard_teleop:main +[develop] +script_dir = $base/lib/keyboard_teleop +[install] +install_scripts = $base/lib/keyboard_teleop diff --git a/test/setup.py b/test/setup.py new file mode 100644 index 0000000..9b6a7d9 --- /dev/null +++ b/test/setup.py @@ -0,0 +1,34 @@ + +# SPDX-FileCopyrightText: 2024 Kenta Hirachi +# SPDX-License=Identifier: BSD-3-Clause + +import os +from glob import glob +from setuptools import find_packages, setup + +package_name = 'keyboard_teleop' + +setup( + name=package_name, + version='0.0.1', + 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), glob('launch/*.launch.py')) + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Kenta Hirachi', + maintainer_email='s23c1114qb@s.chibakodai.jp', + description='A ROS 2 package for teleoperation using keyboard input.', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'keyboard_teleop = keyboard_teleop.keyboard_teleop:main', + 'keyboard_receive = keyboard_teleop.keyboard_receive:main', + ], + }, +) diff --git a/test/test.bash b/test/test.bash index 589b1e4..86c4fab 100644 --- a/test/test.bash +++ b/test/test.bash @@ -11,8 +11,11 @@ source $dir/.bashrc SESSION_NAME="teleop_session" tmux new-session -d -s $SESSION_NAME "ros2 run keyboard_teleop keyboard_teleop > $HOME/tmp/keyboard_teleop.log 2>&1" +tmux send-keys -t keyboard_teleop "ros2 run keyboard_teleop keyboard_teleop" C-m sleep 5 -ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: -0.5, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" --once -ros2 topic echo /cmd_vel -n 1 | tee /tmp/cmd_vel_output.log +tmux send-keys -t keyboard_teleop "w" C-m +sleep 1 +ros2 topic echo /cmd_vel --once +ros2 topic echo /cmd_vel -n 1 > /tmp/cmd_vel_output.log cat /tmp/cmd_vel_output.log