added the firmware (turtlebot3_core package) for OpenCR embedded board

.gitignore

@@ -57,3 +57,4 @@ build-*/
 *.pyc
 *.dat
 *.txt.user
+*.gch

turtlebot3_core/libraries/ros_lib/ArduinoHardware.h

@@ -0,0 +1,112 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_ARDUINO_HARDWARE_H_
+#define ROS_ARDUINO_HARDWARE_H_
+
+#if ARDUINO>=100
+  #include <Arduino.h>  // Arduino 1.0
+#else
+  #include <WProgram.h>  // Arduino 0022
+#endif
+
+#if defined(__MK20DX128__) || defined(__MK20DX256__)
+  #if defined(USE_TEENSY_HW_SERIAL)
+    #define SERIAL_CLASS HardwareSerial // Teensy HW Serial
+  #else
+    #include <usb_serial.h>  // Teensy 3.0 and 3.1
+    #define SERIAL_CLASS usb_serial_class
+  #endif
+#elif defined(_SAM3XA_)
+  #include <UARTClass.h>  // Arduino Due
+  #define SERIAL_CLASS UARTClass
+#elif defined(USE_USBCON)
+  // Arduino Leonardo USB Serial Port
+  #define SERIAL_CLASS Serial_
+#else
+  #include <HardwareSerial.h>  // Arduino AVR
+  #define SERIAL_CLASS USBSerial // UARTClass (Bluetooth Device)
+#endif
+
+class ArduinoHardware {
+  public:
+    ArduinoHardware(SERIAL_CLASS* io , long baud= 57600){
+      iostream = io;
+      baud_ = baud;
+    }
+    ArduinoHardware()
+    {
+#if defined(USBCON) and !(defined(USE_USBCON))
+      /* Leonardo support */
+      iostream = &Serial2;
+#elif defined(USE_TEENSY_HW_SERIAL)
+      iostream = &Serial2;
+#else
+      iostream = &Serial;
+#endif
+      baud_ = 57600;
+    }
+    ArduinoHardware(ArduinoHardware& h){
+      this->iostream = iostream;
+      this->baud_ = h.baud_;
+    }
+
+    void setBaud(long baud){
+      this->baud_= baud;
+    }
+
+    int getBaud(){return baud_;}
+
+    void init(){
+#if defined(USE_USBCON)
+      // Startup delay as a fail-safe to upload a new sketch
+      delay(3000);
+#endif
+      iostream->begin(baud_);
+    }
+
+    int read(){return iostream->read();};
+    void write(uint8_t* data, int length){
+      for(int i=0; i<length; i++)
+        iostream->write(data[i]);
+    }
+
+    unsigned long time(){return millis();}
+
+  protected:
+    SERIAL_CLASS* iostream;
+    long baud_;
+};
+
+#endif

turtlebot3_core/libraries/ros_lib/duration.cpp

@@ -0,0 +1,81 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <math.h>
+#include "ros/duration.h"
+
+namespace ros
+{
+  void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
+  {
+    int32_t nsec_part = nsec;
+    int32_t sec_part = sec;
+
+    while (nsec_part > 1000000000L)
+    {
+      nsec_part -= 1000000000L;
+      ++sec_part;
+    }
+    while (nsec_part < 0)
+    {
+      nsec_part += 1000000000L;
+      --sec_part;
+    }
+    sec = sec_part;
+    nsec = nsec_part;
+  }
+
+  Duration& Duration::operator+=(const Duration &rhs)
+  {
+    sec += rhs.sec;
+    nsec += rhs.nsec;
+    normalizeSecNSecSigned(sec, nsec);
+    return *this;
+  }
+
+  Duration& Duration::operator-=(const Duration &rhs){
+    sec += -rhs.sec;
+    nsec += -rhs.nsec;
+    normalizeSecNSecSigned(sec, nsec);
+    return *this;
+  }
+
+  Duration& Duration::operator*=(double scale){
+    sec *= scale;
+    nsec *= scale;
+    normalizeSecNSecSigned(sec, nsec);
+    return *this;
+  }
+
+}

turtlebot3_core/libraries/ros_lib/geometry_msgs/Accel.h

@@ -0,0 +1,47 @@
+#ifndef _ROS_geometry_msgs_Accel_h
+#define _ROS_geometry_msgs_Accel_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Accel : public ros::Msg
+  {
+    public:
+      geometry_msgs::Vector3 linear;
+      geometry_msgs::Vector3 angular;
+
+    Accel():
+      linear(),
+      angular()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->linear.serialize(outbuffer + offset);
+      offset += this->angular.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->linear.deserialize(inbuffer + offset);
+      offset += this->angular.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Accel"; };
+    const char * getMD5(){ return "9f195f881246fdfa2798d1d3eebca84a"; };
+
+  };
+
+}
+#endif

turtlebot3_core/libraries/ros_lib/geometry_msgs/AccelStamped.h

@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_AccelStamped_h
+#define _ROS_geometry_msgs_AccelStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Accel.h"
+
+namespace geometry_msgs
+{
+
+  class AccelStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Accel accel;
+
+    AccelStamped():
+      header(),
+      accel()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->accel.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->accel.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelStamped"; };
+    const char * getMD5(){ return "d8a98a5d81351b6eb0578c78557e7659"; };
+
+  };
+
+}
+#endif

turtlebot3_core/libraries/ros_lib/geometry_msgs/AccelWithCovariance.h

@@ -0,0 +1,51 @@
+#ifndef _ROS_geometry_msgs_AccelWithCovariance_h
+#define _ROS_geometry_msgs_AccelWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Accel.h"
+
+namespace geometry_msgs
+{
+
+  class AccelWithCovariance : public ros::Msg
+  {
+    public:
+      geometry_msgs::Accel accel;
+      float covariance[36];
+
+    AccelWithCovariance():
+      accel(),
+      covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->accel.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->accel.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->covariance[i]));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelWithCovariance"; };
+    const char * getMD5(){ return "ad5a718d699c6be72a02b8d6a139f334"; };
+
+  };
+
+}
+#endif