Feature/add python api

.gitignore

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+
+build/

.rosinstall

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+- git:
+    uri: https://github.com/autowarefoundation/ros2_socketcan.git
+    local-name: ros2_socketcan
+    version: main
+    uri: https://github.com/ldrobotSensorTeam/ldlidar_stl_ros2.git
+    local-name: ldlidar_stl_ros2
+    version: main
+    uri: https://github.com/sbgisen/depthai_hand_tracker.git
+    local-name: depthai_hand_tracker
+    version: humnle

cube_petit_bringup/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(cube_petit_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX
+   OR CMAKE_CXX_COMPILER_ID
+      MATCHES
+      "Clang"
+)
+  add_compile_options(
+    -Wall
+    -Wextra
+    -Wpedantic
+  )
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+  DIRECTORY launch config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+
+install(
+  PROGRAMS scripts/twist_to_twist_stamped.py
+  DESTINATION lib/${PROJECT_NAME}
+)

cube_petit_bringup/config/ps4.config.yaml

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+# Joy L Stick (0:Right)
+teleop_twist_joy_node:
+  ros__parameters:
+    # ZENGO
+    axis_linear:
+      x: 1
+    scale_linear:
+      x: 0.3
+    scale_linear_turbo:
+      x: 0.7
+
+    # KAITEN
+    axis_angular:
+      yaw: 0
+    scale_angular:
+      yaw: 5.0
+
+    # TURBO
+    enable_button: 0 # batu button
+    enable_turbo_button: 5 # L1 shoulder button

cube_petit_bringup/config/sensors/lidar_scan_filter.yaml

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+scan_filter_chain:
+  - name: angle0    # right front
+    type: laser_filters/LaserScanAngularBoundsFilterInPlace
+    params:
+      lower_angle: -1.2217
+    upper_angle: -0.5236
+  - name: angle1   # left behind
+    type: laser_filters/LaserScanAngularBoundsFilterInPlace
+    params:
+      lower_angle: 1.9199
+      upper_angle: 2.6180
+
+# with zero angle being forward along the x axis
+# COUNTERclockwise (right+, left-)
+# range is - 3.1415 to 3.1415 [rad]
+# 30deg = 0.5236 70deg = 1.2217 110de = 1.0199 120de = 2.0944 150de = 2.6180

cube_petit_bringup/launch/cube_petit_bringup.launch.py

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+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+
+# Copyright (c) 2024 SoftBank Corp.
+#
+# 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.
+#
+
+import pathlib
+
+import xacro
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import EmitEvent
+from launch.actions import IncludeLaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description() -> LaunchDescription:
+    """Generate launch descriptions.
+
+    Returns:
+        Launch descriptions
+    """
+    args = []
+    args.append(DeclareLaunchArgument(
+        'robot',
+        default_value='cube_petit'))
+
+    description_pkg = FindPackageShare('cube_petit_description').find('cube_petit_description')
+    xacro_file = pathlib.Path(description_pkg) / 'xacro/cube_petit.xacro'
+    doc = xacro.process_file(xacro_file, mappings={'use_sim': 'false'})
+    robot_description = {"robot_description": doc.toprettyxml(indent='  ')}
+
+    bringup_pkg = pathlib.Path(FindPackageShare('cube_petit_bringup').find('cube_petit_bringup'))
+
+    # TODO: joint_state_publisher?
+
+    robot_state = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[robot_description]
+    )
+
+    general = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(str(bringup_pkg / 'launch/include/general_bringup.launch.py')),
+        launch_arguments={
+            'robot': LaunchConfiguration('robot')}.items())
+
+    teleop = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(str(bringup_pkg / 'launch/teleop.launch.py')))
+
+    text_to_speech_pkg = pathlib.Path(FindPackageShare('cube_petit_text_to_speech').find('cube_petit_text_to_speech'))
+    text_to_speech = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(str(text_to_speech_pkg / 'launch/cube_petit_text_to_jtalk.launch.py')))
+
+    face_animation_pkg = pathlib.Path(FindPackageShare(
+        'cube_petit_facial_animation').find('cube_petit_facial_animation'))
+    face_animation = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(str(face_animation_pkg / 'launch/cube_petit_facial_animation.launch.py')))
+
+    speech_to_text_pkg = pathlib.Path(FindPackageShare('cube_petit_speech_to_text').find('cube_petit_speech_to_text'))
+    hotword = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(str(speech_to_text_pkg / 'launch/cube_petit_hotword.launch.py')))
+
+    return LaunchDescription(args + [
+        robot_state,
+        RegisterEventHandler(event_handler=OnProcessExit(target_action=robot_state,
+                                                         on_exit=[EmitEvent(event=Shutdown())])),
+        general,
+        teleop,
+        text_to_speech,
+        face_animation,
+        hotword
+    ])

cube_petit_bringup/launch/include/cube_petit_v3/sensors.launch.py

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+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+
+# Copyright (c) 2024 SoftBank Corp.
+#
+# 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.
+#
+
+import pathlib
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description() -> LaunchDescription:
+    """Generate launch descriptions.
+
+    Returns:
+        Launch descriptions
+    """
+    args = []
+    args.append(DeclareLaunchArgument(
+        'robot_namespace',
+        default_value='cube_petit'))
+
+    bringup_pkg = pathlib.Path(FindPackageShare('cube_petit_bringup').find('cube_petit_bringup'))
+
+    scan = GroupAction(actions=[IncludeLaunchDescription(PythonLaunchDescriptionSource(
+        str(bringup_pkg / 'launch/include/device/lidar.launch.py')))])
+    # realsense_camera
+    # rear_camera
+    # imu
+
+    return LaunchDescription(args + [
+        scan,
+    ])

cube_petit_bringup/launch/include/device/lidar.launch.py

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+#!/usr/bin/env python
+# -*- coding:utf-8 -*-
+
+# Copyright (c) 2022 SoftBank Corp.
+#
+# 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.
+#
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+
+# def launch_setup(context: LaunchContext, *args, **kwargs) -> list:
+#     bringup_pkg = pathlib.Path(FindPackageShare('cube_petit_bringup').find('cube_petit_bringup'))
+#     laser_filter = bringup_pkg / 'config/sensors' / LaunchConfiguration('yaml_file').perform(context)
+#     topic = LaunchConfiguration('scan_topic').perform(context)
+#     with open(laser_filter) as f:
+#         laser_filter_params = yaml.safe_load(f)
+#     return [Node(package='laser_filters', executable='scan_to_scan_filter_chain',
+#                  name=['lh_laser_node_', LaunchConfiguration('name'), '_filter'],
+#                  remappings=[('scan', f'{topic}_raw'), ('scan_filtered', topic)],
+#                  parameters=[laser_filter_params])]
+
+
+def generate_launch_description() -> LaunchDescription:
+    """Generate launch descriptions.
+
+    Returns:
+        Launch descriptions
+    """
+    args = []
+    args.append(DeclareLaunchArgument(
+        'name',
+        default_value='pacecat'))
+    args.append(DeclareLaunchArgument(
+        'port',
+        default_value='/dev/ttyLDS50C'))
+    args.append(DeclareLaunchArgument(
+        'frame',
+        default_value='pacecat_laser_link'))
+    args.append(DeclareLaunchArgument(
+        'scan_topic',
+        default_value='pacecat_scan'))
+    args.append(DeclareLaunchArgument(
+        'yaml_file',
+        default_value='lidar_scan_filter.yaml'))
+
+    ldlidar_node = Node(
+        package='ldlidar_stl_ros2',
+        executable='ldlidar_stl_ros2_node',
+        name='LD06',
+        output='screen',
+        parameters=[
+            {'product_name': 'LDLiDAR_LD06'},
+            {'topic_name': 'scan'},
+            {'frame_id': 'base_laser'},
+            {'port_name': '/dev/ttyLD06-19'},
+            {'port_baudrate': 230400},
+            {'laser_scan_dir': True},
+            {'enable_angle_crop_func': False},
+            # {'angle_crop_min': 135.0},
+            # {'angle_crop_max': 225.0}
+        ]
+    )
+
+    # base_link to base_laser tf node
+    base_link_to_laser_tf_node = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='base_link_to_base_laser_ld19',
+        arguments=['0', '0', '0.18', '0', '0', '0', 'base_link', 'ld19_link']
+    )
+
+    return LaunchDescription(args + [
+        # laser,
+        # OpaqueFunction(function=launch_setup),
+        ldlidar_node,
+        base_link_to_laser_tf_node,
+    ])