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Commit 8e39a9a3 authored by Paul-Winpenny's avatar Paul-Winpenny
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Removed the ros2_testing because it is kind of included in robobin_ws

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ros2_testing/.vscode/c_cpp_properties.json deleted 100644 → 0
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{
"configurations": [
{
"browse": {
"databaseFilename": "${default}",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"/opt/ros/jazzy/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-arm64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14"
}
],
"version": 4
}
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ros2_testing/.vscode/settings.json deleted 100644 → 0
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{
"python.autoComplete.extraPaths": [
"/opt/ros/jazzy/lib/python3.12/site-packages"
],
"python.analysis.extraPaths": [
"/opt/ros/jazzy/lib/python3.12/site-packages"
]
}
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ros2_testing/build/.built_by deleted 100644 → 0
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colcon
ros2_testing/build/COLCON_IGNORE deleted 100644 → 0
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ros2_testing/build/testing/build/lib/testing/__init__.py deleted 100644 → 0
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ros2_testing/build/testing/build/lib/testing/imu_node.py deleted 100644 → 0
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'''#!/usr/bin/env python3'''
#!/home/robobib/robobin_ws/venv/bin/python
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Imu
import smbus
import math
from ahrs.filters import Madgwick
class IMUNode(Node):
def __init__(self):
super().__init__("imusd_node")
self.get_logger().info("hello")
self.publisher = self.create_publisher(Imu, 'imu/data_raw',10)
self.bus = smbus.SMBus(1)
self.DEVICE_ADDRESS = 0x68 # MPU6050 device address
self.mpu_init()
self.filter = Madgwick()
self.orientation = [0.0, 0.0, 0.0, 1.0]
time_period = 0.01
self.timer = self.create_timer(time_period, self.timer_callback)
def mpu_init(self):
PWR_MGMT_1 = 0x6B
SMPLRT_DIV = 0x19
CONFIG = 0x1A
GYRO_CONFIG = 0x1B
ACCEL_CONFIG = 0x1C
INT_ENABLE = 0x38
# Write to sample rate register
self.bus.write_byte_data(self.DEVICE_ADDRESS, SMPLRT_DIV, 7)
# Write to power management register to wake up the MPU6050
self.bus.write_byte_data(self.DEVICE_ADDRESS, PWR_MGMT_1, 1)
# Write to configuration register
self.bus.write_byte_data(self.DEVICE_ADDRESS, CONFIG, 0)
# Write to gyroscope configuration register
self.bus.write_byte_data(self.DEVICE_ADDRESS, GYRO_CONFIG, 24)
# Write to accelerometer configuration register
self.bus.write_byte_data(self.DEVICE_ADDRESS, ACCEL_CONFIG, 0)
# Enable interrupts
self.bus.write_byte_data(self.DEVICE_ADDRESS, INT_ENABLE, 1)
def read_raw_data(self, addr):
# Read two bytes of data from the given address
high = self.bus.read_byte_data(self.DEVICE_ADDRESS, addr)
low = self.bus.read_byte_data(self.DEVICE_ADDRESS, addr+1)
# Combine higher and lower bytes
value = (high << 8) | low
# Convert to signed integer
if value > 32768:
value = value - 65536
return value
def timer_callback(self):
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H = 0x43
GYRO_YOUT_H = 0x45
GYRO_ZOUT_H = 0x47
# Read accelerometer data
acc_x = self.read_raw_data(ACCEL_XOUT_H)
acc_y = self.read_raw_data(ACCEL_YOUT_H)
acc_z = self.read_raw_data(ACCEL_ZOUT_H)
# Read gyroscope data
gyro_x = self.read_raw_data(GYRO_XOUT_H)
gyro_y = self.read_raw_data(GYRO_YOUT_H)
gyro_z = self.read_raw_data(GYRO_ZOUT_H)
ax_offset = 0.01467432
ay_offset = -0.00603101
az_offset = 0.06171924
gx_offset = -0.17447328
gy_offset = 0.08720611
gz_offset = 0.16423664
Ax = (acc_x / 16384.0) - (ax_offset) # Accelerometer sensitivity scale factor
Ay = (acc_y / 16384.0) - (ay_offset)
Az = (acc_z / 16384.0) - (az_offset)
Ax = 9.81*Ax
Ay = 9.81*Ay
Az = 9.81*Az
Gx = (gyro_x / 131.0) - (gx_offset) # Gyroscope sensitivity scale factor
Gy = (gyro_y / 131.0) - (gy_offset)
Gz = (gyro_z / 131.0) - (gz_offset)
Gx = Gx/180 *math.pi
Gy = Gy/180 *math.pi
Gz = Gz/180 *math.pi
self.orientation = self.filter.updateIMU(self.orientation,
[Gx, Gy, Gz],
[Ax/9.81, Ay/9.81, Az/9.81])
imu_msg = Imu()
imu_msg.header.stamp =self.get_clock().now().to_msg()
imu_msg.header.frame_id = 'imu_link'
imu_msg.orientation_covariance[0] = -1.0
imu_msg.angular_velocity.x = Gx
imu_msg.angular_velocity.y = Gy
imu_msg.angular_velocity.z = Gz
imu_msg.linear_acceleration.x = Ax
imu_msg.linear_acceleration.y = Ay
imu_msg.linear_acceleration.z = Az
imu_msg.orientation.x =self.orientation[0]
imu_msg.orientation.y =self.orientation[1]
imu_msg.orientation.z =self.orientation[2]
imu_msg.orientation.w =self.orientation[3]
imu_msg.orientation_covariance = [0.0025, 0, 0,
0, 0.0025, 0,
0, 0, 0.0025]
self.publisher.publish(imu_msg)
def main(args=None):
rclpy.init(args=args)
imu_node = IMUNode()
rclpy.spin(imu_node)
rclpy.shutdown()
if __name__ == '__main__':
main()
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ros2_testing/build/testing/colcon_build.rc deleted 100644 → 0
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ros2_testing/build/testing/colcon_command_prefix_setup_py.sh deleted 100644 → 0
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# generated from colcon_core/shell/template/command_prefix.sh.em
ros2_testing/build/testing/colcon_command_prefix_setup_py.sh.env deleted 100644 → 0
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AMENT_PREFIX_PATH=/home/robobin/robobin_ws/install/testing:/opt/ros/jazzy
CMAKE_PREFIX_PATH=/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor
COLCON=1
COLCON_PREFIX_PATH=/home/robobin/robobin_ws/install
COLORTERM=truecolor
DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1002/bus
DEBUGINFOD_URLS=https://debuginfod.ubuntu.com
DESKTOP_SESSION=ubuntu
DISPLAY=:0
GDMSESSION=ubuntu
GIO_LAUNCHED_DESKTOP_FILE=/usr/share/applications/terminator.desktop
GIO_LAUNCHED_DESKTOP_FILE_PID=3305
GJS_DEBUG_OUTPUT=stderr
GJS_DEBUG_TOPICS=JS ERROR;JS LOG
GNOME_DESKTOP_SESSION_ID=this-is-deprecated
GNOME_SETUP_DISPLAY=:1
GNOME_SHELL_SESSION_MODE=ubuntu
GSM_SKIP_SSH_AGENT_WORKAROUND=true
GTK_MODULES=gail:atk-bridge
HOME=/home/robobin
IM_CONFIG_PHASE=1
INVOCATION_ID=e87884792f444964b769f6d1b1655102
JOURNAL_STREAM=8:20557
LANG=en_US.UTF-8
LC_ALL=en_US.UTF-8
LD_LIBRARY_PATH=/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib
LESSCLOSE=/usr/bin/lesspipe %s %s
LESSOPEN=| /usr/bin/lesspipe %s
LOGNAME=robobin
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:
MANAGERPID=2016
MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure
MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA=
OLDPWD=/home/robobin/robobin_ws/src
PATH=/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
PWD=/home/robobin/robobin_ws/build/testing
PYTHONPATH=/home/robobin/robobin_ws/build/testing:/home/robobin/robobin_ws/install/testing/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages
QT_ACCESSIBILITY=1
QT_IM_MODULE=ibus
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
ROS_DISTRO=jazzy
ROS_PYTHON_VERSION=3
ROS_VERSION=2
SESSION_MANAGER=local/robobin-desktop:@/tmp/.ICE-unix/2228,unix/robobin-desktop:/tmp/.ICE-unix/2228
SHELL=/bin/bash
SHLVL=1
SSH_AUTH_SOCK=/run/user/1002/keyring/ssh
SYSTEMD_EXEC_PID=2258
TERM=xterm-256color
TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
TERMINATOR_UUID=urn:uuid:ddb4ccd5-a07c-443b-bcd1-40a69528d9e9
USER=robobin
USERNAME=robobin
VTE_VERSION=7600
WAYLAND_DISPLAY=wayland-0
XAUTHORITY=/run/user/1002/.mutter-Xwaylandauth.Y52WW2
XDG_ACTIVATION_TOKEN=56665f42-1bb5-466d-8f55-6df020c6c830
XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
XDG_CURRENT_DESKTOP=ubuntu:GNOME
XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
XDG_MENU_PREFIX=gnome-
XDG_RUNTIME_DIR=/run/user/1002
XDG_SESSION_CLASS=user
XDG_SESSION_DESKTOP=ubuntu
XDG_SESSION_TYPE=wayland
XMODIFIERS=@im=ibus
_=/usr/bin/colcon
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/home/robobin/robobin_ws/src/testing/package.xml
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ros2_testing/build/testing/prefix_override/sitecustomize.py deleted 100644 → 0
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import sys
if sys.prefix == '/usr':
sys.real_prefix = sys.prefix
sys.prefix = sys.exec_prefix = '/home/robobin/robobin_ws/install/testing'
ros2_testing/build/testing/resource/testing deleted 120000 → 0
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/home/robobin/robobin_ws/src/testing/resource/testing
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/home/robobin/robobin_ws/src/testing/setup.cfg
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/home/robobin/robobin_ws/src/testing/setup.py
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ros2_testing/build/testing/share/testing/hook/pythonpath_develop.dsv deleted 100644 → 0
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prepend-non-duplicate;PYTHONPATH;/home/robobin/robobin_ws/build/testing
ros2_testing/build/testing/share/testing/hook/pythonpath_develop.ps1 deleted 100644 → 0
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# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/home/robobin/robobin_ws/build/testing"
ros2_testing/build/testing/share/testing/hook/pythonpath_develop.sh deleted 100644 → 0
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
_colcon_prepend_unique_value PYTHONPATH "/home/robobin/robobin_ws/build/testing"
ros2_testing/build/testing/testing deleted 120000 → 0
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/home/robobin/robobin_ws/src/testing/testing
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ros2_testing/build/testing/testing.egg-info/PKG-INFO deleted 100644 → 0
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Metadata-Version: 2.1
Name: testing
Version: 0.0.0
Summary: TODO: Package description
Maintainer: robobin
Maintainer-email: robobin@todo.todo
License: TODO: License declaration
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