First commit.

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ros_whill)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  roscpp
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   msgWhillModelC.msg
+   msgWhillSpeedProfile.msg
+   msgWhillSetJoystick.msg
+ )
+
+## Generate services in the 'srv' folder
+ add_service_files(
+   FILES
+   srvSetSpeedProfile.srv
+   srvSetPower.srv
+   srvSetBatteryVoltageOut.srv
+ )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+ )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ros_whill
+#  CATKIN_DEPENDS message_generation roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/ros_whill.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ros_whill_node.cpp)
+add_executable(whill_modelc_publisher src/whill_modelc_publisher.cpp src/whill_modelc/uart.cpp src/whill_modelc/com_whill.cpp)
+add_executable(whill_modelc_controller src/whill_modelc_controller.cpp src/whill_modelc/uart.cpp src/whill_modelc/com_whill.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(whill_modelc_publisher ${PROJECT_NAME}_generate_messages_cpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(whill_modelc_controller ${PROJECT_NAME}_generate_messages_cpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+target_link_libraries(whill_modelc_publisher ${catkin_LIBRARIES})
+target_link_libraries(whill_modelc_controller ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_whill.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

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+# ros_whill
+<img src="https://user-images.githubusercontent.com/20053970/45531217-981ce300-b829-11e8-8253-a1961eb58897.png" width=30%>
+
+## Overview
+This ROS package provides a ROS node that communicates with WHILL Model CR by RS232C data line.
+
+
+## Supported Hardware
+WHILL Model CR (Normal Model C does not support serial communication.)
+
+## Getting Started
+There are launch file for this node:
+```
+roslaunch ros_whill whill_modelc.launch
+```
+
+### Published Topics:
+/whill_modelc_msg
+
+### Parameters:
+port (string, default: "/dev/ttyUSB0") Serial port.

launch/whill_modelc.launch

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+<launch>
+    <node pkg="ros_whill" type="whill_modelc_controller" name="whill_modelc_controller" output="screen"/>
+    <node pkg="ros_whill" type="whill_modelc_publisher" name="whill_modelc_publisher" output="screen" />
+</launch>
+

msg/msgWhillModelC.msg

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+float32 acc_x
+float32 acc_y
+float32 acc_z
+float32 gyr_x
+float32 gyr_y
+float32 gyr_z
+int32 joy_front
+int32 joy_side
+int32 battery_power
+float32 battery_current
+float32 right_motor_angle
+float32 left_motor_angle
+float32 right_motor_speed
+float32 left_motor_speed
+int32 power_on
+int32 speed_mode_indicator
+int32 error

msg/msgWhillSetJoystick.msg

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+int64 front
+int64 side

msg/msgWhillSpeedProfile.msg

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+int64 s1
+int64 fm1
+int64 fa1
+int64 fd1
+int64 rm1
+int64 ra1
+int64 rd1
+int64 tm1
+int64 ta1
+int64 td1
+

package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_whill</name>
+  <version>0.0.0</version>
+  <description>The ros_whill package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="shirai@whill.jp">Shirai</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_whill</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

script/teleop_whill.py

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+#!/usr/bin/python
+# -*- coding: utf-8 -*-
+
+import rospy
+import readchar
+from whill.msg import msgWhillSetJoystick
+
+
+def main():
+
+    rospy.init_node('teleop_whill', anonymous=True)
+    rospy.loginfo('teleop_whill: start')
+
+    teleop_pub = rospy.Publisher('whill_setjoystick', msgWhillSetJoystick, queue_size=10)
+
+    rospy.loginfo("teleop command -> forward:'w', backward:'x', left:'a', right:'d', kill:'k'")
+    front_val = 10 # TODO to parameter
+    back_val = -10
+    left_val = -20
+    right_val = 20
+
+    r = rospy.Rate(10.0)
+    while not rospy.is_shutdown():
+        msg = msgWhillSetJoystick()
+        msg.front = 0
+        msg.side = 0
+
+        key = readchar.readchar()
+        if key == 'w':
+            msg.front = front_val
+        elif key == 'x':
+            msg.front = back_val
+        elif key == 'a':
+            msg.side = left_val
+        elif key == 'd':
+            msg.side = right_val
+        elif key == 'k':
+            break
+
+        if msg.front != 0 or msg.side != 0:
+            teleop_pub.publish(msg)
+
+            r.sleep()
+
+if __name__ == '__main__':
+    main()