add GCS Rviz config and a basic gimbal joint command publisher

ground_control_station/ros_ws/src/gcs_bringup/rviz/gcs.rviz

@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 555
+    Tree Height: 725
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -47,6 +47,174 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Marker
+          Enabled: true
+          Name: Marker
+          Namespaces:
+            "": true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /robot_1/vdb_mapping/vdb_map_visualization
+          Value: true
+        - Angle Tolerance: 0.10000000149011612
+          Class: rviz_default_plugins/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.10000000149011612
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.30000001192092896
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /robot_1/odometry_conversion/odometry
+          Value: true
+      Enabled: true
+      Name: robot 1
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Marker
+          Enabled: true
+          Name: Marker
+          Namespaces:
+            "": true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /robot_2/vdb_mapping/vdb_map_visualization
+          Value: true
+        - Angle Tolerance: 0.10000000149011612
+          Class: rviz_default_plugins/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.10000000149011612
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.30000001192092896
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /robot_2/odometry_conversion/odometry
+          Value: true
+      Enabled: true
+      Name: robot 2
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Marker
+          Enabled: true
+          Name: Marker
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /robot_3/vdb_mapping/vdb_map_visualization
+          Value: true
+        - Angle Tolerance: 0.10000000149011612
+          Class: rviz_default_plugins/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.10000000149011612
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.30000001192092896
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /robot_3/odometry_conversion/odometry
+          Value: true
+      Enabled: true
+      Name: robot 3
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -93,33 +261,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 10
+      Distance: 19.87488555908203
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: 1.4299687147140503
+        Y: -2.0854718685150146
+        Z: 3.9860916137695312
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
+      Pitch: 0.7503980398178101
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.785398006439209
+      Yaw: 4.923583030700684
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 846
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000035e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000035e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -128,6 +296,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1200
-  X: 72
-  Y: 60
+  Width: 1850
+  X: 70
+  Y: 27

robot/ros_ws/src/autonomy/1_sensors/gimbal_stabilizer/gimbal_stabilizer/gimbal_stabilizer_node.py

@@ -0,0 +1,81 @@
+import threading
+import math
+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import Odometry
+from sensor_msgs.msg import JointState
+from transforms3d.euler import quat2euler
+
+class GimbalStabilizerNode(Node):
+    def __init__(self):
+        super().__init__('gimbal_stabilizer')
+
+        # Publisher to send joint commands
+        self.joint_pub = self.create_publisher(JointState, '/joint_command', 10)
+
+        # Subscriber to receive drone odometry
+        self.create_subscription(Odometry, '/robot_1/odometry_conversion/odometry', self.odometry_callback, 10)
+        self.create_subscription(JointState, '/joint_states', self.joint_callback, 10)
+
+        # Initialize joint state message
+        self.joint_command = JointState()
+        self.joint_command.name = ["yaw_joint","roll_joint", "pitch_joint"]
+        self.joint_command.position = [0.0, 0.0, 0.0]
+
+    def joint_callback(self, msg):
+        # Inverse the drone angles to stabilize the gimbal
+        # self.joint_command.position[0] = -roll  # roll joint
+        # self.joint_command.position[1] = -pitch  # pitch joint
+        # self.joint_command.position[2] = -yaw  # yaw joint
+
+        # self.joint_command.effort = [100000000.0, 100000000.0, 100000000.0]
+
+        # self.joint_command.position[0] = -20.0/180*3.14  # yaw joint
+        # self.joint_command.position[1] = 10.0/180*3.14  # roll joint
+        # self.joint_command.position[2] = 20.0/180*3.14  # pitch joint
+        self.joint_command.velocity = [float('nan'), float('nan'), float('nan')]
+        # self.joint_command.velocity = [-1.0, -1.0, -1.0]
+
+        # Publish the joint command
+        # self.joint_pub.publish(self.joint_command)
+
+    def odometry_callback(self, msg):
+        # Extract quaternion from odometry message
+        orientation_q = msg.pose.pose.orientation
+        quaternion = [
+            orientation_q.w,
+            orientation_q.x,
+            orientation_q.y,
+            orientation_q.z
+        ]
+
+        # Convert quaternion to Euler angles (roll, pitch, yaw)
+        roll, pitch, yaw = quat2euler(quaternion, axes='sxyz')
+
+        # Inverse the drone angles to stabilize the gimbal
+        # self.joint_command.position[0] = -roll  # roll joint
+        # self.joint_command.position[1] = -pitch  # pitch joint
+        # self.joint_command.position[2] = -yaw  # yaw joint
+
+        self.joint_command.position[0] = -0.0/180*3.14  # yaw joint
+        self.joint_command.position[1] = -roll  # roll joint
+        self.joint_command.position[2] = 0.0/180*3.14  # pitch joint
+        self.joint_command.velocity = [float('nan'), float('nan'), float('nan')]
+        self.joint_command.velocity = [-1.0, -1.0, -1.0]
+
+        # Publish the joint command
+        self.joint_pub.publish(self.joint_command)
+
+def main():
+    rclpy.init()
+    node = GimbalStabilizerNode()
+
+    try:
+        rclpy.spin(node)  # Run the node in a single thread
+    except KeyboardInterrupt:
+        pass
+    finally:
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

robot/ros_ws/src/autonomy/1_sensors/gimbal_stabilizer/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>gimbal_stabilizer</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="caomuqing@163.com">airstation-04</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf_transformations</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

robot/ros_ws/src/autonomy/1_sensors/gimbal_stabilizer/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/gimbal_stabilizer
+[install]
+install_scripts=$base/lib/gimbal_stabilizer

robot/ros_ws/src/autonomy/1_sensors/gimbal_stabilizer/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'gimbal_stabilizer'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Your Name',
+    maintainer_email='you@example.com',
+    description='Package for gimbal stabilization using roll, pitch, and yaw from odometry data',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'gimbal_stabilizer_node = gimbal_stabilizer.gimbal_stabilizer_node:main'
+        ],
+    },
+)

robot/ros_ws/src/autonomy/1_sensors/gimbal_stabilizer/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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 ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'