Fix from driver_base to iri_base_driver. Other structure changes

CMakeLists.txt

 cmake_minimum_required(VERSION 2.8.3)
-project(iri_segway_rmp200)
+project(iri_segway_rmp200_driver)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

cfg/SegwayRMP200.cfg

@@ -33,7 +33,7 @@
 
 PACKAGE='iri_segway_rmp200'
 
-from driver_base.msg import SensorLevels
+from iri_base_driver.msg import SensorLevels
 from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()

config/iri_segway_rmp200.vcg

-Background\ ColorR=0.0941176
-Background\ ColorG=0
-Background\ ColorB=0.466667
-Fixed\ Frame=/base_link
-Target\ Frame=/base_link
-Grid.Alpha=0.5
-Grid.Cell\ Size=1
-Grid.ColorR=0.898039
-Grid.ColorG=0.898039
-Grid.ColorB=0.898039
-Grid.Enabled=1
-Grid.Line\ Style=0
-Grid.Line\ Width=0.03
-Grid.Normal\ Cell\ Count=0
-Grid.OffsetX=10
-Grid.OffsetY=10
-Grid.OffsetZ=0
-Grid.Plane=0
-Grid.Plane\ Cell\ Count=23
-Grid.Reference\ Frame=<Fixed Frame>
-Robot\ Model.Alpha=0.8
-Robot\ Model.Collision\ Enabled=0
-Robot\ Model.Enabled=1
-Robot\ Model.Robot\ Description=tibi/robot_description
-Robot\ Model.TF\ Prefix=
-Robot\ Model.Update\ Interval=0
-Robot\ Model.Visual\ Enabled=1
-Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
-Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
-TF.All\ Enabled=1
-TF.Enabled=1
-TF.Frame\ Timeout=15
-TF.Marker\ Scale=1
-TF.Show\ Arrows=0
-TF.Show\ Axes=1
-TF.Show\ Names=1
-TF.Update\ Interval=0
-Tool\ 2D\ Nav\ GoalTopic=goal
-Tool\ 2D\ Pose\ EstimateTopic=initialpose
-Camera\ Type=rviz::OrbitViewController
-Camera\ Config=1.06657 3.62862 5.24714 -0.0820465 -0.535663 0.273504
-Property\ Grid\ State=selection=;expanded=.Global Options,TF.Enabled,TF.Enabled.TF.StatusTopStatus,TF.Enabled.TF.Tree;scrollpos=0,0;splitterpos=227,455;ispageselected=1
-[Display0]
-Name=Grid
-Package=rviz
-ClassName=rviz::GridDisplay
-[Display1]
-Name=Robot Model
-Package=rviz
-ClassName=rviz::RobotModelDisplay
-[Display2]
-Name=TF
-Package=rviz
-ClassName=rviz::TFDisplay

config/iri_segway_rmp200_rviz.vcg

-Background\ ColorB=1
-Background\ ColorG=0
-Background\ ColorR=0
-Camera\ Config=0.726 0.702812 10.1652 -4.08803 -3.83136 -4.95288
-Camera\ Type=rviz::OrbitViewController
-Fixed\ Frame=/base_link
-Grid.Alpha=0.5
-Grid.Cell\ Size=1
-Grid.ColorB=0
-Grid.ColorG=0
-Grid.ColorR=0
-Grid.Enabled=1
-Grid.Line\ Style=0
-Grid.Line\ Width=0.03
-Grid.Normal\ Cell\ Count=0
-Grid.OffsetX=0
-Grid.OffsetY=0
-Grid.OffsetZ=0
-Grid.Plane=0
-Grid.Plane\ Cell\ Count=43
-Grid.Reference\ Frame=<Fixed Frame>
-Property\ Grid\ Splitter=500,78
-Property\ Grid\ State=expanded=.Global Options,.Global Status,Tibi.Enabled,Tibi.Status;splitterratio=0.5
-QMainWindow=000000ff00000000fd00000003000000000000011d0000028bfc0200000001fb000000100044006900730070006c00610079007301000000190000028b000000c300ffffff00000001000001310000028bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000019000000a70000005100fffffffb0000000a0056006900650077007301000000c600000131000000a100fffffffb0000001200530065006c0065006300740069006f006e01000001fd000000a70000005100ffffff00000003000005150000003efc0100000001fb0000000800540069006d00650100000000000005150000021400ffffff000002bb0000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-Robot\:\ Tibi\ Link\ base_linkAlpha=1
-Robot\:\ Tibi\ Link\ base_linkEnabled=1
-Robot\:\ Tibi\ Link\ base_linkShow\ Axes=0
-Robot\:\ Tibi\ Link\ base_linkShow\ Trail=0
-Target\ Frame=<Fixed Frame>
-Tibi.Alpha=1
-Tibi.Collision\ Enabled=0
-Tibi.Enabled=1
-Tibi.Robot\ Description=robot_description
-Tibi.TF\ Prefix=
-Tibi.Update\ Interval=0
-Tibi.Visual\ Enabled=1
-Tool\ 2D\ Nav\ GoalTopic=/goal
-Tool\ 2D\ Pose\ EstimateTopic=initialpose
-[Display0]
-ClassName=rviz::GridDisplay
-Name=Grid
-[Display1]
-ClassName=rviz::RobotModelDisplay
-Name=Tibi
-[Window]
-Height=780
-Width=1317
-X=-8
-Y=-28

config/params.yaml

+velocity_scale_factor:      1.0
+acceleration_scale_factor:  0.25
+turn_rate_scale_factor:     1.0
+current_limit_scale_factor: 1.0
+gain_schedule:              2 
+cmd_vel_watchdog:           2.0 
\ No newline at end of file

launch/ddd_iri_segway_rmp200.launch

-<!-- %Tag(FULL)%-->
-<launch>
-
-
- <!-- iri segway node -->
-  <node respawn="true"
-        pkg="iri_segway_rmp200"
-        type="iri_segway_rmp200"
-        name="iri_segway_rmp200"
-        launch-prefix="xterm -e ddd --args">
-
-    <param name="dev" type="string" value="/dev/input/js0" />
-    <param name="deadzone" value="0.12" />
-  </node>
-
-
-</launch>
-<!-- %EndTag(FULL)%-->

launch/iri_segway_rmp200.launch

-<!-- -->
-<launch>
-
-  <!-- iri segway node -->
-  <!-- published topics: /segway/status -->
-  <!-- subscribed topics: /segway/cmd_vel -->
-  <!-- service clients: -->
-  <!-- service servers: -->
-  <!-- action clients: -->
-  <!-- action servers: -->
-  <node pkg ="iri_segway_rmp200"
-        type="iri_segway_rmp200"
-        name="segway"
-        output="screen"/>
-
-  <!-- segway urdf model -->
-   <param name="robot_description" command="cat $(find iri_segway_rmp200)/model/iri_segway_rmp200.urdf" />
-
-  <!-- robot state publisher node -->
-  <node pkg ="robot_state_publisher"
-        type="state_publisher"
-        name="robot_state_publisher">
-  </node>
-
-</launch>
-

launch/iri_segway_rmp200_test.launch

-<!-- -->
-<launch>
-
-  <!-- iri segway node -->
-  <!-- published topics: /segway/status -->
-  <!-- subscribed topics: /segway/cmd_vel -->
-  <!-- service clients: -->
-  <!-- service servers: -->
-  <!-- action clients: -->
-  <!-- action servers: -->
-  <include file="$(find iri_segway_rmp200)/launch/iri_segway_rmp200.launch">
-  </include>
-
-  <node name="rviz" 
-        pkg="rviz" 
-        type="rviz"
-        args="-d $(find iri_segway_rmp200)/config/iri_segway_rmp200_rviz.vcg" />
-
-</launch>
-

launch/node.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="name" default="robot" />
+  <arg name="config_path" default="$(find iri_segway_rmp200_driver)/config" />
+  <arg name="config_file" default="params.yaml" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+
+  <group ns="$(arg name)">
+    
+    <node pkg ="iri_segway_rmp200_driver"
+          type="iri_segway_rmp200_driver"
+          name="segway_driver"
+          output="$(arg output)"
+          launch-prefix="$(arg launch_prefix)">
+      <rosparam file="$(arg config_path)/$(arg config_file)" command="load" />
+    </node>
+    
+  </group>
+
+</launch>
\ No newline at end of file

launch/tibi_dabo_segway.launch

-<!-- -->
-<launch>
-
-  <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
-  <group ns="$(env ROBOT)">
-
-    <!-- segway rmp 200 -->
-    <!-- published topics: /$(env ROBOT)/segway/status -->
-    <!-- subscribed topics: /$(env ROBOT)/segway/cmd_vel -->
-    <!-- service clients: -->
-    <!-- service servers: -->
-    <!-- action clients: -->
-    <!-- action servers: -->
-    <node pkg ="iri_segway_rmp200"
-          type="iri_segway_rmp200"
-          name="segway"
-          output="screen"
-          machine="nav">
-      <param name="velocity_scale_factor" value="1.0"/>
-      <param name="acceleration_scale_factor" value="0.25"/>
-      <param name="turn_rate_scale_factor" value="1.0"/>
-      <param name="current_limit_scale_factor" value="1.0"/>
-      <param name="gain_schedule" value="2"/> 
-      <param name="cmd_vel_watchdog" value="2.0"/> 
-    </node>
-
-  </group>
-
-</launch>
-

model/iri_segway_rmp200.urdf

@@ -14,5 +14,4 @@
     </visual>
   </link>
 
-</robot>
-
+</robot>
\ No newline at end of file

package.xml

 <?xml version="1.0"?>
 <package>
-  <name>iri_segway_rmp200</name>
+  <name>iri_segway_rmp200_driver</name>
   <version>1.0.0</version>
   <description>Segway RMP200 driver ROS wrapper</description>
 

src/segway_rmp200_driver.cpp

@@ -99,7 +99,7 @@ void SegwayRmp200Driver::config_update(Config& new_cfg, uint32_t level)
     
   try
   {
-    if(this->getState() > SegwayRmp200Driver::CLOSED)
+    if(this->getState() > iri_base_driver::CLOSED)
     {
       segway_->set_velocity_scale_factor(new_cfg.velocity_scale_factor);
       segway_->set_acceleration_scale_factor(new_cfg.acceleration_scale_factor);

src/segway_rmp200_driver_node.cpp

@@ -8,7 +8,8 @@ SegwayRmp200DriverNode::SegwayRmp200DriverNode(ros::NodeHandle &nh) try :
   event_server_ = CEventServer::instance();
 
   //init class attributes if necessary
-  this->loop_rate_ = 50;//in [Hz]
+  double loop_rate = 50;//in [Hz]
+  this->setRate(loop_rate);
 
   // [init publishers]
   this->status_publisher_   = this->public_node_handle_.advertise<iri_segway_rmp_msgs::SegwayRMP200Status>("status", 100);
@@ -43,7 +44,7 @@ void SegwayRmp200DriverNode::mainNodeThread(void)
   {
     case SegwayRmp200Driver::NO_USB:
       ROS_WARN("SegwayRmp200DriverNode: The USB cable has been disconnected");
-      driver_.goClosed();
+      driver_.goState(iri_base_driver::CLOSED);
       break;
 
     case SegwayRmp200Driver::POWER_OFF:
@@ -284,6 +285,6 @@ void SegwayRmp200DriverNode::update_cmd_vel_watchdog(void)
 /* main function */
 int main(int argc,char *argv[])
 {
-  return driver_base::main<SegwayRmp200DriverNode>(argc,argv,"segway_rmp200_driver_node");
+  return iri_base_driver::main<SegwayRmp200DriverNode>(argc,argv,"segway_rmp200_driver_node");
 }