Code refactor (#4)

* Initial refactoring. More work needed

* Fixed imports

* Added razor imu to sub_init

* Added gitignore and made into package

.gitattributes

@@ -0,0 +1,2 @@
+*.avi filter=lfs diff=lfs merge=lfs -text
+*.csv filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,4 @@
+__pycache__
+*.egg-info
+*.pyc
+*.pyo

CMakeLists.txt

@@ -0,0 +1,198 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(robosub)
+
+## 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
+  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 exec_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 exec_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
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.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 exec_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 robosub
+#  CATKIN_DEPENDS 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/${PROJECT_NAME}/robosub.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/robosub_node.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} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${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_robosub.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

@@ -1,2 +1,8 @@
 # sub-controls
 The code for the the control system for our autonomous sub. 
+
+# Installation
+To actually install the code, you need to have Python 2.7 and ROS Kinetic installed. We run this on our NVIDIA Jetson TX1. Then you must do `pip install -e controls/` which will install our `robosub` module.
+
+# Running
+Call `python robosub/sub_init.py` which will open up a REPL loop. Read its documentation to learn more.

mavlink-programs/change_flight_mode.py

@@ -0,0 +1,51 @@
+
+
+# Import mavutil
+from pymavlink import mavutil
+
+# Create the connection
+master = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
+print("connection established")
+# Wait a heartbeat before sending commands
+#master.wait_heartbeat()
+#print("heartbeat")
+# Choose a mode
+mode = 'STABILIZE'
+
+# Check if mode is available
+if mode not in master.mode_mapping():
+    print('Unknown mode : {}'.format(mode))
+    print('Try:', list(master.mode_mapping().keys()))
+    exit(1)
+
+# Get mode ID
+mode_id = master.mode_mapping()[mode]
+print(mode_id)
+# Set new mode
+# master.mav.command_long_send(
+#    master.target_system, master.target_component,
+#    mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
+#    0, mode_id, 0, 0, 0, 0, 0) or:
+# master.set_mode(mode_id) or:
+master.mav.set_mode_send(
+    master.target_system,
+    mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
+    mode_id)
+print("command sent")
+# Check ACK
+ack = False
+while not ack:
+    # Wait for ACK command
+    ack_msg = master.recv_match(type='COMMAND_ACK', blocking=True)
+    ack_msg = ack_msg.to_dict()
+    print(ack)
+print(ack)
+    # Check if command in the same in `set_mode`
+    if ack_msg['command'] != mavutil.mavlink.MAVLINK_MSG_ID_SET_MODE:
+        continue
+    else:
+        print("change failed")
+
+    # Print the ACK result !
+    print(mavutil.mavlink.enums['MAV_RESULT'][ack_msg['result']].description)
+    break

mavlink-programs/change_flight_mode.py.save

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+# Import mavutil
+from pymavlink import mavutil
+
+# Create the connection
+master = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
+print("connection established")
+# Wait a heartbeat before sending commands
+master.wait_heartbeat()
+print("heartbeat")
+# Choose a mode
+mode = 'STABILIZE'
+
+# Check if mode is available
+if mode not in master.mode_mapping():
+    print('Unknown mode : {}'.format(mode))
+    print('Try:', list(master.mode_mapping().keys()))
+    exit(1)
+# Get mode ID
+mode_id = master.mode_mapping()[mode]
+print(mode_id)
+# Set new mode
+# master.mav.command_long_send(
+#    master.target_system, master.target_component,
+#    mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
+#    0, mode_id, 0, 0, 0, 0, 0) or:
+# master.set_mode(mode_id) or:
+master.mav.set_mode_send(
+    master.target_system,
+    mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
+    mode_id)
+print("command sent")
+# Check ACK
+ack = False
+while not ack:
+    # Wait for ACK command
+    ack_msg = master.recv_match(type='COMMAND_ACK', blocking=True)
+    ack_msg = ack_msg.to_dict()
+
+    # Check if command in the same in `set_mode`
+    if ack_msg['command'] != mavutil.mavlink.MAVLINK_MSG_ID_SET_MODE:
+        continue
+    else:
+        print("change failed")
+
+    # Print the ACK result !
+    print(mavutil.mavlink.enums['MAV_RESULT'][ack_msg['result']].description)
+    break

mavlink-programs/change_flight_mode.py.save.1

@@ -0,0 +1,51 @@
+
+
+# Import mavutil
+from pymavlink import mavutil
+
+# Create the connection
+master = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
+print("connection established")
+# Wait a heartbeat before sending commands
+#master.wait_heartbeat()
+#print("heartbeat")
+# Choose a mode
+mode = 'STABILIZE'
+
+# Check if mode is available
+if mode not in master.mode_mapping():
+    print('Unknown mode : {}'.format(mode))
+    print('Try:', list(master.mode_mapping().keys()))
+    exit(1)
+
+# Get mode ID
+mode_id = master.mode_mapping()[mode]
+print(mode_id)
+# Set new mode
+# master.mav.command_long_send(
+#    master.target_system, master.target_component,
+#    mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
+#    0, mode_id, 0, 0, 0, 0, 0) or:
+# master.set_mode(mode_id) or:
+master.mav.set_mode_send(
+    master.target_system,
+    mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
+    mode_id)
+print("command sent")
+# Check ACK
+ack = False
+while not ack:
+    # Wait for ACK command
+    ack_msg = master.recv_match(type='COMMAND_ACK', blocking=True)
+    ack_msg = ack_msg.to_dict()
+    print("waiting..")
+    # Check if command in the same in `set_mode`
+print(
+    if ack_msg['command'] != mavutil.mavlink.MAVLINK_MSG_ID_SET_MODE:
+        continue
+    else:
+        print("change failed")
+
+    # Print the ACK result !
+    print(mavutil.mavlink.enums['MAV_RESULT'][ack_msg['result']].description)
+    break