Kinetic

README.md

@@ -1,12 +1,224 @@
 NXT-ROS
 =======
 
-A software stack containing tools to interface LEGO Mindstorms with ROS.
+A software stack containing tools for using LEGO Mindstorms NXT with ROS.
 
-**ROS Electric**  
-Originally developed in 2011, it is no longer maintained.  
-Documentation: [wiki.ros.org/nxt](http://wiki.ros.org/nxt)  
-Code: http://stack-nxt.foote-ros-pkg.googlecode.com/hg  
+This branch depends on:<br> 	&#8226; ROS Kinetic<br> &#8226; Python 2.x<br> &#8226; NXT-Python v2.2.2  
 
-**ROS Fuerte**  
-Forked from http://stack-nxt.foote-ros-pkg.googlecode.com/hg  
+Originally forked from: http://stack-nxt.foote-ros-pkg.googlecode.com/hg  
+
+.
+
+###Documentation  
+Installation instructions are in this README file.  
+
+The original documentation has more detailed information:  
+[wiki.ros.org/nxt](http://wiki.ros.org/nxt)  
+[wiki.ros.org/nxt_robots](http://wiki.ros.org/nxt_robots)  
+[wiki.ros.org/nxt_apps](http://wiki.ros.org/nxt_apps)  
+
+###Package status
+These packages use `rosbuild` and were tested with ROS Kinetic on Ubuntu 16.04.
+
+The following features have been tested:
+
+**nxt** stack:  
+
+ - **nxt_controllers**  
+ - **nxt_description**  
+ - **nxt_lxf2urdf**  
+ - **nxt_msgs**  
+ - **nxt_python**  
+ - **nxt_ros**  
+ - **nxt_ros_test**  
+ - **nxt_rviz_plugin**  
+
+**nxt_robots** stack:  
+ - **nxt_robot_gyro_car**  
+ - **nxt_robot_kit_test**  
+ - **nxt_robot_sensor_car** 
+
+**nxt_apps** stack:  
+ - **nxt_assisted_teleop**  
+ - **nxt_teleop**  
+
+.
+
+
+###Installation
+
+Upgrade the firmware on your NXT brick.  
+The minimum required version is 1.28, but 1.31 is the latest as of Jan 2016.
+
+Clone the Kinetic branch of this repository:  
+> cd ~/  
+> git clone https://github.com/dbworth/NXT-ROS.git --branch kinetic
+
+Copy the 3 stacks into your ROS package path.  
+Note: you only need the `nxt` stack to get started.
+> cp NXT-ROS/nxt $ROS_PACKAGE_PATH  
+> cp NXT-ROS/nxt_robots $ROS_PACKAGE_PATH  
+> cp NXT-ROS/nxt_apps $ROS_PACKAGE_PATH   
+
+**Install dependencies:**  
+
+NXT-Python v2.2.2 is automatically installed in the `/src` directory of the `nxt_python` package when we run `rosmake`.
+
+You can install the other dependencies using the Ubuntu Package Manager or ROSdep:
+> sudo apt-get install ogre-1.9-tools ros-kinetic-bfl libcppunit-dev libcppunit-1.13-0v5 ros-kinetic-joy ros-kinetic-robot-pose-ekf ros-kinetic-costmap-2d ros-kinetic-navigation
+> sudo apt-get install libbluetooth-dev
+> sudo pip install PyBluez PyUSB
+
+Compile the stacks of packages:  
+> rosmake nxt  
+
+Than you will get an *error* while compilling *linest_rviz_plugin*. Thats because of parse error at **"BOOST_JOIN"**. This macros are used to define a namespace name.  
+I don't know what the right way to fix this but I know two ways to solve it:  
+
+1. Add to file, where including file with **"BOOST_JOIN"** inside (like **has_binary_operator.hp**)  
+
+   Example:
+   ```
+   #ifndef Q_MOC_RUN
+   #include <boost/type_traits/detail/has_binary_operator.hp>
+   #endif
+   ```
+
+   But it didn't help me. Mb I used it wrong way.  
+
+2. Compile **nxt** by parts.
+
+   Compile first part of **nxt** with last **libboost**, then downgrade to **1.48** and continue compiling  and then go back to last version and end compiling.
+   > sudo dpkg -P --force-all libboost-all-dev  
+   > sudo dpkg -P --force-all libboost1.58-dev:amd64  
+   > sudo dpkg -P --force-all libboost1.58-tools-dev  
+
+   > rosmake nxt  
+
+   > sudo apt-get update  
+   > sudo apt-get -f install  
+
+   > rosmake nxt  
+
+
+> rosmake nxt_robots  
+> rosmake nxt_apps  
+
+**Set the USB permissions:**
+
+Add a new group:
+> sudo groupadd lego
+
+Add yourself to that group:
+> sudo usermod -a -G lego USERNAME
+
+For Ubuntu versions before 12.0, create a udev rules file for the lego group that you just created:  
+> echo "BUS==\"usb\", ATTRS{idVendor}==\"0694\", GROUP=\"lego\", MODE=\"0660\"" > /tmp/70-lego.rules && sudo mv /tmp/70-lego.rules /etc/udev/rules.d/70-lego.rules
+
+Restart udev:
+> sudo system
+
+Log-out or restart your computer.
+
+
+###Test the installation:  
+
+Connect your NXT Brick to the computer via USB cable.  
+You can run this utility to display information about your Brick:  
+> $ rosrun nxt_python nxt_test
+
+You should see the following output:  
+```
+NXT brick name: MyBrick
+Host address: 00:16:00:00:D3:00
+Bluetooth signal strength: 0
+Free user flash: 25872
+Protocol version 1.124
+Firmware version 1.31
+Battery level 7602 mV
+```
+
+**nxt** stack:  
+
+Connect a touch sensor to port 1.  
+> roscore  
+> rosrun nxt_python touch_sensor_test.py  
+
+When you push the touch sensor, the output on the screen will change.  
+The node automatically exits are 5 seconds.
+
+Now connect a motor to port A.  
+> roslaunch nxt_ros_test test.launch
+
+Check the status of the touch sensor using ROS:  
+> rostopic echo /my_touch_sensor  
+
+When you push the touch sensor, the boolean value published in the ROS msg will change.
+
+Read the position of the motor using ROS:  
+> rostopic echo /joint_states  
+
+When you rotate the motor shaft by hand, the position and velocity values published in the ROS msg will change.
+
+Make the motor rotate using ROS:  
+> rostopic pub /joint_command nxt_msgs/JointCommand '{name: 'motor_joint', effort: 0.8}' --once  
+
+The 'effort' value can be in the range 0.0 to 1.25, with +/- to specify the direction.
+
+To stop the motor, set the effort to 0.0:  
+> rostopic pub /joint_command nxt_msgs/JointCommand '{name: 'motor_joint', effort: 0.0}' --once  
+
+**nxt_robots** stack:  
+
+Connect motors to Port A and Port B of the NXT Brick.  
+Connect an ultrasonic sensor to Port 2.  
+Connect the NXT to your computer.  
+
+> roscore
+
+In a new terminal:  
+> roslaunch nxt_robot_sensor_car robot.launch  
+
+In a new terminal:  
+> rosrun rviz rviz  
+
+In Rviz you'll need to set the Fixed Frame to '/base_link'.  
+Add a RobotModel display so you can visualize the robot.
+
+**nxt_apps** stack:  
+
+In a new terminal:  
+> roslaunch nxt_teleop teleop_keyboard.launch  
+
+or
+> roslaunch nxt_assisted_teleop assisted_teleop.launch  
+
+
+Use the arrow keys to control the motors.  
+
+You can also use a joystick.  
+Configure the joystick using the instructions here:  
+http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick
+
+> roslaunch nxt_teleop teleop_joy.launch
+
+With the Microsoft XBox 360 joystick, you need to hold down the top-left button. The left joystick controls turning, the right joystick goes forward.  
+
+**MotorControl** firmware:  
+
+[MotorControl](http://www.mindstorms.rwth-aachen.de/trac/wiki/MotorControl) is a program that can be optionally installed on your NXT Brick to provide more accurate control of the motors using python. Instead of sending commands directly to the motor, you send commands to the onboard controller which tracks the status of the motors.
+
+Copy the MotorControl program to your NXT Brick.  
+You must first change to the directory containing the *.rxe file:  
+> roscd nxt_python/src/MotorControl/  
+
+Connect to your Brick via USB cable and transfer the program binary:
+
+> rosrun nxt_python nxt_push MotorControl22.rxe
+
+Test the controller using the provided test script:
+> roscore  
+> rosrun nxt_python motor_cont_test.py  
+
+
+=============

nxt/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro.  This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.2)

nxt/Makefile

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+include $(shell rospack find mk)/cmake_stack.mk

nxt/nxt_controllers/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

nxt/nxt_controllers/Makefile

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+include $(shell rospack find mk)/cmake.mk

nxt/nxt_controllers/manifest.xml

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+<package>
+  <description brief="nxt_controllers">
+    The nxt_controllers package provides a number of Python-based
+     controllers for two-wheeled diff drive robots. The base
+     controllers allows you to send velocity commands to a diff drive
+     base, while the base odometry tracks the pose of a diff drive
+     robot. The nxt_controllers package also contains a general
+     purpose joint position controller that commnads a joint to a
+     desired position by sending effort commands to the joint and
+     reading the joint encoders.
+  </description>
+  <author>Wim Meeussen</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/nxt_controllers</url>
+
+  <depend package="rospy" />
+  <depend package="sensor_msgs" />
+  <depend package="tf" />
+  <depend package="tf_conversions" />
+  <depend package="nxt_msgs" />
+  <depend package="nav_msgs" />
+  <depend package="orocos_kdl" />
+
+</package>
+
+