 |
| App Chooserでのアプリ選択画面 |
 |
| センサ初期化待ち |
 |
| 傾けた時の画面。ドロイド君が傾くよ。 |
svn checkout https://otl-ros-pkg.googlecode.com/svn/trunk/otl_android
- display: Tilt Teleop app: otl_android_roomba_app/roomba
.png)
/**
* @license New BSD License
*
*/
package com.ogutti.ros.android.roomba;
import org.ros.message.geometry_msgs.Twist;
import org.ros.message.std_msgs.Bool;
import org.ros.namespace.GraphName;
import org.ros.node.NodeMain;
import org.ros.node.topic.Publisher;
import org.ros.node.Node;
/**
* class for Controlling a roomba by Twist msg
*
*/
public class RoombaControllerNode implements NodeMain {
private Publisher<Twist> velPublisher;
private Publisher<Bool> cleanPublisher;
private Publisher<Bool> dockPublisher;
@Override
public void onShutdown(Node arg0) {
}
@Override
public void onShutdownComplete(Node arg0) {
}
@Override
public void onStart(Node node) {
velPublisher = node.newPublisher("/cmd_vel", "geometry_msgs/Twist");
cleanPublisher = node.newPublisher("/roomba/clean", "std_msgs/Bool");
dockPublisher = node.newPublisher("/roomba/dock", "std_msgs/Bool");
}
@Override
public GraphName getDefaultNodeName() {
return new GraphName("roomba_controller");
}
/**
* start/stop cleaning motor
* @param isOn if true start cleaning, false stop.
*/
public void publishClean(boolean isOn) {
if (cleanPublisher != null) {
Bool msg = new Bool();
msg.data = isOn;
cleanPublisher.publish(msg);
}
}
/**
* Publish roomba's velocity (Vx, Vtheta)
* @param linearX twist.linear.x forward speed [m/s]
* @param angularZ twist.angular.z rotational speed [rad/s]
*/
public void publishVelocity(double linearX, double angularZ) {
if (velPublisher != null) {
Twist vel = new Twist();
vel.linear.x = linearX;
vel.angular.z = angularZ;
velPublisher.publish(vel);
}
}
/**
* start docking
*/
public void publishDock() {
if (dockPublisher != null) {
Bool msg = new Bool();
msg.data = true;
dockPublisher.publish(msg);
}
}
}
/**
* @license New BSD License
*/
package com.ogutti.ros.android.roomba;
import java.text.DecimalFormat;
import java.util.List;
import android.os.Bundle;
import android.view.View.OnClickListener;
import android.widget.Button;
import android.widget.CompoundButton;
import android.widget.CompoundButton.OnCheckedChangeListener;
import android.widget.SeekBar;
import android.widget.SeekBar.OnSeekBarChangeListener;
import android.widget.TextView;
import android.widget.ToggleButton;
import org.ros.address.InetAddressFactory;
import org.ros.android.MessageCallable;
import org.ros.android.RosActivity;
import org.ros.android.views.RosTextView;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import com.ogutti.ros.android.roomba.R;
import org.ros.message.geometry_msgs.Twist;
/**
* MainActivity of this App (roomba controller)
*
*/
public class MainActivity extends RosActivity implements SensorEventListener {
private RosTextView<Twist> rosTextView;
private SensorManager sensorManager;
private RoombaControllerNode controllerNode;
private static final double LINEAR_VELOCITY_RATE = 0.05;
private static final double ANGULAR_VELOCITY_RATE = 0.1;
/**
* 1.0 means max speed, 0.0 means stop always.
*/
private double speedRate;
public MainActivity() {
super("Roomba Controller", "Roomba Controller");
speedRate = 0.5;
}
@SuppressWarnings("unchecked")
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.main);
sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
rosTextView = (RosTextView<Twist>) findViewById(R.id.text);
rosTextView.setTopicName("/cmd_vel");
rosTextView.setMessageType("geometry_msgs/Twist");
rosTextView
.setMessageToStringCallable(new MessageCallable<String, Twist>() {
@Override
public String call(Twist message) {
DecimalFormat df = new DecimalFormat();
df.setMaximumFractionDigits(2);
return "vel_x:\n" + df.format(message.linear.x) + "\n"
+ "vel_theta:\n" + df.format(message.angular.z);
}
});
}
@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
// create ROS nodes
controllerNode = new RoombaControllerNode();
NodeConfiguration nodeConfiguration = NodeConfiguration
.newPublic(InetAddressFactory.newNonLoopback().getHostName());
nodeConfiguration.setMasterUri(this.getMasterUri());
nodeMainExecutor.execute(controllerNode, nodeConfiguration);
nodeMainExecutor.execute(rosTextView, nodeConfiguration);
// set callback for accelerometer
List<Sensor> sensors = sensorManager
.getSensorList(Sensor.TYPE_ACCELEROMETER);
if (sensors.size() > 0) {
Sensor accelerometer = sensors.get(0);
sensorManager.registerListener(this, accelerometer,
SensorManager.SENSOR_DELAY_FASTEST);
} else {
android.util.Log.v("MainActivity", "NOT found sensor!");
}
// set toggle button's callback
ToggleButton tb = (ToggleButton) findViewById(R.id.toggleButton1);
tb.setOnCheckedChangeListener(new OnCheckedChangeListener() {
@Override
public void onCheckedChanged(CompoundButton buttonView,
boolean isChecked) {
controllerNode.publishClean(isChecked);
}
});
// set seekbar callback.
SeekBar seekBar = (SeekBar) findViewById(R.id.seekBar1);
final TextView tv1 = (TextView) findViewById(R.id.textView1);
seekBar.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
public void onProgressChanged(SeekBar seekBar, int progress,
boolean fromUser) {
tv1.setText("Speed:" + progress + "%");
speedRate = progress * 0.01f;
}
@Override
public void onStartTrackingTouch(SeekBar seekBar) {
}
@Override
public void onStopTrackingTouch(SeekBar seekBar) {
}
});
Button dockButton = (Button) findViewById(R.id.button1);
dockButton.setOnClickListener(new OnClickListener() {
@Override
public void onClick(android.view.View v) {
controllerNode.publishDock();
}
});
}
@Override
protected void onResume() {
super.onResume();
}
@Override
protected void onStop() {
super.onStop();
sensorManager.unregisterListener(this);
}
@Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
/**
* callback of sensor change(accelerometer)
*/
@Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
double linearX = event.values[1] * -LINEAR_VELOCITY_RATE * speedRate;
double angularZ = event.values[0] * ANGULAR_VELOCITY_RATE * speedRate;
if (Math.abs(linearX) < LINEAR_VELOCITY_RATE) {
linearX = 0.0d;
}
if (Math.abs(angularZ) < ANGULAR_VELOCITY_RATE) {
angularZ = 0.0d;
}
controllerNode.publishVelocity(linearX, angularZ);
}
}
}
ParameterTree params = node.newParameterTree();
boolean foo = params.getBoolean("/foo");
int bar = params.getInteger("/bar", 42 /* default value */);
double baz = params.getDouble("/foo/baz");
params.set("/bloop", "Hello, world!");
String helloWorld = params.getString("/bloop");
List<Integer> numbers = params.getList("/numbers");
Map<String, String> strings = params.getMap("/strings");
params.addParameterListener("/foo/bar", new ParameterListener() {
@Override
public void onNewValue(Object value) {
...
}
});
/*
* rosjava service client sample
*/
package org.ros.tutorials.service;
import org.apache.commons.logging.Log;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.service.ServiceClient;
import org.ros.node.service.ServiceResponseListener;
import org.ros.exception.RemoteException;
import org.ros.service.test_ros.AddTwoInts;
import org.ros.namespace.GraphName;
// add for parameter
import org.ros.node.parameter.ParameterTree;
/*
* @author OTL
*/
public class Client implements NodeMain {
@Override
public GraphName getDefaultNodeName() {
return new GraphName("rosjava_tutorial_service/client");
}
@Override
public void onStart(Node node) {
try {
ServiceClient<AddTwoInts.Request, AddTwoInts.Response> client =
node.newServiceClient("/add_two_ints", "test_ros/AddTwoInts");
Thread.sleep(100);
AddTwoInts.Request srv = new AddTwoInts.Request();
// add for parameter
ParameterTree params = node.newParameterTree();
srv.a = params.getInteger("/a", 1);
srv.b = params.getInteger("/b", 5);
client.call(srv, new ServiceResponseListener<AddTwoInts.Response>() {
@Override
public void onSuccess(AddTwoInts.Response res) {
log.info("call service success! " + res.sum);
}
@Override
public void onFailure(RemoteException arg) {
log.info("call service fail");
}
});
} catch (Exception e) {
if (node != null) {
node.getLog().fatal(e);
} else {
e.printStackTrace();
}
}
}
@Override
public void onShutdown(Node node) {
}
@Override
public void onShutdownComplete(Node node) {
}
}
ParameterTree params = node.newParameterTree();
srv.a = params.getInteger("/a", 1);
srv.b = params.getInteger("/b", 5);
roscd rosjava_core次にmanifest.xmlのrosjava-pathelementを修正します。
cp -r rosjava_tutorial_pubsub rosjava_tutorial_service
<package>
<description brief="rosjava_tutorial_service">
rosjava_tutorial_service
</description>
<author>OTL</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/rosjava_tutorial_service</url>
<depend package="rosjava" />
<depend package="test_ros" />
<export>
<rosjava-src location="src/main/java" />
<rosjava-pathelement location="target/" groupId="org.ros" artifactId="org.ros.rosjava.tutorials.service" version="0.0.0" built="true" />
</export>
</package>
あとは特に変更の必要はありません。/* rosjava service server sample*/
package org.ros.tutorials.service;
import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.service.ServiceServer;
import org.ros.internal.node.service.ServiceResponseBuilder;
import org.ros.service.test_ros.AddTwoInts;
public class Server implements NodeMain {
@Override
public GraphName getDefaultNodeName() {
return new GraphName("rosjava_tutorial_service/server");
}
@Override
public void onStart(Node node) {
final Log log = node.getLog();
ServiceServer<AddTwoInts.Request, AddTwoInts.Response>
server = node.newServiceServer("/add_two_ints",
"test_ros/AddTwoInts",
new ServiceResponseBuilder<AddTwoInts.Request, AddTwoInts.Response>() {
@Override
public AddTwoInts.Response build(AddTwoInts.Request request) {
AddTwoInts.Response res = new AddTwoInts.Response();
res.sum = request.a + request.b;
log.info("add " + request.a + ", " + request.b);
return res;
}
});
}
@Override
public void onShutdown(Node node) {
}
@Override
public void onShutdownComplete(Node node) {
}
}
/* rosjava service client sample
*/
package org.ros.tutorials.service;
import com.google.common.base.Preconditions;
import org.apache.commons.logging.Log;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.namespace.GraphName;
import org.ros.node.service.ServiceClient;
import org.ros.node.service.ServiceResponseListener;
import org.ros.exception.RemoteException;
import org.ros.service.test_ros.AddTwoInts;
/*
* @author OTL
*/
public class Client implements NodeMain {
@Override
public GraphName getDefaultNodeName() {
return new GraphName("rosjava_tutorial_service/client");
}
@Override
public void onStart(Node node) {
final Log log = node.getLog();
try {
ServiceClient<AddTwoInts.Request, AddTwoInts.Response> client =
node.newServiceClient("/add_two_ints", "test_ros/AddTwoInts");
Thread.sleep(100);
AddTwoInts.Request srv = new AddTwoInts.Request();
srv.a = 5;
srv.b = 1;
client.call(srv, new ServiceResponseListener<AddTwoInts.Response>() {
@Override
public void onSuccess(AddTwoInts.Response res) {
log.info("call service success! " + res.sum);
}
@Override
public void onFailure(RemoteException arg) {
log.info("call service fail");
}
});
} catch (Exception e) {
if (node != null) {
node.getLog().fatal(e);
} else {
e.printStackTrace();
}
}
}
@Override
public void onShutdown(Node node) {
}
@Override
public void onShutdownComplete(Node node) {
}
}
/*
* Copyright (C) 2011 Google 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.
*/
package org.ros.tutorials.pubsub;
import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
/**
* This is a simple rosjava {@link Subscriber} {@link Node}. It assumes an
* external roscore is already running.
*
* @author damonkohler@google.com (Damon Kohler)
*/
public class Listener implements NodeMain {
@Override
public GraphName getDefaultNodeName() {
return new GraphName("rosjava_tutorial_pubsub/listener");
}
@Override
public void onStart(Node node) {
final Log log = node.getLog();
Subscriber<org.ros.message.std_msgs.string> subscriber =
node.newSubscriber("chatter", "std_msgs/String");
subscriber.addMessageListener(new MessageListener<org.ros.message.std_msgs.string>() {
@Override
public void onNewMessage(org.ros.message.std_msgs.String message) {
log.info("I heard: \"" + message.data + "\"");
}
});
}
@Override
public void onShutdown(Node node) {
}
@Override
public void onShutdownComplete(Node node) {
}
}
Subscriber<org.ros.message.std_msgs.String> subscriber =
node.newSubscriber("chatter", "std_msgs/String");
subscriber.addMessageListener(new MessageListener<org.ros.message.std_msgs.String>() {
@Override
public void onNewMessage(org.ros.message.std_msgs.String message) {
log.info("I heard: \"" + message.data + "\"");
}
});
public interface MessageListener{ void onNewMessage(T message); }
/*
* Copyright (C) 2011 Google 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.
*/
import org.ros.concurrent.CancellableLoop;
import org.ros.namespace.GraphName;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.topic.Publisher;
/**
* A simple {@link Publisher} {@link Node}.
*
* @author damonkohler@google.com (Damon Kohler)
*/
public class Talker implements NodeMain {
@Override
public GraphName getDefaultNodeName() {
return new GraphName("rosjava_tutorial_pubsub/talker");
}
@Override
public void onStart(final Node node) {
final Publisher<org.ros.message.std_msgs.String> publisher =
node.newPublisher("chatter", "std_msgs/String");
// This CancellableLoop will be canceled automatically when the Node shuts
// down.
node.executeCancellableLoop(new CancellableLoop() {
private int sequenceNumber;
@Override
protected void setup() {
sequenceNumber = 0;
}
@Override
protected void loop() throws InterruptedException {
org.ros.message.std_msgs.String str = new org.ros.message.std_msgs.String();
str.data = "Hello world! " + sequenceNumber;
publisher.publish(str);
sequenceNumber++;
Thread.sleep(1000);
}
});
}
@Override
public void onShutdown(Node node) {
}
@Override
public void onShutdownComplete(Node node) {
}
}
public interface NodeMain extends NodeListener {
/**
* @return the name of the {@link Node} that will be used if a name was not
* specified in the {@link Node}'s associated
* {@link NodeConfiguration}
*/
GraphName getDefaultNodeName();
}
public interface NodeListener {
void onStart(Node node);
void onShutdown(Node node);
void onShutdownComplete(Node node);
}
ということで、Nodeスタート時にonStartが呼ばれ、終了開始時にonShutdownが呼ばれ、終了後にonShutdownCompleteが呼ばれるようです。Publisher<org.ros.message.std_msgs.String> publisher = node.newPublisher("chatter", "std_msgs/String");
roscd rosjava_tutorial_pubsub
rosmake
roscore
rosrun rosjava_bootstrap run.py rosjava_tutorial_pubsub org.ros.tutorials.pubsub.Talker
rostopic echo /chatter
data: Hello world! 1
---
data: Hello world! 2
---
data: Hello world! 3
rosrun rosjava_bootstrap run.py rosjava_tutorial_pubsub org.ros.tutorials.pubsub.Listener
2012/01/12 23:56:05 org.ros.internal.node.RosoutLogger info
情報: I heard: "Hello world! 84"
2012/01/12 23:56:06 org.ros.internal.node.RosoutLogger info
情報: I heard: "Hello world! 85"
2012/01/12 23:56:07 org.ros.internal.node.RosoutLogger info
情報: I heard: "Hello world! 86"
hg clone https://code.googlecode.com/p/rosjava rosjava_core