Added DC Motor HWI

.gitignore

@@ -2,6 +2,7 @@ build/
 install/
 log/
 .vscode/
+.codex
 
 # Byte-compiled / optimized / DLL files
 __pycache__/

.vscode/settings.json

@@ -0,0 +1,69 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp"
+    }
+}

src/description/ros2_control/science/science.dc.ros2_control.xacro

@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="dc_ros2_control" params="name">
+
+    <ros2_control name="${name}" type="system">
+
+      <hardware>
+        <plugin>dc_ros2_control/DCHardwareInterface</plugin>
+        <param name="update_rate">20</param> <!-- Hz -->
+        <param name="logger_rate">5</param> <!-- Hz -->
+        <param name="logger_state">1</param> <!-- 0 for off, 1 for on -->
+        <param name="can_interface">can0</param>
+        <param name="can_id">0x70</param>
+      </hardware>
+
+      <joint name="dc_auger">
+        <param name="node_id">0</param>
+        <param name="joint_type">revolute</param>
+
+        <param name="gear_ratio">50.9</param>
+        <param name="inverted">true</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="motor_temperature"/>
+        <state_interface name="torque_current"/>
+      </joint>
+
+      <joint name="dc_scoop">
+        <param name="node_id">2</param>
+        <param name="joint_type">revolute</param>
+
+        <param name="gear_ratio">50.9</param>
+        <param name="inverted">true</param>
+        <command_interface name="position"/>
+        <command_interface name="velocity"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="motor_temperature"/>
+        <state_interface name="torque_current"/>
+      </joint>
+
+    </ros2_control>
+
+  </xacro:macro>
+
+</robot>

src/description/ros2_control/science/science.mock.ros2_control.xacro

@@ -55,13 +55,13 @@
                 <state_interface name="velocity"/>
             </joint>
 
-            <joint name="servo_scoop_a">
+            <joint name="scoop_a">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
                 <state_interface name="position"/>
             </joint>
 
-            <joint name="servo_scoop_b">
+            <joint name="scoop_b">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
                 <state_interface name="position"/>

src/description/ros2_control/science/science.servo.ros2_control.xacro

@@ -6,7 +6,7 @@
                 <plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
                 <param name="update_rate">20</param> <!-- Hz -->
                 <param name="logger_rate">5</param> <!-- Hz -->
-                <param name="logger_state">1</param> <!-- 0 for off, 1 for on -->
+                <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
                 <param name="can_interface">can0</param>
                 <param name="can_id">0x80</param>
             </hardware>

src/description/ros2_control/science/science.stepper.ros2_control.xacro

@@ -7,39 +7,37 @@
 
             <hardware>
                 <plugin>stepper_ros2_control/STEPPERHardwareInterface</plugin>
+                <param name="update_rate">10</param> <!-- Hz -->
+                <param name="logger_rate">5</param> <!-- Hz -->
+                <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
+                <param name="can_interface">can0</param>
+                <param name="can_id">0x90</param>
             </hardware>
 
             <joint name="stepper_motor_a">
+                <param name="node_id">0x0</param>
+                <param name="gear_ratio">1</param>
+                <param name="rated_max">20</param>
+                <param name="joint_type">continuous</param>
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
                 <state_interface name="position"/>
-                <param name="initial_position">0.0</param>
                 <state_interface name="velocity"/>
-                <state_interface name="motor_temperature"/>
-                <state_interface name="torque_current"/>
-                <param name="gear_ratio">1</param>
-
-                <!-- TEMPORARY PARAMETERS -->
-                <param name="joint_orientation">1</param>
-
             </joint>
+
             <joint name="stepper_motor_b">
+                <param name="node_id">0x1</param>
+                <param name="gear_ratio">1</param>
+                <param name="rated_max">20</param>
+                <param name="joint_type">continuous</param>
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
                 <state_interface name="position"/>
-                <param name="initial_position">0.0</param>
                 <state_interface name="velocity"/>
-                <state_interface name="motor_temperature"/>
-                <state_interface name="torque_current"/>
-                <param name="gear_ratio">1</param>
-
-                <!-- TEMPORARY PARAMETERS -->
-                <param name="joint_orientation">1</param>
-
             </joint>
 
         </ros2_control>
 
     </xacro:macro>
 
-</robot>
+</robot>

src/description/urdf/athena_science.urdf.xacro

@@ -6,8 +6,9 @@
 
   <xacro:include filename="$(find description)/ros2_control/science/science.mock.ros2_control.xacro"/>
 
-  <xacro:include filename="$(find description)/ros2_control/science/science.stepper.ros2_control.xacro" />
-  <xacro:include filename="$(find description)/ros2_control/science/science.servo.ros2_control.xacro" />
+  <xacro:include filename="$(find description)/ros2_control/science/science.stepper.ros2_control.xacro"/>
+  <xacro:include filename="$(find description)/ros2_control/science/science.servo.ros2_control.xacro"/>
+  <xacro:include filename="$(find description)/ros2_control/science/science.dc.ros2_control.xacro"/>
   <xacro:include filename="$(find description)/ros2_control/science/science.talon.ros2_control.xacro"/>
   <xacro:include filename="$(find description)/ros2_control/science/science.laser.ros2_control.xacro"/>
 
@@ -30,6 +31,9 @@
     <!-- Import servo ros2_control description -->
     <xacro:servo_ros2_control name="servo"/>
 
+    <!-- Import dc ros2_control description -->
+    <xacro:dc_ros2_control name="dc"/>
+
     <!-- Import talon ros2_control description -->
     <xacro:talon_ros2_control name="talon"/>
 

src/hardware_interfaces/dc_ros2_control/CMakeLists.txt

@@ -0,0 +1,70 @@
+cmake_minimum_required(VERSION 3.8)
+project(dc_ros2_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  umdloop_can_library
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+include_directories(include)
+
+add_library(dc_ros2_control SHARED
+  src/dc_hardware_interface.cpp
+)
+
+target_compile_features(dc_ros2_control PUBLIC cxx_std_20)
+
+target_include_directories(dc_ros2_control PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/dc_ros2_control>
+)
+
+# Link umdloop_can_library directly via CMake target (same as servo HWI)
+target_link_libraries(dc_ros2_control PUBLIC umdloop_can_library::umdloop_can_library)
+
+ament_target_dependencies(dc_ros2_control PUBLIC
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+)
+
+# Export hardware plugin
+pluginlib_export_plugin_description_file(hardware_interface dc_hardware_interface.xml)
+
+# Install
+install(
+  DIRECTORY include/
+  DESTINATION include/dc_ros2_control
+)
+
+install(TARGETS dc_ros2_control
+  EXPORT export_dc_ros2_control
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_targets(export_dc_ros2_control)
+ament_export_include_directories(include)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

src/hardware_interfaces/dc_ros2_control/dc_hardware_interface.xml

@@ -0,0 +1,9 @@
+<library path="dc_ros2_control"> <!-- library path which corresponds to cmake. -->
+  <class name="dc_ros2_control/DCHardwareInterface"
+         type="dc_ros2_control::DCHardwareInterface" 
+         base_class_type="hardware_interface::SystemInterface"> <!-- name and type rely on the namespace in the hardware interface. Keep this in mind -->
+    <description>
+      UMDLoop's ros2_control plugin for the DC motors
+    </description>
+  </class>
+</library>