refactor(hardware)!: Migrate Hardware Stack to librmcs v3

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "rmcs_ws/src/rmcs_core/librmcs"]
-	path = rmcs_ws/src/rmcs_core/librmcs
-	url = https://github.com/Alliance-Algorithm/librmcs.git
 [submodule "rmcs_ws/src/fast_tf"]
 	path = rmcs_ws/src/fast_tf
 	url = https://github.com/qzhhhi/FastTF.git

rmcs_ws/src/rmcs_bringup/config/mecanum-hero.yaml

@@ -2,7 +2,7 @@ rmcs_executor:
  ros__parameters:
  update_rate: 1000.0
  components:
- - rmcs_core::hardware::Hero -> hero_hardware
+ - rmcs_core::hardware::MecanumHero -> hero_hardware
 
  - rmcs_core::referee::Status -> referee_status
  - rmcs_core::referee::Command -> referee_command
@@ -27,13 +27,10 @@ rmcs_executor:
  - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
  - rmcs_core::controller::chassis::OmniWheelController -> omni_wheel_controller
 
- # - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer
- # - rmcs_auto_aim::AutoAimController -> auto_aim_controller
-
 hero_hardware:
  ros__parameters:
-usb_pid_top_board: 0xeb37
-usb_pid_bottom_board: 0xc1d3
+board_serial_top_board: "(TODO)"
+board_serial_bottom_board: "(TODO)"
  yaw_motor_zero_point: 61054
  pitch_motor_zero_point: 54062
  external_imu_port: /dev/ttyUSB0
@@ -162,41 +159,3 @@ right_front_wheel_velocity_pid_controller:
  kp: 0.185
  ki: 0.00
  kd: 0.00
-
-auto_aim_controller:
- ros__parameters:
- # capture
- use_video: false # If true, use video stream instead of camera.
- video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi"
- exposure_time: 3
- invert_image: false
- # identifier
- armor_model_path: "/models/mlp.onnx"
- # pnp
- fx: 1.722231837421459e+03
- fy: 1.724876404292754e+03
- cx: 7.013056440882832e+02
- cy: 5.645821718351237e+02
- k1: -0.064232403853946
- k2: -0.087667493884102
- k3: 0.792381808294582
- # tracker
- armor_predict_duration: 500
- # controller
- gimbal_predict_duration: 100
- yaw_error: 0.02
- pitch_error: 0.06
- shoot_velocity: 28.0
- predict_sec: 0.095
- # etc
- buff_predict_duration: 200
- buff_model_path: "/models/buff_nocolor_v6.onnx"
- omni_exposure: 1000.0
- record_fps: 120
- debug: false # Setup in actual using.Debug mode is used when referee is not ready
- debug_color: 0 # 0 For blue while 1 for red. mine
- debug_robot_id: 4
- debug_buff_mode: false
- record: false
- raw_img_pub: false # Set false in actual use
- image_viewer_type: 0

rmcs_ws/src/rmcs_bringup/config/omni-infantry.yaml

@@ -0,0 +1,119 @@
+rmcs_executor:
+ ros__parameters:
+ update_rate: 1000.0
+ components:
+ - rmcs_core::hardware::OmniInfantry -> infantry_hardware
+
+ - rmcs_core::referee::Status -> referee_status
+ - rmcs_core::referee::Command -> referee_command
+
+ - rmcs_core::referee::command::Interaction -> referee_interaction
+ - rmcs_core::referee::command::interaction::Ui -> referee_ui
+ - rmcs_core::referee::app::ui::Infantry -> referee_ui_infantry
+
+ - rmcs_core::controller::gimbal::SimpleGimbalController -> gimbal_controller
+ - rmcs_core::controller::pid::ErrorPidController -> yaw_angle_pid_controller
+ - rmcs_core::controller::pid::PidController -> yaw_velocity_pid_controller
+ - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller
+
+ - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
+ - rmcs_core::controller::shooting::HeatController -> heat_controller
+ - rmcs_core::controller::shooting::BulletFeederController17mm -> bullet_feeder_controller
+ - rmcs_core::controller::pid::PidController -> left_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> right_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller
+
+ - rmcs_core::controller::chassis::ChassisController -> chassis_controller
+ - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
+ - rmcs_core::controller::chassis::OmniWheelController -> omni_wheel_controller
+
+infantry_hardware:
+ ros__parameters:
+ board_serial: ""
+ yaw_motor_zero_point: 40186
+ pitch_motor_zero_point: 53650
+
+gimbal_controller:
+ ros__parameters:
+ upper_limit: -0.5098
+ lower_limit: 0.2262
+
+yaw_angle_pid_controller:
+ ros__parameters:
+ output_max: 10.0
+ output_min: -10.0
+ measurement: /gimbal/yaw/control_angle_error
+ control: /gimbal/yaw/control_velocity
+ kp: 15.0
+ ki: 0.0
+ kd: 0.0
+
+yaw_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/yaw/velocity_imu
+ setpoint: /gimbal/yaw/control_velocity
+ control: /gimbal/yaw/control_torque
+ kp: 40.0
+ ki: 0.001
+ kd: 0.01
+
+pitch_angle_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/pitch/control_angle_error
+ control: /gimbal/pitch/control_velocity
+ kp: 20.0
+ ki: 0.0
+ kd: 0.1
+
+friction_wheel_controller:
+ ros__parameters:
+ friction_wheels:
+ - /gimbal/left_friction
+ - /gimbal/right_friction
+ friction_velocities:
+ - 660.0
+ - 660.0
+ friction_soft_start_stop_time: 1.0
+
+heat_controller:
+ ros__parameters:
+ heat_per_shot: 10000
+ reserved_heat: 10000
+
+bullet_feeder_controller:
+ ros__parameters:
+ bullets_per_feeder_turn: 8.0
+ shot_frequency: 20.0
+ safe_shot_frequency: 10.0
+ eject_frequency: 10.0
+ eject_time: 0.05
+ deep_eject_frequency: 5.0
+ deep_eject_time: 0.20
+ single_shot_max_stop_delay: 2.0
+
+left_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/left_friction/velocity
+ setpoint: /gimbal/left_friction/control_velocity
+ control: /gimbal/left_friction/control_torque
+ kp: 0.003436926
+ ki: 0.0
+ kd: 0.009373434
+
+right_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/right_friction/velocity
+ setpoint: /gimbal/right_friction/control_velocity
+ control: /gimbal/right_friction/control_torque
+ kp: 0.003436926
+ ki: 0.0
+ kd: 0.009373434
+
+bullet_feeder_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/bullet_feeder/velocity
+ setpoint: /gimbal/bullet_feeder/control_velocity
+ control: /gimbal/bullet_feeder/control_torque
+ kp: 1.583
+ ki: 0.0
+ kd: 0.0

rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml

@@ -26,13 +26,10 @@ rmcs_executor:
  - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
  - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller
 
- # - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer
- # - rmcs_auto_aim::AutoAimController -> auto_aim_controller
-
 steeringInfantry_hardware:
  ros__parameters:
-usb_pid_top_board: 0x93ac
-usb_pid_bottom_board: 0x488d
+board_serial_top_board: "(TODO)"
+board_serial_bottom_board: "(TODO)"
  yaw_motor_zero_point: 32285
  pitch_motor_zero_point: 6321
  left_front_zero_point: 7848
@@ -129,41 +126,3 @@ steering_wheel_controller:
  k1: 2.958580e+00
  k2: 3.082190e-03
  no_load_power: 11.37
-
-auto_aim_controller:
- ros__parameters:
- # capture
- use_video: false # If true, use video stream instead of camera.
- video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi"
- exposure_time: 3
- invert_image: false
- # identifier
- armor_model_path: "/models/mlp.onnx"
- # pnp
- fx: 1.722231837421459e+03
- fy: 1.724876404292754e+03
- cx: 7.013056440882832e+02
- cy: 5.645821718351237e+02
- k1: -0.064232403853946
- k2: -0.087667493884102
- k3: 0.792381808294582
- # tracker
- armor_predict_duration: 500
- # controller
- gimbal_predict_duration: 100
- yaw_error: -0.02
- pitch_error: 0.01
- shoot_velocity: 21.0
- predict_sec: 0.050
- # etc
- buff_predict_duration: 200
- buff_model_path: "/models/buff_nocolor_v6.onnx"
- omni_exposure: 1000.0
- record_fps: 120
- debug: false # Setup in actual using.Debug mode is used when referee is not ready
- debug_color: 0 # 0 For blue while 1 for red. mine
- debug_robot_id: 4
- debug_buff_mode: false
- record: true
- raw_img_pub: false # Set false in actual use
- image_viewer_type: 0

rmcs_ws/src/rmcs_core/CMakeLists.txt

@@ -1,36 +1,42 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.24)
 project(rmcs_core)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c11")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20")
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-packed-bitfield-compat")
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-O2 -Wall -Wextra -Wpedantic)
 endif()
 
-find_package (ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies ()
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+include(FetchContent)
+set(BUILD_STATIC_LIBRMCS ON CACHE BOOL "Build static librmcs SDK" FORCE)
+FetchContent_Declare(
+ librmcs
+ URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.0.0/librmcs-sdk-src-3.0.0.zip
+ URL_HASH SHA256=b39f51c21baacdcbf3f0176119b8850137a108b88a67e12395d37d89e5ef53e8
+ DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+)
+FetchContent_MakeAvailable(librmcs)
 
-file(GLOB_RECURSE PROJECT_SOURCE CONFIGURE_DEPENDS
+file(GLOB_RECURSE PROJECT_SOURCE CONFIGURE_DEPENDS
  ${PROJECT_SOURCE_DIR}/src/*.cpp
  ${PROJECT_SOURCE_DIR}/src/*.c
 )
 
-ament_auto_add_library(
+ament_auto_add_library(
  ${PROJECT_NAME} SHARED
  ${PROJECT_SOURCE}
 )
 
 include_directories(${PROJECT_SOURCE_DIR}/include)
 include_directories(${PROJECT_SOURCE_DIR}/src)
-include_directories(${PROJECT_SOURCE_DIR}/librmcs)
-
-include_directories(SYSTEM "/usr/include/libusb-1.0")
-
-target_link_libraries(${PROJECT_NAME} -lusb-1.0)
+target_link_libraries(${PROJECT_NAME} PRIVATE librmcs-sdk)
 
 pluginlib_export_plugin_description_file(rmcs_executor plugins.xml)
 
-ament_auto_package()
+ament_auto_package()