ADDED: naive control implementation from RO2 for a robot roller motor

README.md

@@ -12,16 +12,31 @@
 
 Для управления используется универсальная плата-контроллер, которая может быть использована в вариантах исполнения двигателей разных диаметров (на данный момент 50 мм и 70 мм) со сходными характеристиками обмоток. Контроллер управляется через CAN-интерфейс.
 
-Для удобства изготовления двигателя разработан станок для намотки катушек индуктивности статора. Исходные файлы для производства станка размещены в репозитории [gitlab.com/robossembler/cnc/motor-wire-winder](https://gitlab.com/robossembler/cnc/motor-wire-winder).
-
 ## Описание директорий
 
 - `brd` - KiCAD проект печатной платы контроллера
-- `firmware` - исходный код программы для микроконтроллера
-- `rbs_servo_hardware` - аппаратный интерфейс для ros2_control 
+- `firmware` - исходный код программы для микроконтроллера, инструкция по сборке и загрузке прошивки в `firmware/embed`, тесты для проверки встроенного ПО в `firmware/test`
+- `ros2_environment` - пакеты для управления мотором из ROS 2 с помощью ros2_control
 - `src` - 3D-модели вариантов исполнения мотора: 50 мм, 70 мм, металлическая версия двигателя (не интегрирована с контроллером)
 - `tools` - вспомогательное оборудование для тестирования, испытаний
 
+## Краткая инструкция по изготовлению
+
+### Статор
+
+Для удобства изготовления статоров разработан станок для намотки катушек индуктивности. Исходные файлы для производства станка и инструкции размещены в репозитории [gitlab.com/robossembler/cnc/motor-wire-winder](https://gitlab.com/robossembler/cnc/motor-wire-winder).
+
+### Сборка
+
+1. Вставить 28 магнитов в ротор
+2. Установить подшипник в статор
+3. Установить проставку в статор между подшипником и платой
+4. Припаять плату к обмоткам (схема обмоток приведена ниже) и установить ее в статор
+5. Накрыть плату крышкой
+6. Установить фиксирующий шплинт
+7. Надеть на сборку статора ротор
+8. Подключить разъем программирования XP3 и прошить с помощью ST-Link-совместимого программатора
+
 ## Фото прототипов
 
 Первый прототип изготовленного печатного мотора диаметром 50мм.
@@ -30,4 +45,4 @@
 
 ## Схема намотки для двигателя 70мм
 
-![coil winder schema](img/coil_winder_schema.jpg)
+![coil winder schema](img/coil_winder_schema.jpg)

firmware/embed/README.md

@@ -0,0 +1,20 @@
+# Встроенное ПО для сервипривода на STM32F446RE
+
+## Для разработки
+
+- [Установить platformio](#introduction)
+```bash
+pip install -U platformio
+```
+- [Скомпилировать проект](#build_project)
+```bash
+platformio run --environment robotroller_reborn
+```
+- [Загрузить прошивку](#upload_project)
+```bash
+platformio run --target upload --environment robotroller_reborn 
+```
+- [Открыть монитор UART](#monitor_port)
+```bash
+platformio device monitor
+```

firmware/embed/include/hal_conf_extra.h

@@ -26,7 +26,8 @@
 #define CAN2_RX PB12
 #define CAN1_TX PB9
 #define CAN1_RX PB8
-
+#define GM6208_RESISTANCE 31
+#define OWN_RESISTANCE 26
 #pragma endregion
 
 #if !defined(HAL_CAN_MODULE_ENABLED)

firmware/embed/platformio.ini

@@ -21,7 +21,7 @@ monitor_parity = N
 build_flags = 
 	-DSTM32F446xx
 	-D HAL_CAN_MODULE_ENABLED
-	; -D HAL_TIM_MODULE_ENABLED
+	-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
 lib_deps = 
 	askuric/Simple FOC@^2.3.2
 	pazi88/STM32_CAN@^1.1.0

firmware/embed/src/main.cpp

@@ -68,33 +68,21 @@ void setup_foc(MagneticSensorAS5045 *sensor, BLDCMotor *motor, DRV8313Driver *dr
     motor->initFOC();
 }
 
-uint8_t Counter;
 
 void send_data() {
     // TODO(vanyabeat) add can functionability for ROS packets
-    if (Counter >= 255) {
-        Counter = 0;
-    }
     CAN_TX_msg.id = 1;
-    snprintf(reinterpret_cast<char *>(CAN_TX_msg.buf), sizeof(CAN_TX_msg.buf), "CNT:%d", Counter);
-    CAN_TX_msg.len = 8;
+    CAN_TX_msg.buf[0] = 'A';
+    CAN_TX_msg.len = 5;
     Can.write(CAN_TX_msg);
-    //   ++Counter;
-    //   Serial.print("Sent: \n");
     digitalWrite(PC11, !digitalRead(PC11));
 }
 
 void read_can_message() {
-    Serial.print("Received: ");
-    Serial.print(CAN_inMsg.id);
-    Serial.print(" ");
-    Serial.print(CAN_inMsg.len);
-    Serial.print(" ");
-    CAN_inMsg.buf[7] = 0;
-    auto ptr = reinterpret_cast<char *>(CAN_inMsg.buf);
-    Serial.println(ptr);
-    doMotor(ptr);
-    Serial.print("\n");
+    float angle;
+    memcpy(&angle, &CAN_inMsg.buf[1], sizeof(angle));
+    motor.target = angle;
+    digitalWrite(PC10, !digitalRead(PC10));
 }
 
 void run_foc(BLDCMotor *motor, Commander *commander) {
@@ -115,15 +103,18 @@ void setup() {
     Can.setBaudRate(1000000);
     TIM_TypeDef *Instance = TIM2;
     HardwareTimer *SendTimer = new HardwareTimer(Instance);
-    SendTimer->setOverflow(1, HERTZ_FORMAT);  // 50 Hz
+    SendTimer->setOverflow(100, HERTZ_FORMAT);  // 50 Hz
     SendTimer->attachInterrupt(send_data);
     SendTimer->resume();
     setup_foc(&sensor, &motor, &driver, &current_sense, &command, doMotor);
     _delay(1000);
 }
 
+float current_angle = 0;
 void loop() {
     run_foc(&motor, &command);
+    current_angle = sensor.getAngle();
+    memcpy(&CAN_TX_msg.buf[1], &current_angle, sizeof(current_angle));
     while (Can.read(CAN_inMsg)) {
         read_can_message();
     }

firmware/test/bring_up_can.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+ip link set can0 type can bitrate 1000000
+ip link set up can0

ros2_environment/README.md

@@ -0,0 +1,24 @@
+# ROS 2 пакеты для управления двигателем
+
+## Пререквизиты
+
+- ROS 2 Humble
+
+## Сборка и запуск ROS2 пакета
+
+```bash
+colcon build --symlink-install
+```
+
+```bash
+source install/setup.bash
+```
+
+```bash
+ros2 launch rbs_servo_test startup.launch.py
+```
+
+Посмотреть состояние топиков:
+```bash
+ros2 topic echo /joint_states
+```

ros2_environment/src/bldc_motor_control/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(bldc_motor_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(motor_control_node src/motor_control_node.cpp)
+ament_target_dependencies(motor_control_node rclcpp std_msgs)
+
+install(TARGETS
+  motor_control_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros2_environment/src/bldc_motor_control/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bldc_motor_control</name>
+  <version>0.0.1</version>
+  <description>TODO: Package description</description>
+  <maintainer email="vanyabeat@protonmail.com">vanyabeat</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>ament_cmake</depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>can-utils</depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros2_environment/src/bldc_motor_control/src/motor_control_node.cpp

@@ -0,0 +1,93 @@
+#include <chrono>
+#include <memory>
+#include <string>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/float32.hpp>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <unistd.h>
+
+using std::placeholders::_1;
+
+class BLDCMotorControlNode : public rclcpp::Node
+{
+public:
+    BLDCMotorControlNode() : Node("bldc_motor_control_node")
+    {
+        this->declare_parameter<std::string>("can_interface", "can0");
+
+        this->get_parameter("can_interface", can_interface_);
+
+        if ((can_socket_ = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+            RCLCPP_ERROR(this->get_logger(), "Failed to create CAN socket");
+            throw std::runtime_error("Failed to create CAN socket");
+        }
+
+        struct ifreq ifr;
+        strncpy(ifr.ifr_name, can_interface_.c_str(), IFNAMSIZ - 1);
+        ifr.ifr_name[IFNAMSIZ - 1] = '\0';
+        if (ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) {
+            RCLCPP_ERROR(this->get_logger(), "Failed to get interface index");
+            throw std::runtime_error("Failed to get interface index");
+        }
+
+        struct sockaddr_can addr;
+        addr.can_family = AF_CAN;
+        addr.can_ifindex = ifr.ifr_ifindex;
+        if (bind(can_socket_, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+            RCLCPP_ERROR(this->get_logger(), "Failed to bind CAN socket");
+            throw std::runtime_error("Failed to bind CAN socket");
+        }
+
+        subscription_ = this->create_subscription<std_msgs::msg::Float32>(
+            "motor_angle", 10, std::bind(&BLDCMotorControlNode::listener_callback, this, _1));
+    }
+
+    ~BLDCMotorControlNode()
+    {
+        close(can_socket_);
+    }
+
+private:
+    void listener_callback(const std_msgs::msg::Float32::SharedPtr msg)
+    {
+        float angle = msg->data;
+        send_motor_command(angle);
+    }
+
+    void send_motor_command(float angle)
+    {
+        struct can_frame frame;
+        frame.can_id = 0x2; // Replace with your desired CAN ID
+        std::stringstream ss;
+        // Serialize speed to string with 4 decimal places
+        ss << std::fixed << std::setprecision(3);
+        ss << angle;
+        std::string angle_string = ss.str();
+        frame.can_dlc = angle_string.size(); // Data length code
+        std::copy(angle_string.begin(), angle_string.end(), frame.data);
+        // frame.data[speed_string.size() + 1] = '\0'
+; // You'll need to serialize speed to fit CAN frame
+
+        if (write(can_socket_, &frame, sizeof(frame)) != sizeof(frame)) {
+            RCLCPP_ERROR(this->get_logger(), "Failed to send CAN frame");
+        } else {
+            RCLCPP_INFO(this->get_logger(), "Sent CAN frame: angle=%f rad", angle);
+        }
+    }
+
+    std::string can_interface_;
+    int can_socket_;
+    rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr subscription_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<BLDCMotorControlNode>());
+    rclcpp::shutdown();
+    return 0;
+}

ros2_environment/src/rbs_servo_hardware/include/rbs_servo_hardware/rbs_servo_actuator.hpp

@@ -56,8 +56,8 @@ public:
 
 private:
   // Parameters for the rbs_servo_hardware simulation
-  double hw_start_sec_;
-  double hw_stop_sec_;
+  // double hw_start_sec_;
+  // double hw_stop_sec_;
 
   // Store the command for the robot
   double hw_joint_command_;
@@ -65,10 +65,13 @@ private:
   double hw_joint_state_;
 
   // Fake "mechanical connection" between actuator and sensor using sockets
-  struct sockaddr_in address_;
-  int socket_port_;
-  int sockoptval_ = 1;
-  int sock_;
+  // struct sockaddr_in address_;
+  // int socket_port_;
+  // int sockoptval_ = 1;
+  // int sock_;
+
+  std::string can_interface_ = "can0";
+  int can_socket_;
 };
 
 }  // namespace rbs_servo_hardware

ros2_environment/src/rbs_servo_hardware/rbs_servo_hardware.xml

@@ -1,6 +1,6 @@
 <library path="rbs_servo_hardware">
-  <class name="rbs_servo_hardware/RbsServo"
-         type="rbs_servo_hardware::RbsServo"
+  <class name="rbs_servo_hardware/RbsServoActuator"
+         type="rbs_servo_hardware::RbsServoActuator"
          base_class_type="hardware_interface::ActuatorInterface">
     <description>
       Hardware interface for rbs_servo_hardware

ros2_environment/src/rbs_servo_hardware/src/rbs_servo_actuator.cpp

@@ -1,5 +1,5 @@
 #include "rbs_servo_hardware/rbs_servo_actuator.hpp"
-// Libs for fake connection 
+// Libs for fake connection
 // WARN: Delete it in the future
 #include <netdb.h>
 // System libs
@@ -9,10 +9,16 @@
 #include <memory>
 #include <vector>
 // ROS specific libs
-#include <rclcpp/logger.hpp>
 #include "hardware_interface/actuator_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include <rclcpp/logger.hpp>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <unistd.h>
 
 namespace rbs_servo_hardware {
 hardware_interface::CallbackReturn
@@ -21,16 +27,6 @@ RbsServoActuator::on_init(const hardware_interface::HardwareInfo &info) {
       hardware_interface::CallbackReturn::SUCCESS) {
     return hardware_interface::CallbackReturn::ERROR;
   }
-  // START: This part here is for exemplary purposes - Please do not copy to
-  // your production code
-  hw_start_sec_ = std::stod(
-      info_.hardware_parameters["example_param_hw_start_duration_sec"]);
-  hw_stop_sec_ = std::stod(
-      info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
-  socket_port_ =
-      std::stoi(info_.hardware_parameters["example_param_socket_port"]);
-  // END: This part here is for exemplary purposes - Please do not copy to your
-  // production code
 
   hw_joint_command_ = std::numeric_limits<double>::quiet_NaN();
 
@@ -43,54 +39,67 @@ RbsServoActuator::on_init(const hardware_interface::HardwareInfo &info) {
     return hardware_interface::CallbackReturn::ERROR;
   }
 
-  if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY) {
+  if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) {
     RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
                  "Joint '%s' have %s command interfaces found. '%s' expected.",
                  joint.name.c_str(), joint.command_interfaces[0].name.c_str(),
-                 hardware_interface::HW_IF_VELOCITY);
+                 hardware_interface::HW_IF_POSITION);
     return hardware_interface::CallbackReturn::ERROR;
   } else if (joint.state_interfaces[0].name !=
-             hardware_interface::HW_IF_VELOCITY) {
+             hardware_interface::HW_IF_POSITION) {
     RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
                  "Joint '%s' have %s state interface found. '%s' expected.",
                  joint.name.c_str(), joint.state_interfaces[0].name.c_str(),
-                 hardware_interface::HW_IF_VELOCITY);
+                 hardware_interface::HW_IF_POSITION);
     return hardware_interface::CallbackReturn::ERROR;
   }
 
-  // START: This part here is for exemplary purposes - Please do not copy to
-  // your production code Initialize objects for fake mechanical connection
-  sock_ = socket(AF_INET, SOCK_STREAM, 0);
-  if (sock_ < 0) {
-    RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
-                 "Creating socket failed.");
+  if ((can_socket_ = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+    RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"),
+                 "Failed to create CAN socket");
     return hardware_interface::CallbackReturn::ERROR;
   }
 
-  auto server = gethostbyname("localhost");
-
-  address_.sin_family = AF_INET;
-  bcopy(reinterpret_cast<char *>(server->h_addr),
-        reinterpret_cast<char *>(&address_.sin_addr.s_addr), server->h_length);
-  address_.sin_port = htons(socket_port_);
-
-  RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
-              "Trying to connect to port %d.", socket_port_);
-  if (connect(sock_, (struct sockaddr *)&address_, sizeof(address_)) < 0) {
-    RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
-                 "Connection over socket failed.");
+  struct ifreq ifr;
+  strncpy(ifr.ifr_name, can_interface_.c_str(), IFNAMSIZ - 1);
+  ifr.ifr_name[IFNAMSIZ - 1] = '\0';
+  if (ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) {
+    RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"),
+                 "Failed to get interface index");
     return hardware_interface::CallbackReturn::ERROR;
   }
+
+  struct sockaddr_can addr;
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  if (bind(can_socket_, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"), "Failed to bind CAN socket");
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+
+  // auto server = gethostbyname("localhost");
+
+  // address_.sin_family = AF_INET;
+  // bcopy(reinterpret_cast<char *>(server->h_addr),
+  //       reinterpret_cast<char *>(&address_.sin_addr.s_addr),
+  //       server->h_length);
+  // address_.sin_port = htons(socket_port_);
+
+  // RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
+  //             "Trying to connect to port %d.", socket_port_);
+  // if (connect(sock_, (struct sockaddr *)&address_, sizeof(address_)) < 0) {
+  //   RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
+  //                "Connection over socket failed.");
+  //   return hardware_interface::CallbackReturn::ERROR;
+  // }
   RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Connected to socket");
-  // END: This part here is for exemplary purposes - Please do not copy to your
-  // production code
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 
 hardware_interface::CallbackReturn RbsServoActuator::on_shutdown(
     const rclcpp_lifecycle::State & /*previous_state*/) {
-  shutdown(sock_, SHUT_RDWR); // shutdown socket
+  // shutdown(sock_, SHUT_RDWR); // shutdown socket
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
@@ -100,7 +109,7 @@ RbsServoActuator::export_state_interfaces() {
   std::vector<hardware_interface::StateInterface> state_interfaces;
 
   state_interfaces.emplace_back(hardware_interface::StateInterface(
-      info_.joints[0].name, hardware_interface::HW_IF_VELOCITY,
+      info_.joints[0].name, hardware_interface::HW_IF_POSITION,
       &hw_joint_state_));
 
   return state_interfaces;
@@ -111,7 +120,7 @@ RbsServoActuator::export_command_interfaces() {
   std::vector<hardware_interface::CommandInterface> command_interfaces;
 
   command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      info_.joints[0].name, hardware_interface::HW_IF_VELOCITY,
+      info_.joints[0].name, hardware_interface::HW_IF_POSITION,
       &hw_joint_command_));
 
   return command_interfaces;
@@ -124,11 +133,12 @@ hardware_interface::CallbackReturn RbsServoActuator::on_activate(
   RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
               "Activating ...please wait...");
 
-  for (int i = 0; i < hw_start_sec_; i++) {
-    rclcpp::sleep_for(std::chrono::seconds(1));
-    RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "%.1f seconds left...",
-                hw_start_sec_ - i);
-  }
+  // for (int i = 0; i < hw_start_sec_; i++) {
+  //   rclcpp::sleep_for(std::chrono::seconds(1));
+  //   RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "%.1f seconds
+  //   left...",
+  //               hw_start_sec_ - i);
+  // }
   // END: This part here is for exemplary purposes - Please do not copy to your
   // production code
 
@@ -151,48 +161,59 @@ hardware_interface::CallbackReturn RbsServoActuator::on_deactivate(
   RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
               "Deactivating ...please wait...");
 
-  for (int i = 0; i < hw_stop_sec_; i++) {
-    rclcpp::sleep_for(std::chrono::seconds(1));
-    RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "%.1f seconds left...",
-                hw_stop_sec_ - i);
-  }
+  // for (int i = 0; i < hw_stop_sec_; i++) {
+  //   rclcpp::sleep_for(std::chrono::seconds(1));
+  //   RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "%.1f seconds
+  //   left...",
+  //               hw_stop_sec_ - i);
+  // }
 
   RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
               "Successfully deactivated!");
   // END: This part here is for exemplary purposes - Please do not copy to your
   // production code
-
+  close(can_socket_);
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 
 hardware_interface::return_type
 RbsServoActuator::read(const rclcpp::Time & /*time*/,
                        const rclcpp::Duration & /*period*/) {
+
+  struct can_frame frame;
+  if (::read(can_socket_, &frame, sizeof(frame)) != sizeof(frame)) {
+    RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"), "Failed to read CAN frame");
+  } else {
+    float angle;
+    std::memcpy(&angle, &frame.data[1], sizeof(float));
+    RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Received CAN frame: angle=%f rad", angle);
+    hw_joint_state_ = static_cast<double>(angle);
+  }
   return hardware_interface::return_type::OK;
-  // TODO: Implementation of reading process
-  // see write() below for example of command
-  // interface
 }
 
-hardware_interface::return_type
-rbs_servo_hardware::RbsServoActuator::write(const rclcpp::Time & /*time*/,
-                                   const rclcpp::Duration & /*period*/) {
+hardware_interface::return_type rbs_servo_hardware::RbsServoActuator::write(
+    const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
   // START: This part here is for exemplary purposes - Please do not copy to
   // your production code
   RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Writing command: %f",
               hw_joint_command_);
 
-  // Simulate sending commands to the hardware
-  std::ostringstream data;
-  data << hw_joint_command_;
-  RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
-              "Sending data command: %s", data.str().c_str());
-  send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
+  struct can_frame frame;
+  frame.can_id = 0x2; // Replace with your desired CAN ID
+  
+  float angle = static_cast<double>(hw_joint_command_);
+  frame.data[0] = 'A';
+  std::memcpy(&frame.data[1], &angle, sizeof(float)); 
+  frame.can_dlc = 5;
+  // frame.data[speed_string.size() + 1] = '\0'
+  ; // You'll need to serialize speed to fit CAN frame
 
-  RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
-              "Joints successfully written!");
-  // END: This part here is for exemplary purposes - Please do not copy to your
-  // production code
+  if (::write(can_socket_, &frame, sizeof(frame)) != sizeof(frame)) {
+    RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"), "Failed to send CAN frame");
+  } else {
+    RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Sent CAN frame: angle=%f rad", angle);
+  }
 
   return hardware_interface::return_type::OK;
 }

ros2_environment/src/rbs_servo_test/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.8)
+project(rbs_servo_test)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY 
+  launch 
+  config 
+  urdf 
+DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros2_environment/src/rbs_servo_test/LICENSE

@@ -0,0 +1,202 @@
+
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ros2_environment/src/rbs_servo_test/config/ros2_controllers.yaml

@@ -0,0 +1,16 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    forward_position_controller:
+      type: forward_command_controller/ForwardCommandController
+
+
+forward_position_controller:
+  ros__parameters:
+    joints:
+      - joint1
+    interface_name: position

ros2_environment/src/rbs_servo_test/launch/startup.launch.py

@@ -0,0 +1,120 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler, OpaqueFunction
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node, node
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    # Initialize Arguments
+    robot_controller = LaunchConfiguration("robot_controller")
+    gui = LaunchConfiguration("gui")
+    filepath = PathJoinSubstitution(
+        [
+            FindPackageShare("rbs_servo_test"),
+            "urdf",
+            "simple_robot.urdf"
+        ]
+    ).perform(context)
+
+    with open(filepath, "r") as file:
+        robot_description_content = file.read()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("rbs_servo_test"),
+            "config",
+            "ros2_controllers.yaml",
+        ]
+    )
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare("rbs_servo_test"), "config", "driver.rviz"]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        # prefix=['gdbserver localhost:1234'],
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        # arguments=["-d", rviz_config_file],
+        condition=IfCondition(gui),
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
+    )
+
+    # Delay rviz start after `joint_state_broadcaster`
+    delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[rviz_node],
+        )
+    )
+
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
+        )
+    )
+
+    nodes = [
+        control_node,
+        robot_state_pub_node,
+        joint_state_broadcaster_spawner,
+        delay_rviz_after_joint_state_broadcaster_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+    ]
+    return nodes
+
+
+def generate_launch_description():
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "gui",
+            default_value="false",
+            description="Start RViz2 automatically with this launch file.",
+        )
+    
+    )
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_controller",
+            default_value="forward_position_controller",
+            description=".......",
+        )
+    )
+
+
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])

ros2_environment/src/rbs_servo_test/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rbs_servo_test</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros2_environment/src/rbs_servo_test/src/send_float64.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float64MultiArray, MultiArrayLayout, MultiArrayDimension
+
+
+class Float64Publisher(Node):
+
+    def __init__(self):
+        super().__init__('float64_publisher')
+        self.publisher_ = self.create_publisher(Float64MultiArray, '/forward_position_controller/commands', 10)
+        # timer_period = 60000  # seconds
+        # self.timer = self.create_timer(timer_period, self.publish_float64_array)
+        self.get_logger().info('Float64Publisher node started.')
+
+    def publish_float64_array(self):
+        msg = Float64MultiArray()
+
+        # Specify layout
+        dim = MultiArrayDimension()
+        dim.label = 'example_dim'
+        dim.size = 10
+        dim.stride = 10
+
+        layout = MultiArrayLayout()
+        layout.dim.append(dim)
+        layout.data_offset = 0
+
+        msg.layout = layout
+
+        # Specify data
+        msg.data = [50.0]  # Example float64 data
+
+        self.publisher_.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg.data)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    publisher = Float64Publisher()
+    publisher.publish_float64_array();
+    rclpy.spin_once(publisher)
+    publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_environment/src/rbs_servo_test/urdf/simple_robot.urdf

@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<robot name="simple_robot">
+
+  <!-- Define the world coordinate frame -->
+  <link name="world"/>
+
+  <!-- Define the first link -->
+  <link name="link1">
+    <visual>
+      <geometry>
+        <box size="0.1 0.1 0.5"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <!-- Define the second link -->
+  <link name="link2">
+    <visual>
+      <geometry>
+        <box size="0.1 0.1 0.5"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <!-- Define the joint connecting the links -->
+  <joint name="joint1" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz="0 0 0.5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14159" upper="3.14159" effort="78" velocity="0.52" />
+  </joint>
+
+  <!-- Connect the first link to the world frame -->
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="link1"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+
+  <ros2_control name="simble_robot_hardware_interface" type="actuator">
+    <hardware>
+      <plugin>rbs_servo_hardware/RbsServoActuator</plugin>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position" />
+      <!-- <command_interface name="velocity" /> -->
+      <!-- <command_interface name="effort" /> -->
+
+      <state_interface name="position" />
+      <!-- <state_interface name="velocity" /> -->
+      <!-- <state_interface name="effort" /> -->
+    </joint>
+
+    </ros2_control>
+
+</robot>