review suggestions

Signed-off-by: Jakub Delicat <[email protected]>

.github/workflows/run-unit-tests.yaml

@@ -2,6 +2,7 @@
 name: Run unit tests
 
 on:
+  push:
   workflow_dispatch:
   # TODO: ENABLE WHEN READY
   # pull_request:

README.md

@@ -1,27 +1,33 @@
 # wibotic_ros
 
-The repository contains `wibotic_connector_can` and `wibotic_msgs` packages. It reads a CAN Bus thanks to the uavcan library and sends the measurements to ROS 2.
+The repository contains `wibotic_connector_can` and `wibotic_msgs` packages. It reads a CAN Bus thanks to the uavcan library and sends the measurements from [Wibotic Wireless Charger](https://husarion.com/manuals/panther/panther-wch/) to ROS 2.
 
-## ROS Nodes
+## Quick start
 
-### wibotic_connector_can
+### Add can interface
 
-It reads a CAN Bus thanks to the uavcan library and sends the measurements to ROS 2.
+```bash
+sudo slcand -o -s6 -t hw -S 3000000 /dev/ttyACM0
+sudo ip link set up can0 type can bitrate 500000
+```
 
-#### Publishes
+### Create workspace
 
-- `wibotic_info` [*wibotic_msgs/WiboticInfo*]: Wibotic charger measurements.
+```bash
+mkdir ~/husarion_ws
+cd ~/husarion_ws
+git clone -b ros2 https://github.com/husarion/wibotic_ros.git src/wibotic_ros
+```
 
-#### Parameters
+### Build
 
-- `~can_iface_name` [*string*, default: **can0**]: CAN BUS interface used for Wibotic receiver.
-- `uavcan_node_id_` [*int*, default: **20**]: Uavcan node ID.
-- `uavcan_node_name_` [*string*, default: **can0**]: Uavcan node name.
-- `update_time_s_` [*string*, default: **can0**]: The period of reading WiboticInfo on a CAN BUS.
+```bash
+sudo rosdep init
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install --from-paths src -y -i
 
-## Add can interface
+source /opt/ros/$ROS_DISTRO/setup.bash
+colcon build --symlink-install --packages-up-to wibotic_connector_can --cmake-args -DCMAKE_BUILD_TYPE=Release
 
-```bash
-sudo slcand -o -s6 -t hw -S 3000000 /dev/ttyACM0
-sudo ip link set up can0 type can bitrate 500000
+source install/setup.bash
 ```

wibotic_connector_can/README.md

@@ -0,0 +1,20 @@
+# wibotic_connector_can
+
+It reads a CAN Bus thanks to the uavcan library and sends the measurements to ROS 2.
+
+## ROS Nodes
+
+### wibotic_connector_can
+
+It reads a CAN Bus thanks to the uavcan library and sends the measurements to ROS 2.
+
+#### Publishes
+
+- `wibotic_info` [*wibotic_msgs/WiboticInfo*]: Wibotic charger measurements.
+
+#### Parameters
+
+- `~can_iface_name` [*string*, default: **can0**]: CAN BUS interface used for Wibotic receiver.
+- `~uavcan_node_id_` [*int*, default: **20**]: Uavcan node ID.
+- `~uavcan_node_name_` [*string*, default: **can0**]: Uavcan node name.
+- `~update_time_s_` [*string*, default: **can0**]: The period of reading WiboticInfo on a CAN BUS.

wibotic_connector_can/cmake/SuperBuild.cmake

@@ -30,24 +30,18 @@ ExternalProject_Add(
   STEP_TARGETS build)
 
 ExternalProject_Add(
-  ep_platform_specific_components # Name of the external project
+  ep_platform_specific_components
   GIT_REPOSITORY
-    https://github.com/OpenCyphal-Garage/platform_specific_components/ # Repository
-                                                                       # URL
-  GIT_TAG 4745ef59f57b7e1c34705b127ea8c7a35e3874c1 # Specific commit
-  PREFIX
-    ${CMAKE_CURRENT_BINARY_DIR}/ep_platform_specific_components # Directory
-                                                                # where external
-                                                                # project will
-                                                                # be
+    https://github.com/OpenCyphal-Garage/platform_specific_components/
+  GIT_TAG 4745ef59f57b7e1c34705b127ea8c7a35e3874c1
+  PREFIX ${CMAKE_CURRENT_BINARY_DIR}/ep_platform_specific_components
   CONFIGURE_COMMAND ""
   BUILD_COMMAND ""
   INSTALL_COMMAND
     ${CMAKE_COMMAND} -E copy_directory
     ${CMAKE_CURRENT_BINARY_DIR}/ep_platform_specific_components/src/ep_platform_specific_components/linux/libuavcan/include
     ${CMAKE_INSTALL_PREFIX}/include ${INSTALL_DIR})
 
-# Make sure that the install directory is created
 install(DIRECTORY ${INSTALL_DIR} DESTINATION ${CMAKE_INSTALL_PREFIX})
 
 ExternalProject_Add(

wibotic_connector_can/include/wibotic_connector_can/uavcan_types/wibotic/WiBoticInfo.hpp

@@ -17,7 +17,8 @@
  *
  * Autogenerated, do not edit.
  *
- * Source file: /home/husarion/ros2_ws/src/wibotic/20200.WiBoticInfo.uavcan
+ * Source file:
+ * https://github.com/husarion/wibotic_ros/tree/ros2/wibotic_connector_can/uavcan/20200.WiBoticInfo.uavcan
  */
 
 #ifndef WIBOTIC_WIBOTICINFO_HPP_INCLUDED

wibotic_connector_can/include/wibotic_connector_can/wibotic_can_driver.hpp

@@ -44,7 +44,7 @@ class WiboticCanDriverInterface
    *
    * @exception std::runtime_error Thrown if can interface cannot be found.
    * */
-  virtual void SetUavCanSettings(
+  virtual void ConfigureUavCan(
     const std::string & can_iface_name, std::size_t node_id, const std::string & node_name) = 0;
 
   /**
@@ -92,7 +92,7 @@ class WiboticCanDriverInterface
  * @brief Class for the Wibotic CAN driver.
  *
  * This class inherits from the `WiboticCanDriverInterface` and implements its methods.
- * Class communicates with CAN interface and gets WiboticInfo messages.
+ * Class communicates with CAN interface using libuavcan and gets WiboticInfo messages.
  */
 class WiboticCanDriver : public WiboticCanDriverInterface
 {
@@ -108,7 +108,7 @@ class WiboticCanDriver : public WiboticCanDriverInterface
    *
    * @exception std::runtime_error Thrown if can interface cannot be found.
    * */
-  void SetUavCanSettings(
+  void ConfigureUavCan(
     const std::string & can_iface_name, std::size_t node_id,
     const std::string & node_name) override;
 

wibotic_connector_can/package.xml

@@ -3,14 +3,14 @@
 <package format="3">
   <name>wibotic_connector_can</name>
   <version>0.1.0</version>
-  <description>Integration Panther with Wibotic charger</description>
+  <description>Integration Husarion UGV with Wibotic charger</description>
 
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>
 
   <url type="website">https://husarion.com/</url>
-  <url type="repository">https://github.com/husarion/panther_ros</url>
-  <url type="bugtracker">https://github.com/husarion/panther_ros/issues</url>
+  <url type="repository">https://github.com/husarion/wibotic_ros</url>
+  <url type="bugtracker">https://github.com/husarion/wibotic_ros/issues</url>
 
   <author email="[email protected]">Jakub Delicat</author>
 

wibotic_connector_can/src/wibotic_can_driver.cpp

@@ -16,7 +16,7 @@
 
 namespace wibotic_connector_can
 {
-void WiboticCanDriver::SetUavCanSettings(
+void WiboticCanDriver::ConfigureUavCan(
   const std::string & can_iface_name, std::size_t node_id, const std::string & node_name)
 {
   can_iface_name_ = can_iface_name;

wibotic_connector_can/src/wibotic_can_driver_node.cpp

@@ -46,7 +46,7 @@ void WiboticCanDriverNode::DeclareParameters()
   this->declare_parameter("can_iface_name", "can0");
   this->declare_parameter("uavcan_node_id", 20);
   this->declare_parameter("uavcan_node_name", "com.wibotic.ros_connector");
-  this->declare_parameter("update_time_s", 1.0);
+  this->declare_parameter("update_time_s", 0.2);
 }
 
 void WiboticCanDriverNode::GetParameters()
@@ -59,7 +59,7 @@ void WiboticCanDriverNode::GetParameters()
 
 void WiboticCanDriverNode::CreateWiboticCanDriver()
 {
-  wibotic_can_driver_->SetUavCanSettings(can_iface_name_, uavcan_node_id_, uavcan_node_name_);
+  wibotic_can_driver_->ConfigureUavCan(can_iface_name_, uavcan_node_id_, uavcan_node_name_);
   wibotic_can_driver_->CreateUavCanNode();
   wibotic_can_driver_->CreateWiboticInfoSubscriber();
   wibotic_can_driver_->Activate();
@@ -69,6 +69,7 @@ wibotic::WiBoticInfo WiboticCanDriverNode::GetWiboticInfo()
 {
   const auto update_time_ms = static_cast<std::size_t>(update_time_s_ * 1000);
   wibotic_can_driver_->Spin(update_time_ms);
+
   return wibotic_can_driver_->GetWiboticInfo();
 }
 
@@ -78,8 +79,15 @@ void WiboticCanDriverNode::WiboticInfoTimerCallback()
     throw std::runtime_error("Trying to get WiboticInfo message from nonexisting driver.");
   }
 
+  wibotic::WiBoticInfo wibotic_info;
+  try {
+    wibotic_info = GetWiboticInfo();
+  } catch (const std::runtime_error & e) {
+    // Skip if there is no messages.
+    return;
+  }
+
   try {
-    auto wibotic_info = GetWiboticInfo();
     wibotic_info_pub_->publish(ConvertWiboticInfoToMsg(wibotic_info));
   } catch (const std::runtime_error & e) {
     RCLCPP_WARN(this->get_logger(), e.what());

wibotic_connector_can/test/unit/test_wibotic_can_driver_node.cpp

@@ -36,7 +36,7 @@ class MockWiboticCanDriver : public wibotic_connector_can::WiboticCanDriverInter
 {
 public:
   MOCK_METHOD(
-    void, SetUavCanSettings, (const std::string &, std::size_t, const std::string &), (override));
+    void, ConfigureUavCan, (const std::string &, std::size_t, const std::string &), (override));
   MOCK_METHOD(void, CreateUavCanNode, (), (override));
   MOCK_METHOD(void, CreateWiboticInfoSubscriber, (), (override));
   MOCK_METHOD(void, Activate, (), (override));

wibotic_connector_can/uavcan/20200.WiBoticInfo.uavcan

@@ -0,0 +1,17 @@
+#
+# WiBotic periodic information.
+#
+
+#
+# Primary parameters.
+# Some fields can be set to NAN if their values are unknown.
+#
+float16 VMonBatt
+float16 IBattery
+float16 VRect
+float16 VMonCharger
+float16 TBoard
+float16 TargetIBatt
+float16 ICharger
+float16 ISingleCharger2
+float16 ISingleCharger3