VESC motor controller driver boilerplate, no functionality yet

.gitignore

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+# -*- mode: gitignore; -*-
+*~
+\#*\#
+

vesc/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(vesc)
+find_package(catkin REQUIRED)
+catkin_metapackage()

vesc/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>vesc</name>
+  <version>0.0.1</version>
+  <description>
+    Metapackage for ROS interface to the Vedder VESC open source motor controller.
+  </description>
+
+  <maintainer email="boulet@ll.mit.edu">Michael T. Boulet</maintainer>
+  <author email="boulet@ll.mit.edu">Michael T. Boulet</author>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/vesc</url>
+  <url type="repository">https://github.mit.edu/racecar/vesc</url>
+  <url type="bugtracker">https://github.mit.edu/racecar/vesc/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>vesc_driver</run_depend>
+  <run_depend>vesc_msgs</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+
+</package>

vesc_driver/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(vesc_driver)
+
+find_package(catkin REQUIRED COMPONENTS
+  nodelet
+  pluginlib
+  roscpp
+  vesc_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS nodelet pluginlib roscpp vesc_msgs
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  ${Boost_INCLUDE_DIR}
+  ${catkin_INCLUDE_DIRS}
+)
+
+# node executable
+add_executable(vesc_driver_node src/vesc_driver_node.cpp src/vesc_driver.cpp)
+target_link_libraries(vesc_driver_node
+  ${catkin_LIBRARIES}
+)
+
+# nodelet library
+add_library(vesc_driver_nodelet src/vesc_driver_nodelet.cpp src/vesc_driver.cpp)
+target_link_libraries(vesc_driver_nodelet
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+install(TARGETS vesc_driver_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(TARGETS vesc_driver_nodelet
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+install(FILES vesc_driver_nodelet.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+
+#############
+## Testing ##
+#############
+
+# TODO

vesc_driver/launch/vesc_driver_node.launch

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+<!-- -*- mode: XML -*- -->
+<launch>
+
+  <!-- Optionally launch in GDB, for debugging -->
+  <arg name="debug" default="false" />
+  <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+
+  <!-- VESC driver node -->
+  <node pkg="vesc_driver" type="vesc_driver_node" name="vesc_driver_node"
+        output="screen" launch-prefix="$(arg launch_prefix)" >
+  </node>    
+
+</launch>

vesc_driver/launch/vesc_driver_nodelet.launch

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+<!-- -*- mode: XML -*- -->
+<launch>
+
+  <arg name="start_manager" default="true" />
+  <arg name="manager" default="vesc_driver_nodelet_manager" />
+
+  <!-- Optionally launch manager in GDB, for debugging -->
+  <arg name="debug" default="false" />
+  <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <!-- Worker threads -->
+  <arg name="num_worker_threads" default="4" />
+
+  <!-- Also globally disable bond heartbeat timeout in debug mode, so everything
+       doesn't die when you hit a break point -->
+  <param if="$(arg debug)" name="/bond_disable_heartbeat_timeout" value="true" />
+
+  <!-- Nodelet manager -->
+  <node if="$(arg start_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)"
+        args="manager" output="screen" launch-prefix="$(arg launch_prefix)">
+     <param name="num_worker_threads" value="$(arg num_worker_threads)" />
+  </node>
+
+  <!-- VESC driver nodelet -->
+  <node pkg="nodelet" type="nodelet" name="vesc_driver_nodelet"
+        args="load vesc_driver::VescDriverNodelet $(arg manager)" >
+  </node>    
+
+</launch>

vesc_driver/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>vesc_driver</name>
+  <version>0.0.1</version>
+  <description>
+    ROS device driver for the Vedder VESC open source motor driver.
+  </description>
+
+  <maintainer email="boulet@ll.mit.edu">Michael T. Boulet</maintainer>
+  <author email="boulet@ll.mit.edu">Michael T. Boulet</author>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/vesc_driver</url>
+  <url type="repository">https://github.mit.edu/racecar/vesc</url>
+  <url type="bugtracker">https://github.mit.edu/racecar/vesc/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>nodelet</build_depend>
+  <build_depend>pluginlib</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>vesc_msgs</build_depend>
+
+  <run_depend>nodelet</run_depend>
+  <run_depend>pluginlib</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>vesc_msgs</run_depend>
+
+  <export>
+    <nodelet plugin="${prefix}/vesc_driver_nodelet.xml"/>
+  </export>
+
+</package>

vesc_driver/src/vesc_driver.cpp

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+#include <ros/ros.h>
+
+#include "vesc_driver.h"
+
+namespace vesc_driver
+{
+
+VescDriver::VescDriver(ros::NodeHandle nh,
+                       ros::NodeHandle private_nh)
+{
+  ROS_DEBUG("Constructing VescDriver");
+}
+
+} // namespace vesc_driver

vesc_driver/src/vesc_driver.h

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+#ifndef VESC_DRIVER_VESC_DRIVER_H
+#define VESC_DRIVER_VESC_DRIVER_H
+
+#include <ros/ros.h>
+
+namespace vesc_driver
+{
+
+class VescDriver
+{
+public:
+
+  VescDriver(ros::NodeHandle nh,
+             ros::NodeHandle private_nh);
+
+private:
+
+};
+
+} // namespace vesc_driver
+
+#endif // VESC_DRIVER_VESC_DRIVER_H

vesc_driver/src/vesc_driver_node.cpp

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+#include <ros/ros.h>
+
+#include "vesc_driver.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "vesc_driver_node");
+  ros::NodeHandle nh;
+  ros::NodeHandle private_nh("~");
+
+  vesc_driver::VescDriver vesc_driver(nh, private_nh);
+
+  ros::spin();
+
+  return 0;
+}

vesc_driver/src/vesc_driver_nodelet.cpp

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+#include <ros/ros.h>
+#include <pluginlib/class_list_macros.h>
+#include <nodelet/nodelet.h>
+
+#include <boost/shared_ptr.hpp>
+
+#include "vesc_driver.h"
+
+namespace vesc_driver
+{
+
+class VescDriverNodelet: public nodelet::Nodelet
+{
+public:
+
+  VescDriverNodelet() {}
+
+private:
+
+  virtual void onInit(void);
+
+  boost::shared_ptr<VescDriver> vesc_driver_;
+
+}; // class VescDriverNodelet
+
+void VescDriverNodelet::onInit()
+{
+  NODELET_DEBUG("Initializing VESC driver nodelet");
+  vesc_driver_.reset(new VescDriver(getNodeHandle(), getPrivateNodeHandle()));
+}
+
+} // namespace vesc_driver
+
+PLUGINLIB_EXPORT_CLASS(vesc_driver::VescDriverNodelet, nodelet::Nodelet);

vesc_driver/vesc_driver_nodelet.xml

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+<library path="lib/libvesc_driver_nodelet">
+  <class type="vesc_driver::VescDriverNodelet" base_class_type="nodelet::Nodelet">
+    <description>Vedder VESC motor controller interface nodelet.</description>
+  </class>
+</library>

vesc_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(vesc_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+)
+generate_messages(
+  DEPENDENCIES
+)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+)

vesc_msgs/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>vesc_msgs</name>
+  <version>0.0.1</version>
+  <description>
+    ROS message definitions for the Vedder VESC open source motor controller.
+  </description>
+
+  <maintainer email="boulet@ll.mit.edu">Michael T. Boulet</maintainer>
+  <author email="boulet@ll.mit.edu">Michael T. Boulet</author>
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/vesc_msgs</url>
+  <url type="repository">https://github.mit.edu/racecar/vesc</url>
+  <url type="bugtracker">https://github.mit.edu/racecar/vesc/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+
+</package>