Merge branch 'feature/fingertip_distance_publisher_node' into 'master'

Overwrite existing master with shiny new improved version

See merge request senseglove/ros_workspace!11

.gitignore

@@ -1,6 +1,18 @@
 build/
+devel/
 install/
 log/
-SenseGlove_API/
+logs/
+venv/
 
-.idea/*
+SenseGlove_API/Core/*
+SenseGlove_API/Examples/*
+SenseGlove_API/.gitignore
+SenseGlove_API/README.md
+
+src/hardware_interface/senseglove_hardware/SenseCom/Linux/sessionLog.txt
+src/cmake-build-debug/*
+src/CMakeLists.txt
+
+.idea/*
+.catkin_tools/*

.gitlab-ci.yml

@@ -1,17 +1,17 @@
 image: docker:git
 services:
-  - docker:dind
+  - docker:19.03.5-dind
 before_script:
-  - apk add --update bash coreutils tar
+  - apk add --update bash coreutils tar grep
   - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
 melodic:
   script: .industrial_ci/gitlab.sh ROS_DISTRO=melodic
   variables:
-    BUILDER: colcon
     CATKIN_LINT: pedantic
-    CATKIN_LINT_ARGS: '--ignore external_directory'
-    #    CLANG_FORMAT_CHECK: file
-    ROSDEP_SKIP_KEYS: "SenseGlove_API"
+    CATKIN_LINT_ARGS: '--ignore uninstalled_script --ignore external_directory'
+    CLANG_TIDY: 'true'
+    # CLANG_TIDY_ARGS: '-style=file'
+    ROSDEP_SKIP_KEYS: "SenseGlove_API hardware_interface/senseglove_hardware/SenseCom/*"
   artifacts:
     paths:
       - node_modules/

README.md

@@ -1,23 +1,78 @@
 # Senseglove ros_workspace
-
 A workspace for the integration of the SenseGlove into ROS Melodic.
 This workspace makes use of ros_control for automatically initiating publisher and subscriber nodes for the state of the senseglove.
 
-## General Usage: ##
+## 1. For ROS beginners: ##
+If you are totally unfamiliar with ROS we advise you to take a look at the ROS-wiki for a quick startup guide.
+We especially recommend the following tutorials:
+* http://wiki.ros.org/melodic/Installation/Ubuntu
+* http://wiki.ros.org/ROS/StartGuide
+* http://wiki.ros.org/ROS/Tutorials
+    * http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
+    * http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
+
+A large part of understanding/working with ROS is the ability to search for the issues you are dealing with.
+In our experience, simply googling for an error or issue you have can do the trick. Do keep in mind that there exists a
+vast amount of documentation, though it can be tedious to sort through its information.
 
+### setting up the workspace for the senseglove: ###
+1. Make sure you are on a Ubuntu 18.04 system (not necessary, but all code has been checked with docker images running in ubuntu).
+2. Download ros-melodic as described in the ros-wiki.
+3. clone our workspace by either using `git clone https://github.com/Adjuvo/senseglove_ros_ws.git` or through the webbrowser here on the Github website.
+4. install the following dependencies:
+    1. `sudo apt-get install ros-melodic-ros-control`
+    2. `sudo apt-get install ros-melodic-joint-trajectory-controller`
+5. Run: `sudo apt-get update`
+6. Run: `rosdep update`
+7. Run: `sudo apt-get upgrade`
+8. navigate, in the terminal, to the workspace folder
+9. source your workspace: `source /opt/ros/melodic/setup.bash`
+10. Build your workspace: `catkin build`
+    1. or if you prefer a different build tool use: `catkin_make`
+    2. or use: `colcon build`
+11. after building, you can source the workspace itself by using `source devel/setup.bash`
+
+## 2. General Usage: ##
 This repository is meant to present a solid foundation for using the senseglove in ROS Melodic. As such it provides no
-concrete example projects. It does however provide the user with a few launch files, hardware.launch and senseglove_demo.launch 
+concrete example projects. It does however provide the user with a few launch files, hardware.launch and senseglove_demo.launch
 which initiate the sensegloves.
 The senseglove_hardware_interface nodes which are called by these launch files do nothing more than using the senseglove API
 in a ROS /ros_control "sanctioned" manner.
 
-__Important:__ Run the sensecom application, present in the SenseGlove_API folder, before launch!
+__Important:__ Run the sensecom application, present in the SenseGlove_API folder, when using hardware.launch! The launching of sensecom
+has been taken care of in senseglove_demo.launch in the bash script.
+
+Users are advised to develop their own applications outside this package and make use of the provided topics. If users do find the need to 
+write additions to this package, beware that this repository is still subject to changes and pulling this repo again might override your own code.
+
+**If you, as a user, find a bug or have an issue with getting the workspace up and running, we suggest you leave this as an issue on this repository.**
+This practice will allow others to troubleshoot their own problems quicker.
+
+### Example; using two sensegloves in ROS: ###
+1. source your workspace
+2. make sure your sensegloves are connected through usb or bluetooth
+    1. if you checked your connection with sensecom, be sure to exit the application before proceeding
+3. run: `roslaunch senseglove_demo.launch`
+
+A bash script is called invoking sensecom and running the hardware interface node twice for a left- and a right-handed glove.
+If all is well, your invocation of the roslaunch command should have started a roscore session and all necessary nodes providing intefaces to the senseglove.
+In a second (properly sourced) terminal you can verify that these nodes are publishing by invoking: rostopic list
+you can further test the application by checking that these topics get published by invoking: rostopic echo /topic_name
+
+### Example; using a single senseglove in ROS: ###
+Though the whole infrastructure of this codebase was built upon the use with infinitely many sensgloves, our example launch file only accepts two gloves.
+Moreover, due to our integration into ros-control we require the user to know what type of gloves are connected to the PC.
+As such, the user has to define which glove is connected to the system.
 
-Users are advised to build their own nodes in the senseglove folder as if it were a separate repository when transforming 
-values from the senseglove. When making use of the topics in your own application, it is expected that these nodes are developed 
-in your own package.
+1. find out if you are dealing with a left- or right-handed senseglove
+2. remove the non-existing glove from the senseglove_hardware_demo.launch file, such that only your left/right-handed glove remains.
+3. save the launch file
+4. build you workspace
+5. source your workspace
+6. proceed as if you were dealing with 2 sensegloves
 
-## To do: ##
-* Implement standard CLang format, currently none are used (code adheres to no singular style, big oof)
+## 3. To do: ##
+This is a small to do list for the upcoming features in this repository these will be added as issues as well.
 * Custom Exceptions for easy debugging
-* adjust .gitlab-ci.yml to include clang only if it does not check the SenseGlove_API package due to style differences.
+* Provide specialized script for using a single senseglove
+* Provide speed and acceleration data of the fingertippositions as well as for the encoder data.

src/SenseGlove_API/.clang-format

@@ -0,0 +1,4 @@
+---
+DisableFormat: true
+SortIncludes: Never
+...

src/hardware_interface/.clang-format

@@ -2,23 +2,19 @@
 BasedOnStyle: Google
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
-AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
 AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakTemplateDeclarations: true
+AlwaysBreakTemplateDeclarations: Yes
 AlwaysBreakBeforeMultilineStrings: false
-BreakBeforeBinaryOperators: false
+BreakBeforeBinaryOperators: None
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
 BinPackParameters: true
 ColumnLimit: 120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
 ExperimentalAutoDetectBinPacking: false
 IndentCaseLabels: true
 MaxEmptyLinesToKeep: 1
@@ -36,31 +32,28 @@ Standard: Auto
 IndentWidth: 2
 TabWidth: 2
 UseTab: Never
-IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles: false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
-SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
 ContinuationIndentWidth: 4
-SortIncludes: false
+SortIncludes: Never
 SpaceAfterCStyleCast: false
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
-  AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: 'true'
+  AfterEnum : true
+  AfterFunction : true
+  AfterNamespace : true
+  AfterStruct : true
+  AfterUnion : true
+  BeforeCatch : true
+  BeforeElse : true
+  IndentBraces : false
 ...

src/hardware_interface/senseglove_hardware/CMakeLists.txt

@@ -66,11 +66,17 @@ install(DIRECTORY include/${PROJECT_NAME}/
         DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
         )
 
+install(DIRECTORY SenseCom
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        )
+
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         )
 
+# install(PROGRAMS SenseCom/Linux/SenseCom.x86_64 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 ### Add gtest based cpp test target and link libraries
 #if(CATKIN_ENABLE_TESTING)
 #    catkin_add_gmock(${PROJECT_NAME}_test

src/SenseGlove_API/SenseCom/Linux/sessionLog.txt → src/hardware_interface/senseglove_hardware/SenseCom/Linux/sessionLog.txt

@@ -1,4 +1,4 @@
-Session: 2021-02-03 20-28-36
+Session: 2021-03-29 13-42-40
 Running SenseCom v0.10
 OS: Linux - Linux 4.15 Ubuntu 18.04 64bit
 
@@ -13,8 +13,6 @@ Shutdown initiated from SenseCom_Base. Final Device information:
 Ports:
 
 Devices:
-0: SenseGlove DK1.2-L0015 (DK1.2) running firmware v4.9. Connected via Serial (/dev/ttyACM0)
-1: SenseGlove DK1.3-R0026 (DK1.3) running firmware v4.9. Disconnected
 
 Attempting to close connections and dispose of resources...
 Disposed of communications with code: 1