frc900 / 2020robotcode

2020 Robot Code

2020 Robot Code

Package list

• adi_driver - submodule - ADI IMU ROS node
• as726x_controllers - ROS controller for as726x color sensor
• as726x_interface - state and command interfaces for as726x color sensor
• as726x_msgs - custom messages for as726x color sensor
• base_trajectory - code to generate splie-based paths for the drive base to follow
• base_trajectory_msgs - custom messages used by base_trajectory
• behavior_actions - action definitions for the behavior package
• behaviors - actionlib servers and clients for the robot
• cancoder_controller - ROS controller for CTRE cancoder
• canifier_controller - ROS controller for CTRE canifier
• canifier_controller_msgs - custom messages for canifier_controller package
• cmake_modules - Scripts to set build options for the code
• color_spin - compute optimal spin distance and direction for each color transition on the color wheel
• controller_node - holds top-level launch and config files for the robots
• controllers_2019 - ROS controllers for 2019 robot mechanisms
• controllers_2019_msgs - custom messages used by controllers_2019
• controllers_2020 - ROS controllers for 2020 robot mechanisms
• controllers_2020_msgs - custom messages used by controllers_2020
• control_toolbox - submodule - ROS package that needs to be built locally to pick up changes to realtime_tools package
• cpu_monitor - submodule - package which logs CPU use of other nodes
• ddynamic_reconfigure - submodule - wrapper code to simplify using ROS dynamic reconfigure
• demo_tf_node - example code for using ROS tf transforms between various reference frames
• dynamic_reconfigure_wrapper - wrapper code to simplify using ROS dynamic reconfigure - obsolete, use ddynamic_reconfigure instead for new code
• field_obj - custom messages for field_obj package
• field_obj_tracker - Code to identify characteristics of objects on the field
• frc_interfaces - state and command interfaces for FRC-specific data - match data, PCM, PDP, etc
• frc_msgs - message used by frc_state_contrllers package
• frcrobot_description - URDF definitions for swerve robots
• frc_state_controllers - ROS controllers to publish state for various FRC-specific hardware
• goal_detection - node to detect retro-reflective tape
• imu_zero - node which applies an offset to imu messages to allow for zeroing field-centric driving
• navx_publisher - submodule - ROS node for navX imu
• path_follower - node which follows paths generated by base_trajectory
• path_follower_msgs - custom messages for path_follower node
• pf_localization - Particle filter localization node
• pid - submodule - our fork of the ROS PID node, adds feed-forward
• realsense - submodule - ROS nodes for Intel Realsense cameras
• realtime_tools - submodule - fork of ROS realtime tools, fixed to allow non-polling implementation of realtime_publisher
• robot_characterization - nodes to generate data for the WPIlib robot characterization package
• robot_visualizer - package which monitors talon state and uses it to plot robot position
• rosbag_scripts - scripts to search for events in ros bag files
• ros_control_boilerplate - Home of the hardware and simulation interfaces
• ros_controllers - submodule - ROS package that needs to be built locally to pick up changes to realtime_tools package
• rospy_message_converter
• rqt_driver_station_sim - simulated driver station for simulation interface
• spline_util - helper code to generate and use splines
• stage_ros - submodule - stage simulator for ROS, provides basic 2d graphical sim of robot and sensors (fork which includes fiducial markers)
• state_handle - helper code for defining ROS state and command interfaces and handles
• state_listener - ROS controller used to pass joint data between hardware interfaces
• static_controller - ROS controller which publishes a constant value when loaded - used to indicate that all other controllers have been started and the robot is ready to enable
• talon_controllers - ROS controllers for CTRE motor controllers and other CAN hardare
• talon_interface - state and command interfaces for CTRE hardware
• talon_state_controller - ROS controllers which publish CTRE hardware state
• talon_state_msgs - custom messages used by talon_state_controllers
• talon_swerve_drive_controller - Drive base controller for swerve drive using CTRE motor controllers
• teleop_joystick_control - convert joystic data into robot actions
• template_controller - example controller code
• teraranger - submodule - code for teraranger distance sensors
• teraranger_array - submodule - code for teraranger distance sensors
• teraranger_array_converter - submodule - code for teraranger distance sensors
• teraranger_description - submodule - code for teraranger distance sensors
• tf_object_detection - Code for neural-net based object detection
• uptime - publish uptime info, used to monitor for CPU resets
• visualize_profile - script to visualize motion profile
• zed-ros-wrapper - submodule - fork of ROS node for Stereolabs ZED camera
• zms_writer - code to write RGB+D image info into a custom file format

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2019 Offseason Changelog Offseason dev sandbox for 2019 fall offseason

Notable updates since the 2019 comp season release

• improments to auto-align hatch panel pickup and placement
• add feed-forward to ROS' default PID node
• add a node to publish system uptime
• add a node to zero IMU data (for aligning field-centric swerve)
• optimization to reduce frequency of various HAL calls on the Rio
• add code to sim driver station to set limit switches and line break sensors in simulator
• add code to base trajectory node to auto-generate and optimize spline-based paths
• fixed swerve base odometry calculations
• log Talon / Victor firmware verions
• switch hardware interface time functions to std C++ - prep for running on Windows
• script to make sure USB-attached CAN device is actually attached (can_up.sh)
• Experimental / hacked up branch to use ROS PinholeCameraModel for screen to world coord conversions
• Updates for 2020 beta wpilib & Rio image
• clean up lots of unused packages and configs
• vim doesn't flash the screen on errors!