feat: add dynamixel_rdk_manager node

- dynamixel status GUI support
- dynamixel position, velocity, acceleration publish (dynamixel_control_msgs) available

dynamixel_rdk_manager/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.5)
+project(dynamixel_rdk_manager)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+set(CMAKE_AUTOUIC OFF)
+set(CMAKE_AUTOMOC OFF)
+set(CMAKE_AUTORCC ON)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# find dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+find_package(rclcpp REQUIRED)
+find_package(Boost 1.71.0 REQUIRED COMPONENTS thread)
+find_package(Qt5 COMPONENTS Widgets Core Gui REQUIRED)
+find_package(dynamixel_rdk_msgs REQUIRED)  
+
+file(GLOB PRO_SOURCE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS  src/*.cpp)
+file(GLOB PRO_UI_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS  ui/*.ui)
+file(GLOB PRO_INCLUDE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS  include/${PROJECT_NAME}/*.h include/${PROJECT_NAME}/*.hpp)
+file(GLOB PRO_RESOURCE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS  resource/*.qrc)
+
+qt5_wrap_ui(QT_UI_HPP ${PRO_UI_DIR})
+qt5_wrap_cpp(QT_MOC_HPP ${PRO_INCLUDE_DIR})
+qt5_add_resources(QT_RESOUCE_HPP ${PRO_RESOURCE_DIR})
+
+include_directories(
+	include/
+	${CMAKE_CURRENT_BINARY_DIR}
+)
+add_executable(${PROJECT_NAME}
+    ${PRO_SOURCE_DIR}
+    ${PRO_INCLUDE_DIR}
+    ${PRO_UI_DIR}
+    ${QT_MOC_HPP}
+    ${QT_RESOUCE_HPP}
+    ${QT_UI_HPP} 
+  )
+ament_target_dependencies(${PROJECT_NAME} rclcpp  Boost dynamixel_rdk_msgs)
+target_link_libraries(${PROJECT_NAME} Qt5::Widgets Qt5::Core Qt5::Gui)
+install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

dynamixel_rdk_manager/include/dynamixel_rdk_manager/main_window.hpp

@@ -0,0 +1,74 @@
+/*
+ * Copyright 2024 Myeong Jin Lee
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef dynamixel_rdk_manager_MAIN_WINDOW_H
+#define dynamixel_rdk_manager_MAIN_WINDOW_H
+
+/*****************************************************************************
+** Includes
+*****************************************************************************/
+
+#include "QIcon"
+#include "qnode.hpp"
+#include "ui_mainwindow.h"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <QAbstractTableModel>
+#include <QLayoutItem>
+#include <QMainWindow>
+#include <QTableWidget>
+#include <QVariant>
+#include <string>
+#include <thread>
+#include <vector>
+
+/*****************************************************************************
+** Interface [MainWindow]
+*****************************************************************************/
+/**
+ * @brief Qt central, all operations relating to the view part here.
+ */
+class MainWindow : public QMainWindow
+{
+  Q_OBJECT
+
+public:  // Public Functions
+  MainWindow(QWidget * parent = nullptr);
+  ~MainWindow();
+
+  void setup_table();
+
+public:  // Public Variables
+  QNode * qnode;
+
+public Q_SLOTS:
+  void update_data();
+  void update_id_list();
+
+  void on_idList_currentIndexChanged(int index);
+  void on_goal_pos_slider_valueChanged(int value);
+  void on_goal_vel_slider_valueChanged(int value);
+  void on_goal_acc_slider_valueChanged(int value);
+  void on_pub_btn_clicked();
+
+private:
+  Ui::MainWindow * ui;
+  void closeEvent(QCloseEvent * event);
+  QTableWidget * table_widget_;
+};
+
+#endif  // dynamixel_rdk_manager_MAIN_WINDOW_H

dynamixel_rdk_manager/include/dynamixel_rdk_manager/qnode.hpp

@@ -0,0 +1,83 @@
+/*
+ * Copyright 2024 Myeong Jin Lee
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef dynamixel_rdk_manager_QNODE_HPP_
+#define dynamixel_rdk_manager_QNODE_HPP_
+
+/*****************************************************************************
+** Includes
+*****************************************************************************/
+#ifndef Q_MOC_RUN
+#include <rclcpp/rclcpp.hpp>
+#endif
+#include <dynamixel_rdk_msgs/msg/dynamixel_bulk_read_msgs.hpp>
+#include <dynamixel_rdk_msgs/msg/dynamixel_control_msgs.hpp>
+
+#include <QThread>
+#include <vector>
+
+/*****************************************************************************
+** Class
+*****************************************************************************/
+class QNode : public QThread
+{
+  Q_OBJECT
+public:  // Public Functions
+  QNode();
+  ~QNode();
+
+  void control_publish();
+
+protected:  // Protected Functions
+  void run();
+
+private:  // Private Functions
+  void status_callback(const dynamixel_rdk_msgs::msg::DynamixelBulkReadMsgs & msg);
+
+private:  // Private Variables
+  std::shared_ptr<rclcpp::Node> node;
+  rclcpp::Subscription<dynamixel_rdk_msgs::msg::DynamixelBulkReadMsgs>::SharedPtr bulk_read_sub_;
+  rclcpp::Publisher<dynamixel_rdk_msgs::msg::DynamixelControlMsgs>::SharedPtr control_pub_;
+
+public:  // Public Variables
+  // Status
+  std::vector<uint8_t> dynamixel_ids_;
+  std::vector<bool> torque_enabled_;
+  std::vector<std::string> dynamixel_types_;
+  std::vector<uint8_t> error_status_;
+  std::vector<double> present_positions_;
+  std::vector<double> present_velocities_;
+  std::vector<double> present_accelerations_;
+  std::vector<double> present_currents_;
+  std::vector<double> present_voltages_;
+  std::vector<double> present_temperatures_;
+  std::vector<std::pair<double, double>> min_max_positions_;
+
+  // Control
+  std::vector<double> goal_positions_;
+  std::vector<double> goal_velocities_;
+  std::vector<double> goal_accelerations_;
+
+  int dynamixel_size_ = 0;
+  bool is_size_initialized_ = false;
+
+Q_SIGNALS:  // Q_SIGNALS
+  void rosShutDown();
+  void update_data();
+  void update_id_list();
+};
+
+#endif /* dynamixel_rdk_manager_QNODE_HPP_ */

dynamixel_rdk_manager/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>dynamixel_rdk_manager</name>
+  <version>0.1.0</version>
+  <description>
+
+     simple dynamixel RDK manager GUI
+
+  </description>
+  <maintainer email="menggu1234@naver.com">Myeong Jin Lee</maintainer>
+  <author>Myeong Jin Lee</author>
+  <license>Apache License 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>

dynamixel_rdk_manager/resources/resource.qrc

@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/logo.png</file>
+    </qresource>
+</RCC>

dynamixel_rdk_manager/src/main.cpp

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2024 Myeong Jin Lee
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "../include/dynamixel_rdk_manager/main_window.hpp"
+
+#include <QApplication>
+#include <iostream>
+
+int main(int argc, char * argv[])
+{
+  QApplication a(argc, argv);
+  MainWindow w;
+  w.show();
+  return a.exec();
+}