Initial commit

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+.idea

.gitmodules

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+[submodule "veides_agent_ros"]
+	path = veides_agent_ros
+	url = https://github.com/Veides/veides_agent_ros.git

CHANGELOG.md

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+# Changelog
+
+## [0.1.0] - 2020-11-17
+
+This is an initial release

LICENSE

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+MIT License
+
+Copyright (c) 2020 Veides Team
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# VeidesBot ROS example
+
+This repository contains basic packages to make start working with Veides easier on example of a simple robot and shows how [Veides Agent ROS node](https://github.com/Veides/veides_agent_ros.git) might be used to develop a device with [ROS](http://wiki.ros.org).
+
+## Installation
+
+We assume you have [ROS Noetic](http://wiki.ros.org/noetic/Installation) already installed.
+
+### Create workspace
+
+First, you need to create a catkin workspace to be able to run the simulation. You can skip this point if you already have workspace prepared.
+
+```bash
+cd ~
+mkdir -p catkin_workspace/src
+cd catkin_workspace/src
+catkin_init_workspace
+cd ..
+catkin_make
+```
+
+### Setup environment
+
+```bash
+source ~/catkin_workspace/devel/setup.sh
+```
+
+Please remember that above command needs to be executed each time you open new terminal window.
+
+### Setup VeidesBot example
+
+Clone this repository and it's submodules to your workspace:
+
+```bash
+cd ~/catkin_workspace/src
+git clone --recursive https://github.com/Veides/veidesbot_ros_example.git
+```
+
+Install dependencies:
+
+```bash
+cd ~/catkin_workspace
+rosdep install --from-paths src --ignore-src -r -y
+pip3 install veides-agent-sdk
+```
+
+Build and install the workspace:
+
+```bash
+cd ~/catkin_workspace
+catkin_make
+catkin_make install
+```
+
+## Usage
+
+Package `veidesbot_gazebo` contains 2 launch files:
+
+1. full.launch
+2. full_nogui.launch
+
+Both starts all necessary nodes to VeidesBot operational. What's the difference then? The first one runs Gazebo and RViz so you can see that is happening while the other do not run RViz at all and starts Gazebo in non-gui mode meaning the simulation is working but without visualization.  
+
+If you want to start Gazebo only for visualization, just comment out RViz node from `full.launch` file.
+
+### Configuration
+
+In package `veidesbot_platform` you can find file `veidesbot.launch`. By default, this launch file use environment variables to load values for parameters passed to `veides_agent_ros` node. You can either modify launch file and put values directly or use environment file.
+
+If you'd like to use environment file, prepare one so it looks as follows:
+
+```bash
+$ cat .env
+export VEIDES_AGENT_NAME=veidesbot
+
+export VEIDES_CLIENT_HOST=host to connect to
+export VEIDES_AGENT_CLIENT_ID=agent client id
+export VEIDES_AGENT_KEY=agent key
+export VEIDES_AGENT_SECRET_KEY=agent secret key
+```
+
+Agent and connection properties can be obtained from the Console. When `.env` file is ready, type:
+
+```bash
+source .env
+```
+
+### Run the simulation
+
+When parameters are configured you can launch the simulation:
+
+```bash
+roslaunch veidesbot_gazebo full.launch
+```
+
+or viewless version:
+
+```bash
+roslaunch veidesbot_gazebo full_nogui.launch
+```
+
+Please note that Veides interaction parts may require agent to be configured for particular case to work.

veidesbot_control/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(veidesbot_control)
+
+find_package(catkin REQUIRED)
+
+catkin_package()

veidesbot_control/config/control.yaml

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+veidesbot:
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 50  
+
+  left_wheel_effort_controller:
+    type: effort_controllers/JointEffortController
+    joint: left_wheel_hinge
+    pid: {p: 100.0, i: 0.1, d: 10.0}
+  right_wheel_effort_controller:
+    type: effort_controllers/JointEffortController
+    joint: right_wheel_hinge
+    pid: {p: 100.0, i: 0.1, d: 10.0}

veidesbot_control/launch/control.launch

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+<launch>
+  <rosparam file="$(find veidesbot_control)/config/control.yaml" command="load" />
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/veidesbot"
+    args="joint_state_controller right_wheel_effort_controller left_wheel_effort_controller" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
+    <param name="robot_description" command="$(find xacro)/xacro '$(find veidesbot_description)/urdf/veidesbot.xacro'" />
+    <remap from="/joint_states" to="/veidesbot/joint_states" />
+  </node>
+</launch>

veidesbot_control/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>veidesbot_control</name>
+  <version>0.1.0</version>
+  <description>Configuration for VeidesBot controller</description>
+
+  <maintainer email="contact@veides.io">Veides Team</maintainer>
+  <author email="contact@veides.io">Veides Team</author>
+
+  <license>MIT</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>joint_state_controller</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>effort_controllers</exec_depend>
+</package>

veidesbot_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(veidesbot_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()

veidesbot_description/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>veidesbot_description</name>
+  <version>0.1.0</version>
+  <description>URDF model of VeidesBot</description>
+
+  <maintainer email="contact@veides.io">Veides Team</maintainer>
+  <author email="contact@veides.io">Veides Team</author>
+
+  <license>MIT</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>joint_state_controller</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>effort_controllers</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>