Revert "Merge branch 'main' into supervisor_computer"

This reverts commit 2d0784c, reversing
changes made to 6d27814.
Brought back Files after mistaken merge

.gitignore

@@ -0,0 +1,248 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# 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/
+share/python-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/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# 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/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+

README.md

@@ -1,7 +1,85 @@
-
-
-# Rgator_computer_ws
-
+# Rgator_supervisor_computer_ws
  supervisor computer: localization, control, and vehicle interface
 
  perception computer: sensor interface, perception, and planning
+
+
+## ROS2 Packages:
+
+### dbw: 
+- dbw: subscribe control command
+- dbw_read: subscribe control command; read CAN bus data, convert to ROS2 topic
+
+### joy_control: 
+  - joy_control: subscribe joystick input and publish contorl command  
+
+### dbw_msgs: 
+  - Dbw: define control command
+  - [PGNs]: vehicle CAN bus data msg
+
+### vectornav:
+  - vectornav: gnss-ins-imu driver
+  - vectornav_msgs: gnss-ins-imu msg
+
+### gps_nav:
+  - pid: control vehicle speed only
+  - pp_pid: pure pursuit for steering control, pid for speed control
+  - track_log: log x,y,heading data from imu, convert to .csv file
+  - path_visual: visualize track
+
+ 
+
+## Driver Usage:
+
+### Joystick driver:
+default joystick input frequency at 20Hz:
+
+    ros2 run joy joy_node
+
+set joystick input frequency as 40Hz:
+
+    ros2 run joy joy_node --ros-args -p autorepeat_rate:=40.0
+
+### Drive-by-wire:
+control the vehicle only:
+
+    ros2 run dbw dbw
+
+control the vehicle and read CAN bus data:
+
+    ros2 run dbw dbw_read
+
+### Vectornav GNSS-INS sensor:
+launch with modified configuratuion file:
+
+    ros2 launch vectornav vectornav.launch.py
+
+
+
+ 
+
+## Project Application:
+
+### Joystick control
+
+    ros2 run joy joy_node
+    ros2 run joy_control joy_control
+    ros2 run dbw dbw
+
+or
+
+    ros2 launch joy_control joy_control_launch.py
+
+### Path track
+
+    ros2 launch vectornav vectornav.launch.py
+    ros2 run dbw dbw
+    ros2 run gps_nav pp_pid
+
+### Path log
+
+    ros2 launch vectornav vectornav.launch.py
+    ros2 run gps_nav track_log
+
+
+

dbw/.~lock.R-Gator CAN Protocol.doc#

@@ -0,0 +1 @@
+,jamie,jamie--P1,15.09.2023 13:33,file:///home/jamie/.config/libreoffice/4;

dbw/dbw/C_library/helper.c

@@ -0,0 +1,17 @@
+#include <stdio.h>
+
+int square(int i)
+{
+	return i*i;
+}
+
+struct Sumup
+{
+	int num1;
+	int num2;
+};
+
+int mysum(struct Sumup num)
+{
+	return num.num1 + num.num2;
+}

dbw/dbw/C_library/makefile

@@ -0,0 +1,10 @@
+CFLAGS=-Wall -Wstrict-prototypes -O2
+
+test_CAN: test_CAN.o
+	gcc -pthread -o test_CAN test_CAN.o -L/usr/lib -lwdt_dio
+
+test_CAN.o: test_CAN.c
+	gcc -c $(CFLAGS) -I../../include test_CAN.c
+
+clean:
+	rm -f test_CAN.o test_CAN