Integrate ToF Sensor, Implement emergency Brake, and repellent field

.gitignore

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 software/build
 
 /*cache*
-
+**/__pycache__
 **/*.swp
 **/*.swo

scripts/assistedNavigation.bash

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+# this script run all the necessary setup to run the assisted navigation program using the teleop keyboard
+
+export ROS_HOSTNAME=192.168.0.114
+# if you use other ip for ros master then do  “export ROS_MASTER_URI=http://{ROS_MASTER_IP}:11311”
+export ROS_MASTER_URI=http://192.168.1.105:11311
+python3 ../src/drive_controller.py 
+python3 ../src/tof_handler.py
+python3 ../src/twist_to_pwm.py 
+
+#run gazebo world of your choice
+roslaunch gazebo_ros shapes_world.launch
+
+# on a new terminal to spawn the robody entity
+roslaunch robody_sim spawn.launch
+roslaunch robody_sim spawndefault.launch
+
+rosrun gazebo spawn_model -file /home/ronggurmwp/robody_nav_ws/src/robody_sim/urdf/human.urdf -urdf -z 1 -model my_object
+
+rosrun gazebo spawn_model -file "/home/ronggurmwp/robody_nav_ws/src/robody_sim/urdf/human.urdf" -urdf -z 1 -model my_object
+
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py

scripts/assistedNavigation_aio.bash

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+# this script run all the necessary setup to run the assisted navigation program using the teleop keyboard
+
+export ROS_HOSTNAME=192.168.0.114
+# if you use other ip for ros master then do  “export ROS_MASTER_URI=http://{ROS_MASTER_IP}:11311”
+export ROS_MASTER_URI=http://192.168.1.105:11311
+python3 ../src/assistedNavigation_aio.py 
+python3 ../src/twist_to_pwm.py 
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py

software/README.md

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-

src/README.md

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+# Assisted Navigation
+
+## Prerequisites
+- ROS1 Melodic  
+## Building
+1. To start building, first clone the repository using the following command, specifying the "an_ToF" branch:
+
+```
+git clone -b an_ToF https://github.com/Roboy/esp-wheelchair.git
+```
+2. Next, navigate to the "src" folder within the repository.
+
+3. Copy the "assisted_navigation" package to your workspace.
+
+4. Build the workspace using the "catkin_make" command.
+
+5. Finally, source the setup bash file by running the following command:
+```
+source /devel/setup.sh
+```
+
+With these steps, you should be ready to proceed with the build process.
+
+## Running
+1. To execute the sensor, you can use either of the following commands:
+
+```
+rosrun roboy_state_estimator ir_sensor_publisher.py
+```
+or 
+
+```
+rosrun assisted_navigation ir_sensor_publisher.py
+```
+
+2. These commands will run the "ir_sensor_publisher.py" script, which is responsible for publishing data from the IR sensor.
+
+3. To launch the middleware, you can use the following command:
+
+```
+rosrun assisted_navigation ir_drive_controller.py
+```
+This will start the middleware module, allowing it to handle the communication and processing of data between different components of the system.
+
+With these commands, you should be able to run the sensor and middleware components of the system as needed.
+
+## Teleop_twist_keyboard
+1. Make sure Teleop_twist_keyboard is installed
+
+2. make sure node Ir_drive_controller is running
+
+
+3. run twist_to_pwm node using the following command 
+```
+rosrun assisted_navigation twist_to_pwm.py
+```
+
+4. In another terminal run the teleop node using the following command 
+
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+```
+
+Use the instruction in the terminal
+
+## Simulation
+1. Make sure Gazebo is installed
+
+2. Make sure USE_SIMULATION is TRUE in the src/ir_drive_controller.py 
+*if its false then set to true then redo all the building steps
+
+```
+USE_SIMULATION = True 
+```
+
+3. Run Gazebo using the following command
+```
+gazebo
+```
+4. Spawn the robot using the following command
+
+```
+roslaunch assisted_navigation spawn.launch
+```
+
+Use the teleop or joystick to control the robot
+
+
+

src/assisted_navigation/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(assisted_navigation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros
+  geometry_msgs
+  roscpp
+  rospy
+  std_msgs
+  urdf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES assisted_navigation
+#  CATKIN_DEPENDS gazebo_ros geometry_msgs roscpp rospy std_msgs urdf
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/assisted_navigation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/assisted_navigation_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+catkin_install_python(PROGRAMS
+  src/ir_drive_controller.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+catkin_install_python(PROGRAMS
+  src/twist_to_pwm.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_assisted_navigation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/assisted_navigation/launch/rviz.launch

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+<?xml version="1.0"?>
+<launch>
+
+  <param name="robot_description" command="cat '$(find robody_sim)/urdf/robody.xacro'"/>
+
+  <!-- send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="False"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" />
+
+</launch>

src/assisted_navigation/launch/spawn.launch

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+<?xml version="1.0"?>
+<launch>
+
+  <param name="robot_description" command="cat '$(find robody_sim)/urdf/m2wr.xacro'"/>
+
+  <arg name="x" default="3"/>
+  <arg name="y" default="0"/>
+  <arg name="z" default="0.5"/>
+
+  <node name="robody_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
+        args="-urdf -param robot_description -model robody -x $(arg x) -y $(arg y) -z $(arg z)"/>
+</launch>

src/assisted_navigation/launch/spawndefault.launch

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+<?xml version="1.0"?>
+<launch>
+
+  <param name="robot_description" command="cat '$(find robody_sim)/urdf/m2wr.xacro'"/>
+
+  <arg name="x" default="3"/>
+  <arg name="y" default="0"/>
+  <arg name="z" default="0.5"/>
+
+  <node name="m2wr_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
+        args="-urdf -param robot_description -model m2wr -x $(arg x) -y $(arg y) -z $(arg z)"/>
+</launch>