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Akari_for_ros

Akari ROS 2 Humble version (still in progress)

https://github.com/AkariGroup/akari_software

py_subpub

A simple publisher and subscriber (Python)

https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html

Publisher

ros2 run py_pubsub talker

Subscriber

ros2 run py_pubsub listener

py_akari_pubsub

Operate Akari using the keyboard.

Publisher

ros2 run py_akari_pubsub akari_talker

*** Keyboard operation manual ***
  vertical movement {q, w}
  horizontal movement {a, s}
  reset servo positions {r}
  enable all servos {e}
  disable all servos {d}

Subscriber

ros2 run py_akari_pubsub akari_listener

py_srvcli

A simple service and client (Python)

https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.html

service node

ros2 run py_srvcli service

client node

ros2 run py_srvcli client 2 3

py_hello & py_tutorial_interfaces

custom msg and srv files

server node

ros2 run py_hello server

server node

ros2 run py_hello client

py_m5serial

Read GPIO sample & simple publisher

check GPIO

python3 py_m5serial/src/button_gpio.py

Publish GPIO message. Topic /M5stack

python3 py_m5serial/src/m5stack_publisher.py

To check ros2 message

ros2 topic echo /M5stack

A simple service and client M5stack screen

client node(color request)

Send request to change color of M5stack screen

python3 py_m5serial/src/py_m5client_color.py

Send a request by selecting at random from Color list. Then how results from the server.

・Color list
 'BLACK','NAVY','DARKGREEN','DARKCYAN','MAROON','PURPLE','OLIVE',
 'LIGHTGREY','DARKGREY','BLUE','GREEN','CYAN','RED','MAGENTA',
 'YELLOW','WHITE','ORANGE','GREENYELLOW','PINK','RESET', 'RANDOM'
 
<FYI>
RESET: Reset M5stack screen
RANDOM: Random color red(0-255), green(0-255), blue(0-255)

client node(text request)

Send request to show text on M5stack screen

python3 py_m5serial/src/py_m5client_text.py

Send a request by selecting at random from list.

・text list
'1.AKARI', '2.あかり', '3.灯り', '4.アカリ', '5.Akari', '6.akari', '7.灯'

・text size
'3', '4', '5'

・Color list(text, background)
 'BLACK','NAVY','DARKGREEN','DARKCYAN','MAROON','PURPLE','OLIVE',
 'LIGHTGREY','DARKGREY','BLUE','GREEN','CYAN','RED','MAGENTA',
 'YELLOW','WHITE','ORANGE','GREENYELLOW','PINK','RESET', 'RANDOM'

client node(RESET request)

Send request to RESET M5stack.

python3 py_m5serial/src/py_m5client_reset.py

server node

python3 py_m5serial/src/py_m5server.py

Changes a screen of M5stack according to the py_m5client's request. If screen is changed, True is sent as the result.