first commit

.vscode/c_cpp_properties.json

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+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/ledat/stm32_ws/devel/include/**",
+        "/home/ledat/catkin_ws/devel/include/**",
+        "/home/ledat/ros_ws/devel/include/**",
+        "/opt/ros/noetic/include/**",
+        "/home/ledat/dd_ws/src/arduino_node/include/**",
+        "/home/ledat/ros_ws/src/fdilink_ahrs/include/**",
+        "/home/ledat/ros_ws/src/imu_calib/include/**",
+        "/home/ledat/ros_ws/src/imu_tools/imu_complementary_filter/include/**",
+        "/home/ledat/ros_ws/src/imu_tools/imu_filter_madgwick/include/**",
+        "/home/ledat/ros_ws/src/lino_pid/include/**",
+        "/home/ledat/ros_ws/src/linorobot/include/**",
+        "/home/ledat/ros_ws/src/motor_node/include/**",
+        "/home/ledat/ros_ws/src/pubvel/include/**",
+        "/home/ledat/ros_ws/src/robot_localization-noetic-devel/include/**",
+        "/home/ledat/stm32_ws/src/rosserial/rosserial_server/include/**",
+        "/home/ledat/stm32_ws/src/rosserial/rosserial_test/include/**",
+        "/home/ledat/ros_ws/src/session4/include/**",
+        "/home/ledat/ros_ws/src/session5/include/**",
+        "/home/ledat/ros_ws/src/session6/include/**",
+        "/home/ledat/ros_ws/src/slam_toolbox/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2_bullet/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2_eigen/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2_geometry_msgs/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2_kdl/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2_msgs/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2_ros/include/**",
+        "/home/ledat/ros_ws/src/geometry2/tf2_sensor_msgs/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/ledat/stm32_ws/devel/lib/python3/dist-packages",
+        "/home/ledat/ros_ws/devel/lib/python3/dist-packages",
+        "/home/ledat/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

CMakeLists.txt

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+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

arduino_node/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(arduino_node)
+
+## 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
+  geometry_msgs
+  nav_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  tf2
+  tf2_ros
+)
+
+## 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#   nav_msgs#   sensor_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 arduino_node
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy sensor_msgs std_msgs tf2 tf2_ros
+#  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}
+)
+
+add_library(arduino_base src/arduino_base.cpp)
+add_executable(arduino_base_node src/arduino_base_node.cpp)
+target_link_libraries(arduino_base_node arduino_base ${catkin_LIBRARIES})
+

arduino_node/Firmware_lino/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

arduino_node/Firmware_lino/.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

arduino_node/Firmware_lino/.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/ledat/stm32_ws/devel/lib/python3/dist-packages",
+        "/home/ledat/ros_ws/devel/lib/python3/dist-packages",
+        "/home/ledat/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

arduino_node/Firmware_lino/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

arduino_node/Firmware_lino/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

arduino_node/Firmware_lino/lib/Servo/.codespellrc

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+# See: https://github.com/codespell-project/codespell#using-a-config-file
+[codespell]
+# In the event of a false positive, add the problematic word, in all lowercase, to a comma-separated list here:
+ignore-words-list = ,
+check-filenames =
+check-hidden =
+skip = ./.git

arduino_node/Firmware_lino/lib/Servo/.github/dependabot.yml

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+# See: https://docs.github.com/en/github/administering-a-repository/configuration-options-for-dependency-updates#about-the-dependabotyml-file
+version: 2
+
+updates:
+  # Configure check for outdated GitHub Actions actions in workflows.
+  # See: https://docs.github.com/en/github/administering-a-repository/keeping-your-actions-up-to-date-with-dependabot
+  - package-ecosystem: github-actions
+    directory: / # Check the repository's workflows under /.github/workflows/
+    schedule:
+      interval: daily
+    labels:
+      - "topic: infrastructure"

arduino_node/Firmware_lino/lib/Servo/.github/workflows/check-arduino.yml

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+name: Check Arduino
+
+# See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Tuesday at 8 AM UTC to catch breakage caused by new rules added to Arduino Lint.
+    - cron: "0 8 * * TUE"
+  workflow_dispatch:
+  repository_dispatch:
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Arduino Lint
+        uses: arduino/arduino-lint-action@v1
+        with:
+          compliance: specification
+          library-manager: update
+          # Always use this setting for official repositories. Remove for 3rd party projects.
+          official: true
+          project-type: library