Add RMU 2026 vision transmission support

rm_vt/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(rm_vt)
+
+## Use C++14
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
+## enforcing cleaner code.
+add_definitions(-Wall -Werror -Wno-address-of-packed-member)
+
+## Find catkin macros and libraries
+find_package(serial REQUIRED)
+
+find_package(catkin REQUIRED
+	COMPONENTS
+	sensor_msgs
+	roscpp
+	rm_msgs
+	serial
+	rm_common
+	tf2_geometry_msgs
+	std_msgs
+	actionlib
+	nav_msgs
+)
+
+## Find system libraries
+#find_package(Eigen3 REQUIRED)
+
+###################################
+## 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
+	CATKIN_DEPENDS
+	roscpp
+	sensor_msgs
+	rm_msgs
+	rm_common
+	tf2_geometry_msgs
+	std_msgs
+	actionlib
+	nav_msgs
+	DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+	include
+	${catkin_INCLUDE_DIRS}
+)
+
+## Declare cpp executables
+FILE(GLOB ALL_SOURCES "src/*.cpp" "src/common/*.cpp" )
+add_executable(${PROJECT_NAME} ${ALL_SOURCES})
+
+## Add dependencies to exported targets, like ROS msgs or srvs
+add_dependencies(${PROJECT_NAME}
+	${catkin_EXPORTED_TARGETS}
+)
+
+## Specify libraries to link executable targets against
+target_link_libraries(${PROJECT_NAME}
+	${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# Mark executables and/or libraries for installation
+install(
+	TARGETS ${PROJECT_NAME}
+	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(
+	DIRECTORY include/${PROJECT_NAME}/
+	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+	FILES_MATCHING PATTERN "*.h"
+)
+
+## Mark other files for installation
+install(
+	DIRECTORY launch
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

rm_vt/include/rm_vt/common/data.h

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+//
+// Created by ch on 24-11-23.
+//
+
+#pragma once
+
+#include <ros/ros.h>
+#include <unistd.h>
+#include <serial/serial.h>
+#include <nav_msgs/Odometry.h>
+#include <sensor_msgs/JointState.h>
+#include <std_msgs/Float64.h>
+#include <std_msgs/Int8MultiArray.h>
+#include <std_msgs/UInt8MultiArray.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include "std_msgs/UInt32.h"
+#include "rm_msgs/VisualizeStateData.h"
+#include "rm_msgs/CustomControllerData.h"
+#include "rm_msgs/VTKeyboardMouseData.h"
+#include "rm_msgs/VTReceiverControlData.h"
+
+#include "rm_vt/common/protocol.h"
+
+namespace rm_vt
+{
+class Base
+{
+public:
+  serial::Serial serial_;
+  bool video_transmission_is_online_ = false;
+
+  void initSerial()
+  {
+    serial::Timeout timeout = serial::Timeout::simpleTimeout(50);
+    serial_.setPort("/dev/usbImagetran");
+    serial_.setBaudrate(921600);
+    serial_.setTimeout(timeout);
+    if (serial_.isOpen())
+      return;
+    try
+    {
+      serial_.open();
+    }
+    catch (serial::IOException& e)
+    {
+      ROS_ERROR("Cannot open image transmitter port");
+    }
+  }
+
+  // CRC check
+  uint8_t getCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length, unsigned char uc_crc_8)
+  {
+    unsigned char uc_index;
+    while (dw_length--)
+    {
+      uc_index = uc_crc_8 ^ (*pch_message++);
+      uc_crc_8 = rm_vt::kCrc8Table[uc_index];
+    }
+    return (uc_crc_8);
+  }
+
+  uint32_t verifyCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length)
+  {
+    unsigned char uc_expected;
+    if ((pch_message == nullptr) || (dw_length <= 2))
+      return 0;
+    uc_expected = getCRC8CheckSum(pch_message, dw_length - 1, rm_vt::kCrc8Init);
+    return (uc_expected == pch_message[dw_length - 1]);
+  }
+
+  void appendCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length)
+  {
+    unsigned char uc_crc;
+    if ((pch_message == nullptr) || (dw_length <= 2))
+      return;
+    uc_crc = getCRC8CheckSum((unsigned char*)pch_message, dw_length - 1, rm_vt::kCrc8Init);
+    pch_message[dw_length - 1] = uc_crc;
+  }
+
+  uint16_t getCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length, uint16_t w_crc)
+  {
+    uint8_t chData;
+    if (pch_message == nullptr)
+      return 0xFFFF;
+    while (dw_length--)
+    {
+      chData = *pch_message++;
+      (w_crc) = (static_cast<uint16_t>(w_crc) >> 8) ^
+                rm_vt::wCRC_table[(static_cast<uint16_t>(w_crc) ^ static_cast<uint16_t>(chData)) & 0x00ff];
+    }
+    return w_crc;
+  }
+
+  uint32_t verifyCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length)
+  {
+    uint16_t w_expected;
+    if ((pch_message == nullptr) || (dw_length <= 2))
+      return 0;
+    w_expected = getCRC16CheckSum(pch_message, dw_length - 2, rm_vt::kCrc16Init);
+    return ((w_expected & 0xff) == pch_message[dw_length - 2] &&
+            ((w_expected >> 8) & 0xff) == pch_message[dw_length - 1]);
+  }
+
+  void appendCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length)
+  {
+    uint16_t wCRC;
+    if ((pch_message == nullptr) || (dw_length <= 2))
+      return;
+    wCRC = getCRC16CheckSum(static_cast<uint8_t*>(pch_message), dw_length - 2, rm_vt::kCrc16Init);
+    pch_message[dw_length - 2] = static_cast<uint8_t>((wCRC & 0x00ff));
+    pch_message[dw_length - 1] = static_cast<uint8_t>(((wCRC >> 8) & 0x00ff));
+  }
+};
+}  // namespace rm_vt