diff --git a/software/firmware/tower_pan_tilt/tower_pan_tilt.ino b/software/firmware/tower_pan_tilt/tower_pan_tilt.ino index 14736d6..7ed02fe 100644 --- a/software/firmware/tower_pan_tilt/tower_pan_tilt.ino +++ b/software/firmware/tower_pan_tilt/tower_pan_tilt.ino @@ -39,7 +39,7 @@ uint8_t message_count = 0; // Pan/tilt hard limits const int pan_min = 1470; -const int pan_center = 1600; +const int pan_center = 1605; const int pan_max = 1725; const int tilt_min = 1020; @@ -57,7 +57,7 @@ Servo pan_servo; Servo tilt_servo; void setup() { -// Serial.begin(9600); + Serial.begin(9600); // while(!Serial); setup_hardware(); @@ -151,4 +151,3 @@ void set_pan_tilt_adjustments() { modbus_data[MODBUS_REGISTERS::TILT_ADJUST_NEGATIVE] = 0; } } - diff --git a/software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py b/software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py index bfa535b..b033f33 100644 --- a/software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py +++ b/software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py @@ -8,23 +8,103 @@ import logging import rospy from rover_arm.msg import ArmStatusMessage +from rover_control.msg import GripperStatusMessage ##################################### # Global Variables ##################################### ARM_STATUS_TOPIC = "/rover_arm/status" +GRIPPER_STATUS_TOPIC = "/rover_control/gripper/status" + + +COMMS_TO_STRING = { + 0: "NO STATUS", + 1: "COMMS OK", + 2: "NO DEVICE", + 4: "BUS ERROR", + 8: "GEN COMM ERROR", + 16: "PARAMETER ERROR", + 32: "LENGTH ERROR" +} + +TARGET_REACHED_BIT_POSITION = 1 + +STATUS_TO_STRING = { + 1: "TARGET REACHED", + 2: "ERROR RECOVERY", + 3: "RUN", + 4: "ENABLED", + 5: "FAULT STOP", + 6: "WARNING", + 7: "STO ACTIVE", + 8: "SERVO READY", + 10: "BRAKING", + 11: "HOMING", + 12: "INITIALIZED", + 13: "VOLT OK", + 15: "PERMANENT STOP" +} + +FAULT_TO_STRING = { + 1: "TRACKING ERROR", + 2: "OVER CURRENT", + # 3: "COMMUNICATION ERROR", # Was showing even though things were working??? + 4: "ENCODER FAILURE", + 5: "OVER TEMP", + 6: "UNDER VOLTAGE", + 7: "OVER VOLTAGE", + 8: "PROG OR MEM ERROR", + 9: "HARDWARE ERROR", + 10: "OVER VELOCITY", + 11: "INIT ERROR", + 12: "MOTION ERROR", + 13: "RANGE ERROR", + 14: "POWER STAGE FORCED OFF", + 15: "HOST COMM ERROR" +} ##################################### # Controller Class Definition ##################################### class ArmIndication(QtCore.QObject): - base_position_updated__signal = QtCore.pyqtSignal(int) - shoulder_position_updated__signal = QtCore.pyqtSignal(int) - elbow_position_updated__signal = QtCore.pyqtSignal(int) - roll_position_updated__signal = QtCore.pyqtSignal(int) - wrist_pitch_position_updated__signal = QtCore.pyqtSignal(int) - wrist_roll_position_updated__signal = QtCore.pyqtSignal(int) + base_position_updated__signal = QtCore.pyqtSignal(float) + shoulder_position_updated__signal = QtCore.pyqtSignal(float) + elbow_position_updated__signal = QtCore.pyqtSignal(float) + roll_position_updated__signal = QtCore.pyqtSignal(float) + wrist_pitch_position_updated__signal = QtCore.pyqtSignal(float) + wrist_roll_position_updated__signal = QtCore.pyqtSignal(float) + + base_comms_state_update_ready__signal = QtCore.pyqtSignal(str) + shoulder_comms_state_update_ready__signal = QtCore.pyqtSignal(str) + elbow_comms_state_update_ready__signal = QtCore.pyqtSignal(str) + roll_comms_state_update_ready__signal = QtCore.pyqtSignal(str) + wrist_pitch_comms_state_update_ready__signal = QtCore.pyqtSignal(str) + wrist_roll_comms_state_update_ready__signal = QtCore.pyqtSignal(str) + + base_status_update_ready__signal = QtCore.pyqtSignal(str) + shoulder_status_update_ready__signal = QtCore.pyqtSignal(str) + elbow_status_update_ready__signal = QtCore.pyqtSignal(str) + roll_status_update_ready__signal = QtCore.pyqtSignal(str) + wrist_pitch_status_update_ready__signal = QtCore.pyqtSignal(str) + wrist_roll_status_update_ready__signal = QtCore.pyqtSignal(str) + + base_faults_update_ready__signal = QtCore.pyqtSignal(str) + shoulder_faults_update_ready__signal = QtCore.pyqtSignal(str) + elbow_faults_update_ready__signal = QtCore.pyqtSignal(str) + roll_faults_update_ready__signal = QtCore.pyqtSignal(str) + wrist_pitch_faults_update_ready__signal = QtCore.pyqtSignal(str) + wrist_roll_faults_update_ready__signal = QtCore.pyqtSignal(str) + + pinch_position_updated__signal = QtCore.pyqtSignal(int) + forefinger_position_updated__signal = QtCore.pyqtSignal(int) + thumb_position_updated__signal = QtCore.pyqtSignal(int) + middlefinger_position_updated__signal = QtCore.pyqtSignal(int) + + pinch_current_updated__signal = QtCore.pyqtSignal(int) + forefinger_current_updated__signal = QtCore.pyqtSignal(int) + thumb_current_updated__signal = QtCore.pyqtSignal(int) + middlefinger_current_updated__signal = QtCore.pyqtSignal(int) def __init__(self, shared_objects): super(ArmIndication, self).__init__() @@ -33,12 +113,45 @@ class ArmIndication(QtCore.QObject): self.shared_objects = shared_objects self.right_screen = self.shared_objects["screens"]["right_screen"] - self.base_rotation_dial = self.right_screen.base_rotation_dial # type: QtWidgets.QDial - self.shoulder_pitch_dial = self.right_screen.shoulder_pitch_dial # type: QtWidgets.QDial - self.elbow_pitch_dial = self.right_screen.elbow_pitch_dial # type: QtWidgets.QDial - self.elbow_roll_dial = self.right_screen.elbow_roll_dial # type: QtWidgets.QDial - self.end_effector_pitch_dial = self.right_screen.end_effector_pitch_dial # type: QtWidgets.QDial - self.end_effector_rotation_dial = self.right_screen.end_effector_rotation_dial # type: QtWidgets.QDial + self.base_position_lcd_number = self.right_screen.base_position_lcd_number # type: QtWidgets.QLCDNumber + self.shoulder_position_lcd_number = self.right_screen.shoulder_position_lcd_number # type: QtWidgets.QLCDNumber + self.elbow_position_lcd_number = self.right_screen.elbow_position_lcd_number # type: QtWidgets.QLCDNumber + self.roll_position_lcd_number = self.right_screen.roll_position_lcd_number # type: QtWidgets.QLCDNumber + self.wrist_pitch_position_lcd_number = self.right_screen.wrist_pitch_position_lcd_number # type: QtWidgets.QLCDNumber + self.wrist_roll_position_lcd_number = self.right_screen.wrist_roll_position_lcd_number # type: QtWidgets.QLCDNumber + + self.pinch_position_lcd_number = self.right_screen.pinch_position_lcd_number # type: QtWidgets.QLCDNumber + self.forefinger_position_lcd_number = self.right_screen.forefinger_position_lcd_number # type: QtWidgets.QLCDNumber + self.thumb_position_lcd_number = self.right_screen.thumb_position_lcd_number # type: QtWidgets.QLCDNumber + self.middlefinger_position_lcd_number = self.right_screen.middlefinger_position_lcd_number # type: QtWidgets.QLCDNumber + + self.pinch_current_lcd_number = self.right_screen.pinch_current_lcd_number # type: QtWidgets.QLCDNumber + self.forefinger_current_lcd_number = self.right_screen.forefinger_current_lcd_number # type: QtWidgets.QLCDNumber + self.thumb_current_lcd_number = self.right_screen.thumb_current_lcd_number # type: QtWidgets.QLCDNumber + self.middlefinger_current_lcd_number = self.right_screen.middlefinger_current_lcd_number # type: QtWidgets.QLCDNumber + + self.arm_controls_base_comms_label = self.right_screen.arm_controls_base_comms_label # type:QtWidgets.QLabel + self.arm_controls_base_status_label = self.right_screen.arm_controls_base_status_label # type:QtWidgets.QLabel + self.arm_controls_base_faults_label = self.right_screen.arm_controls_base_faults_label # type:QtWidgets.QLabel + + self.arm_controls_shoulder_comms_label = self.right_screen.arm_controls_shoulder_comms_label # type:QtWidgets.QLabel + self.arm_controls_shoulder_status_label = self.right_screen.arm_controls_shoulder_status_label # type:QtWidgets.QLabel + self.arm_controls_shoulder_faults_label = self.right_screen.arm_controls_shoulder_faults_label # type:QtWidgets.QLabel + self.arm_controls_elbow_comms_label = self.right_screen.arm_controls_elbow_comms_label # type:QtWidgets.QLabel + self.arm_controls_elbow_status_label = self.right_screen.arm_controls_elbow_status_label # type:QtWidgets.QLabel + self.arm_controls_elbow_faults_label = self.right_screen.arm_controls_elbow_faults_label # type:QtWidgets.QLabel + + self.arm_controls_roll_comms_label = self.right_screen.arm_controls_roll_comms_label # type:QtWidgets.QLabel + self.arm_controls_roll_status_label = self.right_screen.arm_controls_roll_status_label # type:QtWidgets.QLabel + self.arm_controls_roll_faults_label = self.right_screen.arm_controls_roll_faults_label # type:QtWidgets.QLabel + + self.arm_controls_wrist_pitch_comms_label = self.right_screen.arm_controls_wrist_pitch_comms_label # type:QtWidgets.QLabel + self.arm_controls_wrist_pitch_status_label = self.right_screen.arm_controls_wrist_pitch_status_label # type:QtWidgets.QLabel + self.arm_controls_wrist_pitch_faults_label = self.right_screen.arm_controls_wrist_pitch_faults_label # type:QtWidgets.QLabel + + self.arm_controls_wrist_roll_comms_label = self.right_screen.arm_controls_wrist_roll_comms_label # type:QtWidgets.QLabel + self.arm_controls_wrist_roll_status_label = self.right_screen.arm_controls_wrist_roll_status_label # type:QtWidgets.QLabel + self.arm_controls_wrist_roll_faults_label = self.right_screen.arm_controls_wrist_roll_faults_label # type:QtWidgets.QLabel # ########## Get the settings instance ########## self.settings = QtCore.QSettings() @@ -48,24 +161,115 @@ class ArmIndication(QtCore.QObject): # ########## Class Variables ########## self.arm_status_subscriber = rospy.Subscriber(ARM_STATUS_TOPIC, ArmStatusMessage, self.on_arm_status_update_received__callback) + self.gripper_status_subscriver = rospy.Subscriber(GRIPPER_STATUS_TOPIC, GripperStatusMessage, self.on_gripper_status_update_received__callback) # ########## Connect Signals and Slots ########## self.connect_signals_and_slots() def connect_signals_and_slots(self): - self.base_position_updated__signal.connect(self.base_rotation_dial.setValue) - self.shoulder_position_updated__signal.connect(self.shoulder_pitch_dial.setValue) - self.elbow_position_updated__signal.connect(self.elbow_pitch_dial.setValue) - self.roll_position_updated__signal.connect(self.elbow_roll_dial.setValue) - self.wrist_pitch_position_updated__signal.connect(self.end_effector_pitch_dial.setValue) - self.wrist_roll_position_updated__signal.connect(self.end_effector_rotation_dial.setValue) + self.base_position_updated__signal.connect(self.base_position_lcd_number.display) + self.shoulder_position_updated__signal.connect(self.shoulder_position_lcd_number.display) + self.elbow_position_updated__signal.connect(self.elbow_position_lcd_number.display) + self.roll_position_updated__signal.connect(self.roll_position_lcd_number.display) + self.wrist_pitch_position_updated__signal.connect(self.wrist_pitch_position_lcd_number.display) + self.wrist_roll_position_updated__signal.connect(self.wrist_roll_position_lcd_number.display) + + self.base_comms_state_update_ready__signal.connect(self.arm_controls_base_comms_label.setText) + self.shoulder_comms_state_update_ready__signal.connect(self.arm_controls_shoulder_comms_label.setText) + self.elbow_comms_state_update_ready__signal.connect(self.arm_controls_elbow_comms_label.setText) + self.roll_comms_state_update_ready__signal.connect(self.arm_controls_roll_comms_label.setText) + self.wrist_pitch_comms_state_update_ready__signal.connect(self.arm_controls_wrist_pitch_comms_label.setText) + self.wrist_roll_comms_state_update_ready__signal.connect(self.arm_controls_wrist_roll_comms_label.setText) + + self.base_status_update_ready__signal.connect(self.arm_controls_base_status_label.setText) + self.shoulder_status_update_ready__signal.connect(self.arm_controls_shoulder_status_label.setText) + self.elbow_status_update_ready__signal.connect(self.arm_controls_elbow_status_label.setText) + self.roll_status_update_ready__signal.connect(self.arm_controls_roll_status_label.setText) + self.wrist_pitch_status_update_ready__signal.connect(self.arm_controls_wrist_pitch_status_label.setText) + self.wrist_roll_status_update_ready__signal.connect(self.arm_controls_wrist_roll_status_label.setText) + + self.base_faults_update_ready__signal.connect(self.arm_controls_base_faults_label.setText) + self.shoulder_faults_update_ready__signal.connect(self.arm_controls_shoulder_faults_label.setText) + self.elbow_faults_update_ready__signal.connect(self.arm_controls_elbow_faults_label.setText) + self.roll_faults_update_ready__signal.connect(self.arm_controls_roll_faults_label.setText) + self.wrist_pitch_faults_update_ready__signal.connect(self.arm_controls_wrist_pitch_faults_label.setText) + self.wrist_roll_faults_update_ready__signal.connect(self.arm_controls_wrist_roll_faults_label.setText) + + self.pinch_position_updated__signal.connect(self.pinch_position_lcd_number.display) + self.forefinger_position_updated__signal.connect(self.forefinger_position_lcd_number.display) + self.thumb_position_updated__signal.connect(self.thumb_position_lcd_number.display) + self.middlefinger_position_updated__signal.connect(self.middlefinger_position_lcd_number.display) + + self.pinch_current_updated__signal.connect(self.pinch_current_lcd_number.display) + self.forefinger_current_updated__signal.connect(self.forefinger_current_lcd_number.display) + self.thumb_current_updated__signal.connect(self.thumb_current_lcd_number.display) + self.middlefinger_current_updated__signal.connect(self.middlefinger_current_lcd_number.display) def on_arm_status_update_received__callback(self, data): - self.base_position_updated__signal.emit(int(data.base * 1000)) - self.shoulder_position_updated__signal.emit(int(data.shoulder * 1000)) - self.elbow_position_updated__signal.emit(int(data.elbow * 1000)) - self.roll_position_updated__signal.emit(int(data.roll * 1000)) - self.wrist_pitch_position_updated__signal.emit(int(data.wrist_pitch * 1000)) - self.wrist_roll_position_updated__signal.emit(int(data.wrist_roll * 1000)) + self.base_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.base_comm_status)) + self.shoulder_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.shoulder_comm_status)) + self.elbow_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.elbow_comm_status)) + self.roll_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.roll_comm_status)) + self.wrist_pitch_comms_state_update_ready__signal.emit( + self.process_comms_to_string(data.wrist_pitch_comm_status)) + self.wrist_roll_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.wrist_roll_comm_status)) + + self.base_status_update_ready__signal.emit(self.process_statuses_to_string(data.base_status)) + self.shoulder_status_update_ready__signal.emit(self.process_statuses_to_string(data.shoulder_status)) + self.elbow_status_update_ready__signal.emit(self.process_statuses_to_string(data.elbow_status)) + self.roll_status_update_ready__signal.emit(self.process_statuses_to_string(data.roll_status)) + self.wrist_pitch_status_update_ready__signal.emit(self.process_statuses_to_string(data.wrist_pitch_status)) + self.wrist_roll_status_update_ready__signal.emit(self.process_statuses_to_string(data.wrist_roll_status)) + + self.base_faults_update_ready__signal.emit(self.process_faults_to_string(data.base_faults)) + self.shoulder_faults_update_ready__signal.emit(self.process_faults_to_string(data.shoulder_faults)) + self.elbow_faults_update_ready__signal.emit(self.process_faults_to_string(data.elbow_faults)) + self.roll_faults_update_ready__signal.emit(self.process_faults_to_string(data.roll_faults)) + self.wrist_pitch_faults_update_ready__signal.emit(self.process_faults_to_string(data.wrist_pitch_faults)) + self.wrist_roll_faults_update_ready__signal.emit(self.process_faults_to_string(data.wrist_roll_faults)) + + self.base_position_updated__signal.emit(data.base) + self.shoulder_position_updated__signal.emit(data.shoulder) + self.elbow_position_updated__signal.emit(data.elbow) + self.roll_position_updated__signal.emit(data.roll) + self.wrist_pitch_position_updated__signal.emit(data.wrist_pitch) + self.wrist_roll_position_updated__signal.emit(data.wrist_roll) + + def on_gripper_status_update_received__callback(self, data): + data = data # type: GripperStatusMessage + + self.pinch_position_updated__signal.emit(data.pinch_position_raw) + self.forefinger_position_updated__signal.emit(data.forefinger_position_raw) + self.thumb_position_updated__signal.emit(data.thumb_position_raw) + self.middlefinger_position_updated__signal.emit(data.middlefinger_position_raw) + + self.pinch_current_updated__signal.emit(data.pinch_current) + self.forefinger_current_updated__signal.emit(data.forefinger_current) + self.thumb_current_updated__signal.emit(data.thumb_current) + self.middlefinger_current_updated__signal.emit(data.middlefinger_current) + + @staticmethod + def process_faults_to_string(faults): + fault_output = "" + + for bit_position in FAULT_TO_STRING: + if (1 << bit_position) & faults: + fault_output += FAULT_TO_STRING[bit_position] + "\n" + + return fault_output[:-1] + + @staticmethod + def process_statuses_to_string(statuses): + status_output = "" + + for bit_position in STATUS_TO_STRING: + if (1 << bit_position) & statuses: + status_output += STATUS_TO_STRING[bit_position] + "\n" + + return status_output[:-1] + + @staticmethod + def process_comms_to_string(comms): + return COMMS_TO_STRING[comms] if comms in COMMS_TO_STRING else "UNKNOWN" diff --git a/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py b/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py index c71feba..12eb07d 100644 --- a/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py +++ b/software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py @@ -160,6 +160,14 @@ class XBOXController(QtCore.QThread): # Controller Class Definition ##################################### class XBOXControllerControlSender(QtCore.QThread): + xbox_control_arm_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) + xbox_control_mining_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) + + gripper_mode_normal_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) + gripper_mode_pinch_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) + gripper_mode_wide_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) + gripper_mode_scissor_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) + XBOX_CONTROL_STATES = [ "ARM", "MINING" @@ -172,17 +180,20 @@ class XBOXControllerControlSender(QtCore.QThread): "SCISSOR": 4 } - xbox_control_arm_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) - xbox_control_mining_stylesheet_update_ready__signal = QtCore.pyqtSignal(str) - def __init__(self, shared_objects): super(XBOXControllerControlSender, self).__init__() # ########## Reference to class init variables ########## self.shared_objects = shared_objects self.left_screen = self.shared_objects["screens"]["left_screen"] - self.xbox_mode_arm_label = self.left_screen.xbox_mode_arm_label # type: QtWidgets.QLabel - self.xbox_mode_mining_label = self.left_screen.xbox_mode_mining_label # type: QtWidgets.QLabel + self.right_screen = self.shared_objects["screens"]["right_screen"] + self.xbox_mode_arm_label = self.right_screen.xbox_mode_arm_label # type: QtWidgets.QLabel + self.xbox_mode_mining_label = self.right_screen.xbox_mode_mining_label # type: QtWidgets.QLabel + + self.gripper_mode_normal_label = self.right_screen.gripper_mode_normal_label # type: QtWidgets.QLabel + self.gripper_mode_pinch_label = self.right_screen.gripper_mode_pinch_label # type: QtWidgets.QLabel + self.gripper_mode_wide_label = self.right_screen.gripper_mode_wide_label # type: QtWidgets.QLabel + self.gripper_mode_scissor_label = self.right_screen.gripper_mode_scissor_label # type: QtWidgets.QLabel # ########## Get the settings instance ########## self.settings = QtCore.QSettings() @@ -205,14 +216,46 @@ class XBOXControllerControlSender(QtCore.QThread): queue_size=1) self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1) - self.current_state = self.XBOX_CONTROL_STATES.index("ARM") + self.xbox_current_control_state = self.XBOX_CONTROL_STATES.index("ARM") self.xbox_control_state_just_changed = False self.last_xbox_button_state = 0 self.last_left_bumper_state = 0 self.last_right_bumper_state = 0 - self.gripper_control_mode = self.GRIPPER_CONTROL_MODES["NORMAL"] + self.gripper_control_mode = 0 + self.gripper_control_mode_just_changed = False + self.send_new_gripper_mode = False + + self.GRIPPER_DISPLAY_SIGNAL_MAPPING = { + self.GRIPPER_CONTROL_MODES["NORMAL"]: { + "SET": [self.gripper_mode_normal_stylesheet_update_ready__signal], + "UNSET": [self.gripper_mode_pinch_stylesheet_update_ready__signal, + self.gripper_mode_wide_stylesheet_update_ready__signal, + self.gripper_mode_scissor_stylesheet_update_ready__signal] + }, + + self.GRIPPER_CONTROL_MODES["TWO_FINGER_PINCH"]: { + "SET": [self.gripper_mode_pinch_stylesheet_update_ready__signal], + "UNSET": [self.gripper_mode_normal_stylesheet_update_ready__signal, + self.gripper_mode_wide_stylesheet_update_ready__signal, + self.gripper_mode_scissor_stylesheet_update_ready__signal] + }, + + self.GRIPPER_CONTROL_MODES["WIDE"]: { + "SET": [self.gripper_mode_wide_stylesheet_update_ready__signal], + "UNSET": [self.gripper_mode_pinch_stylesheet_update_ready__signal, + self.gripper_mode_normal_stylesheet_update_ready__signal, + self.gripper_mode_scissor_stylesheet_update_ready__signal] + }, + + self.GRIPPER_CONTROL_MODES["SCISSOR"]: { + "SET": [self.gripper_mode_scissor_stylesheet_update_ready__signal], + "UNSET": [self.gripper_mode_pinch_stylesheet_update_ready__signal, + self.gripper_mode_wide_stylesheet_update_ready__signal, + self.gripper_mode_normal_stylesheet_update_ready__signal] + } + } def run(self): self.logger.debug("Starting Joystick Thread") @@ -222,9 +265,9 @@ class XBOXControllerControlSender(QtCore.QThread): self.change_control_state_if_needed() - if self.current_state == self.XBOX_CONTROL_STATES.index("ARM"): + if self.xbox_current_control_state == self.XBOX_CONTROL_STATES.index("ARM"): self.process_and_send_arm_control() - elif self.current_state == self.XBOX_CONTROL_STATES.index("MINING"): + elif self.xbox_current_control_state == self.XBOX_CONTROL_STATES.index("MINING"): self.send_mining_commands() time_diff = time() - start_time @@ -237,43 +280,62 @@ class XBOXControllerControlSender(QtCore.QThread): self.xbox_control_arm_stylesheet_update_ready__signal.connect(self.xbox_mode_arm_label.setStyleSheet) self.xbox_control_mining_stylesheet_update_ready__signal.connect(self.xbox_mode_mining_label.setStyleSheet) + self.gripper_mode_normal_stylesheet_update_ready__signal.connect(self.gripper_mode_normal_label.setStyleSheet) + self.gripper_mode_pinch_stylesheet_update_ready__signal.connect(self.gripper_mode_pinch_label.setStyleSheet) + self.gripper_mode_wide_stylesheet_update_ready__signal.connect(self.gripper_mode_wide_label.setStyleSheet) + self.gripper_mode_scissor_stylesheet_update_ready__signal.connect(self.gripper_mode_scissor_label.setStyleSheet) + def change_control_state_if_needed(self): xbox_state = self.controller.controller_states["xbox_button"] left_bumper_state = self.controller.controller_states["left_bumper"] right_bumper_state = self.controller.controller_states["right_bumper"] if self.last_xbox_button_state == 0 and xbox_state == 1: - self.current_state += 1 - self.current_state = self.current_state % len(self.XBOX_CONTROL_STATES) + self.xbox_current_control_state += 1 + self.xbox_current_control_state = self.xbox_current_control_state % len(self.XBOX_CONTROL_STATES) self.xbox_control_state_just_changed = True self.last_xbox_button_state = 1 elif self.last_xbox_button_state == 1 and xbox_state == 0: self.last_xbox_button_state = 0 - if self.last_left_bumper_state == 0 and left_bumper_state == 1: - self.gripper_control_mode = ((self.gripper_control_mode - 1) % len(self.GRIPPER_CONTROL_MODES)) - # self.gripper_control_mode += 1 - self.last_left_bumper_state = 1 - elif self.last_left_bumper_state == 1 and left_bumper_state == 0: - self.last_left_bumper_state = 0 - - if self.last_right_bumper_state == 0 and right_bumper_state == 1: - self.gripper_control_mode = ((self.gripper_control_mode + 1) % len(self.GRIPPER_CONTROL_MODES)) - # self.gripper_control_mode += 1 - self.last_right_bumper_state = 1 - elif self.last_right_bumper_state == 1 and right_bumper_state == 0: - self.last_right_bumper_state = 0 - if self.xbox_control_state_just_changed: - self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_NONE) - self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_GREEN) + if self.xbox_current_control_state == self.XBOX_CONTROL_STATES.index("ARM"): + self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_GREEN) + self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_NONE) + elif self.xbox_current_control_state == self.XBOX_CONTROL_STATES.index("MINING"): + self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_NONE) + self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_GREEN) self.xbox_control_state_just_changed = False + if self.xbox_current_control_state == self.XBOX_CONTROL_STATES.index("ARM"): + if self.last_left_bumper_state == 0 and left_bumper_state == 1: + self.gripper_control_mode = ((self.gripper_control_mode - 1) % len(self.GRIPPER_CONTROL_MODES)) + self.gripper_control_mode_just_changed = True + self.last_left_bumper_state = 1 + elif self.last_left_bumper_state == 1 and left_bumper_state == 0: + self.last_left_bumper_state = 0 + + if self.last_right_bumper_state == 0 and right_bumper_state == 1: + self.gripper_control_mode = ((self.gripper_control_mode + 1) % len(self.GRIPPER_CONTROL_MODES)) + self.gripper_control_mode_just_changed = True + self.last_right_bumper_state = 1 + elif self.last_right_bumper_state == 1 and right_bumper_state == 0: + self.last_right_bumper_state = 0 + + if self.gripper_control_mode_just_changed: + signal_map = self.GRIPPER_DISPLAY_SIGNAL_MAPPING[self.gripper_control_mode + 1] + + for signal in signal_map["SET"]: + signal.emit(COLOR_GREEN) + + for signal in signal_map["UNSET"]: + signal.emit(COLOR_NONE) + + self.send_new_gripper_mode = True + + self.gripper_control_mode_just_changed = False + def process_and_send_arm_control(self): - if self.xbox_control_state_just_changed: - self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_GREEN) - self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_NONE) - self.xbox_control_state_just_changed = False arm_control_message = ArmControlMessage() @@ -282,7 +344,7 @@ class XBOXControllerControlSender(QtCore.QThread): gripper_control_message.gripper_mode = self.gripper_control_mode + 1 should_publish_arm = False - should_publish_gripper = False + should_publish_gripper = True if self.send_new_gripper_mode else False left_trigger = self.controller.controller_states["left_trigger"] right_trigger = self.controller.controller_states["right_trigger"] @@ -322,6 +384,7 @@ class XBOXControllerControlSender(QtCore.QThread): if should_publish_gripper: self.gripper_control_publisher.publish(gripper_control_message) + self.send_new_gripper_mode = False def send_mining_commands(self): diff --git a/software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py b/software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py index 4a75dd3..b6e36f1 100644 --- a/software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py +++ b/software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py @@ -9,6 +9,7 @@ import rospy from time import time from rover_arm.msg import ArmControlMessage, ArmStatusMessage +from rover_control.msg import GripperControlMessage ##################################### # Global Variables @@ -17,54 +18,10 @@ ARM_RELATIVE_CONTROL_TOPIC = "/rover_arm/control/relative" ARM_ABSOLUTE_CONTROL_TOPIC = "/rover_arm/control/absolute" ARM_STATUS_TOPIC = "/rover_arm/status" +GRIPPER_CONTROL_TOPIC = "/rover_control/gripper/control" + THREAD_HERTZ = 5 -COMMS_TO_STRING = { - 0: "NO STATUS", - 1: "COMMS OK", - 2: "NO DEVICE", - 4: "BUS ERROR", - 8: "GEN COMM ERROR", - 16: "PARAMETER ERROR", - 32: "LENGTH ERROR" -} - -TARGET_REACHED_BIT_POSITION = 1 - -STATUS_TO_STRING = { - 1: "TARGET REACHED", - 2: "ERROR RECOVERY", - 3: "RUN", - 4: "ENABLED", - 5: "FAULT STOP", - 6: "WARNING", - 7: "STO ACTIVE", - 8: "SERVO READY", - 10: "BRAKING", - 11: "HOMING", - 12: "INITIALIZED", - 13: "VOLT OK", - 15: "PERMANENT STOP" -} - -FAULT_TO_STRING = { - 1: "TRACKING ERROR", - 2: "OVER CURRENT", - # 3: "COMMUNICATION ERROR", # Was showing even though things were working??? - 4: "ENCODER FAILURE", - 5: "OVER TEMP", - 6: "UNDER VOLTAGE", - 7: "OVER VOLTAGE", - 8: "PROG OR MEM ERROR", - 9: "HARDWARE ERROR", - 10: "OVER VELOCITY", - 11: "INIT ERROR", - 12: "MOTION ERROR", - 13: "RANGE ERROR", - 14: "POWER STAGE FORCED OFF", - 15: "HOST COMM ERROR" -} - POSITIONAL_TOLERANCE = 0.02 # Order is [base, shoulder, elbow, roll, wrist_pitch, wrist_roll] @@ -87,27 +44,6 @@ ARM_UNSTOW_PROCEDURE = [ # UbiquitiRadioSettings Class Definition ##################################### class MiscArm(QtCore.QThread): - base_comms_state_update_ready__signal = QtCore.pyqtSignal(str) - shoulder_comms_state_update_ready__signal = QtCore.pyqtSignal(str) - elbow_comms_state_update_ready__signal = QtCore.pyqtSignal(str) - roll_comms_state_update_ready__signal = QtCore.pyqtSignal(str) - wrist_pitch_comms_state_update_ready__signal = QtCore.pyqtSignal(str) - wrist_roll_comms_state_update_ready__signal = QtCore.pyqtSignal(str) - - base_status_update_ready__signal = QtCore.pyqtSignal(str) - shoulder_status_update_ready__signal = QtCore.pyqtSignal(str) - elbow_status_update_ready__signal = QtCore.pyqtSignal(str) - roll_status_update_ready__signal = QtCore.pyqtSignal(str) - wrist_pitch_status_update_ready__signal = QtCore.pyqtSignal(str) - wrist_roll_status_update_ready__signal = QtCore.pyqtSignal(str) - - base_faults_update_ready__signal = QtCore.pyqtSignal(str) - shoulder_faults_update_ready__signal = QtCore.pyqtSignal(str) - elbow_faults_update_ready__signal = QtCore.pyqtSignal(str) - roll_faults_update_ready__signal = QtCore.pyqtSignal(str) - wrist_pitch_faults_update_ready__signal = QtCore.pyqtSignal(str) - wrist_roll_faults_update_ready__signal = QtCore.pyqtSignal(str) - def __init__(self, shared_objects): super(MiscArm, self).__init__() @@ -123,28 +59,8 @@ class MiscArm(QtCore.QThread): self.arm_controls_clear_faults_button = self.left_screen.arm_controls_clear_faults_button # type:QtWidgets.QPushButton self.arm_controls_reset_motor_drivers_button = self.left_screen.arm_controls_reset_motor_drivers_button # type:QtWidgets.QPushButton - self.arm_controls_base_comms_label = self.left_screen.arm_controls_base_comms_label # type:QtWidgets.QLabel - self.arm_controls_base_status_label = self.left_screen.arm_controls_base_status_label # type:QtWidgets.QLabel - self.arm_controls_base_faults_label = self.left_screen.arm_controls_base_faults_label # type:QtWidgets.QLabel - - self.arm_controls_shoulder_comms_label = self.left_screen.arm_controls_shoulder_comms_label # type:QtWidgets.QLabel - self.arm_controls_shoulder_status_label = self.left_screen.arm_controls_shoulder_status_label # type:QtWidgets.QLabel - self.arm_controls_shoulder_faults_label = self.left_screen.arm_controls_shoulder_faults_label # type:QtWidgets.QLabel - self.arm_controls_elbow_comms_label = self.left_screen.arm_controls_elbow_comms_label # type:QtWidgets.QLabel - self.arm_controls_elbow_status_label = self.left_screen.arm_controls_elbow_status_label # type:QtWidgets.QLabel - self.arm_controls_elbow_faults_label = self.left_screen.arm_controls_elbow_faults_label # type:QtWidgets.QLabel - - self.arm_controls_roll_comms_label = self.left_screen.arm_controls_roll_comms_label # type:QtWidgets.QLabel - self.arm_controls_roll_status_label = self.left_screen.arm_controls_roll_status_label # type:QtWidgets.QLabel - self.arm_controls_roll_faults_label = self.left_screen.arm_controls_roll_faults_label # type:QtWidgets.QLabel - - self.arm_controls_wrist_pitch_comms_label = self.left_screen.arm_controls_wrist_pitch_comms_label # type:QtWidgets.QLabel - self.arm_controls_wrist_pitch_status_label = self.left_screen.arm_controls_wrist_pitch_status_label # type:QtWidgets.QLabel - self.arm_controls_wrist_pitch_faults_label = self.left_screen.arm_controls_wrist_pitch_faults_label # type:QtWidgets.QLabel - - self.arm_controls_wrist_roll_comms_label = self.left_screen.arm_controls_wrist_roll_comms_label # type:QtWidgets.QLabel - self.arm_controls_wrist_roll_status_label = self.left_screen.arm_controls_wrist_roll_status_label # type:QtWidgets.QLabel - self.arm_controls_wrist_roll_faults_label = self.left_screen.arm_controls_wrist_roll_faults_label # type:QtWidgets.QLabel + self.gripper_home_button = self.left_screen.gripper_home_button # type:QtWidgets.QPushButton + self.gripper_toggle_light_button = self.left_screen.gripper_toggle_light_button # type:QtWidgets.QPushButton # ########## Get the settings instance ########## self.settings = QtCore.QSettings() @@ -166,6 +82,8 @@ class MiscArm(QtCore.QThread): self.arm_absolute_control_publisher = rospy.Publisher(ARM_ABSOLUTE_CONTROL_TOPIC, ArmControlMessage, queue_size=1) + self.gripper_control_publisher = rospy.Publisher(GRIPPER_CONTROL_TOPIC, GripperControlMessage, queue_size=1) + self.base_position = 0 self.shoulder_position = 0 self.elbow_position = 0 @@ -258,26 +176,8 @@ class MiscArm(QtCore.QThread): self.arm_controls_clear_faults_button.clicked.connect(self.on_clear_faults_button_pressed__slot) self.arm_controls_reset_motor_drivers_button.clicked.connect(self.on_reset_drivers_button_pressed__slot) - self.base_comms_state_update_ready__signal.connect(self.arm_controls_base_comms_label.setText) - self.shoulder_comms_state_update_ready__signal.connect(self.arm_controls_shoulder_comms_label.setText) - self.elbow_comms_state_update_ready__signal.connect(self.arm_controls_elbow_comms_label.setText) - self.roll_comms_state_update_ready__signal.connect(self.arm_controls_roll_comms_label.setText) - self.wrist_pitch_comms_state_update_ready__signal.connect(self.arm_controls_wrist_pitch_comms_label.setText) - self.wrist_roll_comms_state_update_ready__signal.connect(self.arm_controls_wrist_roll_comms_label.setText) - - self.base_status_update_ready__signal.connect(self.arm_controls_base_status_label.setText) - self.shoulder_status_update_ready__signal.connect(self.arm_controls_shoulder_status_label.setText) - self.elbow_status_update_ready__signal.connect(self.arm_controls_elbow_status_label.setText) - self.roll_status_update_ready__signal.connect(self.arm_controls_roll_status_label.setText) - self.wrist_pitch_status_update_ready__signal.connect(self.arm_controls_wrist_pitch_status_label.setText) - self.wrist_roll_status_update_ready__signal.connect(self.arm_controls_wrist_roll_status_label.setText) - - self.base_faults_update_ready__signal.connect(self.arm_controls_base_faults_label.setText) - self.shoulder_faults_update_ready__signal.connect(self.arm_controls_shoulder_faults_label.setText) - self.elbow_faults_update_ready__signal.connect(self.arm_controls_elbow_faults_label.setText) - self.roll_faults_update_ready__signal.connect(self.arm_controls_roll_faults_label.setText) - self.wrist_pitch_faults_update_ready__signal.connect(self.arm_controls_wrist_pitch_faults_label.setText) - self.wrist_roll_faults_update_ready__signal.connect(self.arm_controls_wrist_roll_faults_label.setText) + self.gripper_home_button.clicked.connect(self.on_gripper_home_pressed) + self.gripper_toggle_light_button.clicked.connect(self.on_gripper_toggle_light_pressed) def on_upright_zeroed_button_pressed__slot(self): self.process_absolute_move_command([0 for _ in range(6)]) @@ -303,29 +203,23 @@ class MiscArm(QtCore.QThread): def on_unstow_arm_button_pressed__slot(self): self.should_unstow_arm = True + def on_gripper_home_pressed(self): + message = GripperControlMessage() + message.gripper_mode = 1 + message.gripper_position_absolute = -1 + message.should_home = True + + self.gripper_control_publisher.publish(message) + + def on_gripper_toggle_light_pressed(self): + message = GripperControlMessage() + message.gripper_mode = 1 + message.toggle_light = True + message.gripper_position_absolute = -1 + + self.gripper_control_publisher.publish(message) + def new_arm_status_message_received__callback(self, data): - self.base_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.base_comm_status)) - self.shoulder_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.shoulder_comm_status)) - self.elbow_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.elbow_comm_status)) - self.roll_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.roll_comm_status)) - self.wrist_pitch_comms_state_update_ready__signal.emit( - self.process_comms_to_string(data.wrist_pitch_comm_status)) - self.wrist_roll_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.wrist_roll_comm_status)) - - self.base_status_update_ready__signal.emit(self.process_statuses_to_string(data.base_status)) - self.shoulder_status_update_ready__signal.emit(self.process_statuses_to_string(data.shoulder_status)) - self.elbow_status_update_ready__signal.emit(self.process_statuses_to_string(data.elbow_status)) - self.roll_status_update_ready__signal.emit(self.process_statuses_to_string(data.roll_status)) - self.wrist_pitch_status_update_ready__signal.emit(self.process_statuses_to_string(data.wrist_pitch_status)) - self.wrist_roll_status_update_ready__signal.emit(self.process_statuses_to_string(data.wrist_roll_status)) - - self.base_faults_update_ready__signal.emit(self.process_faults_to_string(data.base_faults)) - self.shoulder_faults_update_ready__signal.emit(self.process_faults_to_string(data.shoulder_faults)) - self.elbow_faults_update_ready__signal.emit(self.process_faults_to_string(data.elbow_faults)) - self.roll_faults_update_ready__signal.emit(self.process_faults_to_string(data.roll_faults)) - self.wrist_pitch_faults_update_ready__signal.emit(self.process_faults_to_string(data.wrist_pitch_faults)) - self.wrist_roll_faults_update_ready__signal.emit(self.process_faults_to_string(data.wrist_roll_faults)) - self.base_position = data.base self.shoulder_position = data.shoulder self.elbow_position = data.elbow @@ -333,30 +227,6 @@ class MiscArm(QtCore.QThread): self.wrist_pitch_position = data.wrist_pitch self.wrist_roll_position = data.wrist_roll - @staticmethod - def process_faults_to_string(faults): - fault_output = "" - - for bit_position in FAULT_TO_STRING: - if (1 << bit_position) & faults: - fault_output += FAULT_TO_STRING[bit_position] + "\n" - - return fault_output[:-1] - - @staticmethod - def process_statuses_to_string(statuses): - status_output = "" - - for bit_position in STATUS_TO_STRING: - if (1 << bit_position) & statuses: - status_output += STATUS_TO_STRING[bit_position] + "\n" - - return status_output[:-1] - - @staticmethod - def process_comms_to_string(comms): - return COMMS_TO_STRING[comms] if comms in COMMS_TO_STRING else "UNKNOWN" - def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal): start_signal.connect(self.start) signals_and_slots_signal.connect(self.connect_signals_and_slots) diff --git a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py index 417dfd8..9545f19 100644 --- a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py +++ b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py @@ -69,10 +69,6 @@ class RoverVideoReceiver(QtCore.QThread): # Subscription variables self.video_subscribers = [] - self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_1280x720/compressed", CompressedImage, self.__image_data_received_callback)) - self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_640x360/compressed", CompressedImage, self.__image_data_received_callback)) - self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_256x144/compressed", CompressedImage, self.__image_data_received_callback)) - # Publisher variables self.camera_control_publisher = rospy.Publisher(self.control_topic_path, CameraControlMessage, queue_size=1) @@ -118,6 +114,11 @@ class RoverVideoReceiver(QtCore.QThread): # Initial class setup to make text images and get camera resolutions self.__create_camera_name_opencv_images() + # Attach subscribers now that everything is set up + self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_1280x720/compressed", CompressedImage, self.__image_data_received_callback)) + self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_640x360/compressed", CompressedImage, self.__image_data_received_callback)) + self.video_subscribers.append(rospy.Subscriber(self.topic_base_path + "/image_256x144/compressed", CompressedImage, self.__image_data_received_callback)) + def run(self): self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name) diff --git a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui index 25633b9..1074bfb 100644 --- a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui +++ b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui @@ -1390,7 +1390,7 @@ N/A - 4 + 1 @@ -1449,19 +1449,6 @@ N/A - - - - Qt::Vertical - - - - 20 - 40 - - - - @@ -1489,6 +1476,22 @@ N/A + + + + Qt::Vertical + + + QSizePolicy::MinimumExpanding + + + + 20 + 40 + + + + @@ -1538,6 +1541,9 @@ N/A Qt::Vertical + + QSizePolicy::MinimumExpanding + 20 @@ -1548,6 +1554,19 @@ N/A + + + + Qt::Horizontal + + + + 40 + 20 + + + + @@ -1579,515 +1598,42 @@ N/A - Motor Driver Statuses + Gripper Controls - + - - - - 75 - true - - + - Base + Home - - - - - Comms: - - - - - - - - 6 - 50 - false - - - - - - - - - - - Status: - - - - - - - Faults: - - - - - - - - 6 - 50 - false - - - - - - - - - - - - 6 - 50 - false - - - - - - - - + + + Toggle Light + + - - - - - - 75 - true - - - - Shoulder - - - - - - - - - Comms: - - - - - - - - 6 - 50 - false - - - - - - - - - - - Status: - - - - - - - Faults: - - - - - - - - 6 - 50 - false - - - - - - - - - - - - 6 - 50 - false - - - - - - - - - - - - - - - - - - 75 - true - - - - Elbow - - - - - - - - - Comms: - - - - - - - - 6 - 50 - false - - - - - - - - - - - Status: - - - - - - - Faults: - - - - - - - - 6 - 50 - false - - - - - - - - - - - - 6 - 50 - false - - - - - - - - - - - - - - - - - - 75 - true - - - - Roll - - - - - - - - - Comms: - - - - - - - - 6 - 50 - false - - - - - - - - - - - Status: - - - - - - - Faults: - - - - - - - - 6 - 50 - false - - - - - - - - - - - - 6 - 50 - false - - - - - - - - - - - - - - - - - - 75 - true - - - - Wrist Pitch - - - - - - - - - Comms: - - - - - - - - 6 - 50 - false - - - - - - - - - - - Status: - - - - - - - Faults: - - - - - - - - 6 - 50 - false - - - - - - - - - - - - 6 - 50 - false - - - - - - - - - - - - - - - - - - 75 - true - - - - Wrist Roll - - - - - - - - - Comms: - - - - - - - - 6 - 50 - false - - - - - - - - - - - Status: - - - - - - - Faults: - - - - - - - - 6 - 50 - false - - - - - - - - - - - - 6 - 50 - false - - - - - - - - - - + + + Qt::Horizontal + + + + 40 + 20 + + + @@ -3191,157 +2737,6 @@ N/A - - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - 6 - - - - - - 12 - 75 - true - - - - Xbox Mode - - - - - - - 0 - - - - - - 120 - 120 - - - - - 120 - 120 - - - - background-color:darkgreen; border: 1px solid black; - - - Arm - - - Qt::AlignCenter - - - - - - - - - 0 - - - - - - 120 - 120 - - - - - 120 - 120 - - - - border: 1px solid black; - - - Mining - - - Qt::AlignCenter - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - diff --git a/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui b/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui index 03e6c01..047115e 100644 --- a/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui +++ b/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui @@ -108,466 +108,1707 @@ 6 - - - - - 22 - 75 - true - - - - Arm Joint Positions - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - - - - - 14 - 75 - true - - - - Base - - - Qt::AlignCenter - - - - - - - - 305 - 185 - - - - -500 - - - 500 - - - 10 - - - 0 - - - 0 - - - true - - - Qt::Horizontal - - - false - - - false - - - true - - - 90.000000000000000 - - - true - - - - - - - - - 14 - 75 - true - - - - Shoulder - - - Qt::AlignCenter - - - - - - - - 305 - 185 - - - - -250 - - - 250 - - - 10 - - - 0 - - - 0 - - - true - - - Qt::Horizontal - - - false - - - false - - - true - - - 90.000000000000000 - - - true - - - - - - - - - - - - - - - - 14 - 75 - true - - - - Elbow - - - Qt::AlignCenter - - - - - - - - 305 - 185 - - - - -500 - - - 500 - - - 10 - - - 0 - - - 0 - - - true - - - Qt::Horizontal - - - false - - - false - - - true - - - 90.000000000000000 - - - true - - - - - - - - - + - + - 14 + 12 75 true - Roll - - - Qt::AlignCenter + Arm Joint Positions - - - - 305 - 185 - + + + + + 6 + + + + + + 10 + 75 + true + + + + Base + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + 8 + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Wrist Pitch + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + 8 + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Wrist Roll + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + 8 + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Roll + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + 8 + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Elbow + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + 8 + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Shoulder + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + 8 + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + + + + + 12 + + + + + + 12 + 75 + true + - - -250 - - - 250 - - - 10 - - - 0 - - - 0 - - - true - - - Qt::Horizontal - - - false - - - false - - - true - - - 90.000000000000000 - - - true + + Gripper Joint Positions & Currents + + + + + + 6 + + + + + + 10 + 75 + true + + + + Thumb +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Middlefinger +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Thumb +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Pinch +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Forefinger +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Pinch +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Middlefinger +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Forefinger +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + + 10 + + + + + + + + 12 + 75 + true + + + + Arm Motor Driver Statuses + + + + + + + + + 3 + + + + + + 75 + true + + + + Base + + + + + + + + + + 7 + 75 + true + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 7 + 75 + true + + + + Status: + + + + + + + + 7 + 75 + true + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Shoulder + + + + + + + + + + 7 + 75 + true + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 7 + 75 + true + + + + Status: + + + + + + + + 7 + 75 + true + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Elbow + + + + + + + + + + 7 + 75 + true + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 7 + 75 + true + + + + Status: + + + + + + + + 7 + 75 + true + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Roll + + + + + + + + + + 7 + 75 + true + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 7 + 75 + true + + + + Status: + + + + + + + + 7 + 75 + true + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Wrist Pitch + + + + + + + + + + 7 + 75 + true + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 7 + 75 + true + + + + Status: + + + + + + + + 7 + 75 + true + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Wrist Roll + + + + + + + + + + 7 + 75 + true + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 7 + 75 + true + + + + Status: + + + + + + + + 7 + 75 + true + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + 12 + 75 + true + + + + Mode Readouts + + + + + + + + + + + + 10 + 75 + true + + + + Gripper Mode + + + + + + + + + + 50 + 50 + + + + + 50 + 50 + + + + + 8 + + + + background-color:darkgreen; border: 1px solid black; + + + Normal + + + Qt::AlignCenter + + + + + + + + 50 + 50 + + + + + 50 + 50 + + + + + 8 + + + + border: 1px solid black; + + + Pinch + + + Qt::AlignCenter + + + + + + + + 50 + 50 + + + + + 50 + 50 + + + + + 8 + + + + border: 1px solid black; + + + Wide + + + Qt::AlignCenter + + + + + + + + 50 + 50 + + + + + 50 + 50 + + + + + 8 + + + + border: 1px solid black; + + + Scissor + + + Qt::AlignCenter + + + + + + + + + + + Qt::Vertical + + + + + + + + + + 10 + 75 + true + + + + Xbox Mode + + + + + + + + + + 50 + 50 + + + + + 50 + 50 + + + + + 8 + + + + background-color:darkgreen; border: 1px solid black; + + + Arm + + + Qt::AlignCenter + + + + + + + + 50 + 50 + + + + + 50 + 50 + + + + + 8 + + + + border: 1px solid black; + + + Mining + + + Qt::AlignCenter + + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + - - - - - - - - - 14 - 75 - true - - - - Wrist Pitch - - - Qt::AlignCenter - - - - - - - - 305 - 185 - - - - -250 - - - 250 - - - 10 - - - 0 - - - 0 - - - true - - - Qt::Horizontal - - - false - - - false - - - true - - - 90.000000000000000 - - - true - - - - - - - - - - - - 14 - 75 - true - - - - Wrist Roll - - - Qt::AlignCenter - - - - - - - - 305 - 185 - - - - -1000 - - - 1000 - - - 10 - - - 0 - - - 0 - - - true - - - Qt::Horizontal - - - false - - - false - - - true - - - 90.000000000000000 - - - true - - - - - - - - - - - Qt::Vertical - - - - 20 - 3 - - - - @@ -755,6 +1996,18 @@ + + + 50 + 50 + + + + + 50 + 50 + + Qt::Vertical diff --git a/software/ros_packages/ground_station/src/Resources/Ui/right_screen_old.ui b/software/ros_packages/ground_station/src/Resources/Ui/right_screen_old.ui new file mode 100644 index 0000000..e882474 --- /dev/null +++ b/software/ros_packages/ground_station/src/Resources/Ui/right_screen_old.ui @@ -0,0 +1,2439 @@ + + + MainWindow + + + + 0 + 0 + 1920 + 1080 + + + + + 0 + 0 + + + + + 1920 + 1080 + + + + + 1920 + 1080 + + + + MainWindow + + + 1.000000000000000 + + + + + 0 + + + QLayout::SetDefaultConstraint + + + 0 + + + 0 + + + 0 + + + 0 + + + + + 0 + + + + + 0 + + + + + + 0 + 0 + + + + + 640 + 720 + + + + + 640 + 720 + + + + + 0 + + + 0 + + + 0 + + + 0 + + + 6 + + + + + 0 + + + 6 + + + + + + + + + + 12 + 75 + true + + + + Arm Joint Positions + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Base + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Wrist Pitch + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Wrist Roll + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Roll + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Elbow + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Shoulder + + + + + + + + 202 + 55 + + + + + 55 + 50 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + + + + + 12 + + + + + + 12 + 75 + true + + + + Gripper Joint Positions & Currents + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Thumb +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Middlefinger +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Thumb +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Pinch +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Forefinger +Current + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Pinch +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Middlefinger +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + 6 + + + + + + 10 + 75 + true + + + + Forefinger +Position + + + + + + + + 150 + 55 + + + + + 55 + 16777215 + + + + true + + + QLCDNumber::Dec + + + 0.000000000000000 + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + + 10 + + + + + + + + 12 + 75 + true + + + + Arm Motor Driver Statuses + + + + + + + + + 3 + + + + + + 75 + true + + + + Base + + + + + + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + Status: + + + + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Shoulder + + + + + + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + Status: + + + + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Elbow + + + + + + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + Status: + + + + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Roll + + + + + + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + Status: + + + + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Wrist Pitch + + + + + + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + Status: + + + + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + 3 + + + + + + 75 + true + + + + Wrist Roll + + + + + + + + + Comms: + + + + + + + + 6 + 50 + false + + + + + + + + + + + Status: + + + + + + + Faults: + + + + + + + + 6 + 50 + false + + + + + + + + + + + + 6 + 50 + false + + + + + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + 12 + 75 + true + + + + Mode Readouts + + + + + + + + + + + + 10 + 75 + true + + + + Gripper Mode + + + + + + + + + + 35 + 35 + + + + + 35 + 35 + + + + + 6 + + + + background-color:darkgreen; border: 1px solid black; + + + Normal + + + Qt::AlignCenter + + + + + + + + 35 + 35 + + + + + 35 + 35 + + + + + 6 + + + + border: 1px solid black; + + + Pinch + + + Qt::AlignCenter + + + + + + + + 35 + 35 + + + + + 35 + 35 + + + + + 6 + + + + border: 1px solid black; + + + Wide + + + Qt::AlignCenter + + + + + + + + 35 + 35 + + + + + 35 + 35 + + + + + 6 + + + + border: 1px solid black; + + + Scissor + + + Qt::AlignCenter + + + + + + + + + + + Qt::Vertical + + + + + + + + + + 10 + 75 + true + + + + Xbox Mode + + + + + + + + + + 35 + 35 + + + + + 35 + 35 + + + + + 6 + + + + background-color:darkgreen; border: 1px solid black; + + + Arm + + + Qt::AlignCenter + + + + + + + + 35 + 35 + + + + + 35 + 35 + + + + + 6 + + + + border: 1px solid black; + + + Mining + + + Qt::AlignCenter + + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + + + + + + Qt::Horizontal + + + + + + + + + + 0 + + + QLayout::SetNoConstraint + + + + + + 0 + 0 + + + + + 320 + 360 + + + + + 320 + 360 + + + + + 0 + + + 0 + + + 0 + + + 0 + + + 0 + + + + + Qt::Vertical + + + + + + + 0 + + + + + 6 + + + 6 + + + 0 + + + + + + 14 + + + + 260° + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 115 + 0 + + + + + 17 + 75 + true + + + + Heading + + + Qt::AlignCenter + + + + + + + + 115 + 0 + + + + + 17 + 75 + true + + + + Next Goal + + + Qt::AlignCenter + + + + + + + + 14 + + + + 258° + + + Qt::AlignCenter + + + + + + + + 19 + 50 + false + + + + ↓ + + + Qt::AlignCenter + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 275 + 275 + + + + + 275 + 275 + + + + + + + true + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + + + 0 + 0 + + + + + 320 + 360 + + + + + 320 + 360 + + + + + 0 + + + 6 + + + 0 + + + 6 + + + 0 + + + + + + + 0 + + + + + 3 + + + 0 + + + 3 + + + + + + + + 14 + 75 + true + + + + Current Speed + + + Qt::AlignCenter + + + + + + + 0 + + + + + + 14 + + + + 0.0 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 14 + + + + m/s + + + + + + + + + + + + + + 14 + 75 + true + + + + Speed Limit + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 133 + 16777215 + + + + 100 + + + 50 + + + Qt::AlignCenter + + + true + + + Qt::Horizontal + + + false + + + QProgressBar::TopToBottom + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + 14 + 75 + true + + + + Tank Drive Output + + + Qt::AlignCenter + + + + + + + QFormLayout::ExpandingFieldsGrow + + + 6 + + + + + + 75 + true + + + + Left + + + + + + + background-color:darkred; + + + 0 + + + 100 + + + 0 + + + true + + + + + + + + 75 + true + + + + Right + + + + + + + background-color:darkred; + + + 0 + + + 100 + + + 0 + + + true + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + 0 + + + + + + 14 + 75 + true + + + + IMU Data + + + Qt::AlignCenter + + + + + + + 0 + + + + + 0 + + + + + -100 + + + 100 + + + + + + + + 75 + true + + + + Pitch + + + Qt::AlignCenter + + + + + + + + + 0 + + + + + -100 + + + 100 + + + false + + + true + + + + + + + + 75 + true + + + + Roll + + + Qt::AlignCenter + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + + + + + + + + 0 + + + + + + 1280 + 720 + + + + + 1280 + 720 + + + + background-color:black; + + + + + + + + + + 0 + + + + + + 640 + 360 + + + + + 640 + 360 + + + + background-color:black; + + + + + + + + + + + 640 + 360 + + + + + 640 + 360 + + + + background-color:black; + + + + + + + + + + + + + + + + diff --git a/software/ros_packages/rover_control/src/effectors_control/effectors_control.py b/software/ros_packages/rover_control/src/effectors_control/effectors_control.py index 42b4cb3..b9bc1d3 100755 --- a/software/ros_packages/rover_control/src/effectors_control/effectors_control.py +++ b/software/ros_packages/rover_control/src/effectors_control/effectors_control.py @@ -80,6 +80,8 @@ DEFAULT_GRIPPER_REGISTERS = [ 0, # Light off ] +GRIPPER_UNIVERSAL_POSITION_MAX = 10000 + # ##### Mining Defines ##### MINING_MODBUS_REGISTERS = { "LIFT_SET_POSITIVE": 0, @@ -97,6 +99,7 @@ MINING_MODBUS_REGISTERS = { "MEASURED_WEIGHT": 11 } + MINING_POSITIONAL_THRESHOLD = 20 # ##### Science Defines ##### @@ -316,10 +319,10 @@ class EffectorsControl(object): gripper_relative = self.gripper_control_message.gripper_position_relative if -1 < gripper_absolute < UINT16_MAX: - self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = gripper_absolute + self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = min(max(gripper_absolute, 0), GRIPPER_UNIVERSAL_POSITION_MAX) else: new_position = self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] + gripper_relative - self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = min(max(new_position, 0), 10000) + self.gripper_registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION"]] = min(max(new_position, 0), GRIPPER_UNIVERSAL_POSITION_MAX) self.gripper_node.write_registers(0, self.gripper_registers) diff --git a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch index 3cdb67e..7d72530 100644 --- a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch +++ b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch @@ -156,6 +156,7 @@ {name: "/rover_control/tower/status/co2", compress: false, rate: 1.0}, {name: "/rover_odometry/imu/data", compress: false, rate: 10.0}, {name: "/rover_control/mining/status", compress: false, rate: 5.0}, + {name: "/rover_control/gripper/status", compress: false, rate: 5.0}, {name: "/rdf/data", compress: false, rate: 50.0} ]