caperren/osurc_mars_rover_2017_2018
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Changed code so rover can run without FrSky for EXPO

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Corwin Perren
2018-05-17 21:46:59 -07:00
parent 1d9797f00b
commit 23035c11ba
9 changed files with 291 additions and 79 deletions
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18
software/ros_packages/rover_main/launch/rover/control.launch
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@@ -1,18 +1,20 @@
<launch>
<group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyIRIS"/>
<param name="hertz" value="20"/>
</node>
<!--<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">-->
<!--<param name="port" value="/dev/rover/ttyIRIS"/>-->
<!--<param name="hertz" value="20"/>-->
<!--</node>-->
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieRear"/>
<param name="port" value="/dev/rover/ttyREAR"/>
<param name="drive_control_topic" value="drive_control/rear"/>
<param name="drive_control_status_topic" value="drive_status/rear"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieLeft"/>
<param name="port" value="/dev/rover/ttyLEFT"/>
<param name="drive_control_topic" value="drive_control/left"/>
<param name="drive_control_status_topic" value="drive_status/left"/>
<param name="invert_first_motor" value="True"/>
@@ -20,9 +22,11 @@
</node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieRight"/>
<param name="port" value="/dev/rover/ttyRIGHT"/>
<param name="drive_control_topic" value="drive_control/right"/>
<param name="drive_control_status_topic" value="drive_status/right"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" output="screen"/>