caperren/osurc_mars_rover_2017_2018
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Added dummy movement for arm position. Changed rover_drive and iris_controller to handle full dropouts of the usb device (hopefully)...

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This commit is contained in:
Corwin Perren
2018-03-13 17:59:59 -07:00
parent f9560e17d6
commit 3242f2d866
9 changed files with 214 additions and 58 deletions
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8
software/ros_packages/rover_main/launch/rover/control.launch
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@@ -1,17 +1,17 @@
<launch>
<group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" output="screen">
<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" output="screen">
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieRear"/>
<param name="drive_control_topic" value="drive_control/rear"/>
<param name="drive_control_status_topic" value="drive_status/rear"/>
</node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieLeft"/>
<param name="drive_control_topic" value="drive_control/left"/>
<param name="drive_control_status_topic" value="drive_status/left"/>
@@ -19,7 +19,7 @@
<param name="invert_second_motor" value="True"/>
</node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<node name="right_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieRight"/>
<param name="drive_control_topic" value="drive_control/right"/>
<param name="drive_control_status_topic" value="drive_status/right"/>

2
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -106,7 +106,7 @@
{name: "/rover_status/camera_status", compress: true, rate: 1.0},
{name: "/rover_status/frsky_status", compress: true, rate: 1.0},
{name: "/rover_status/gps_status", compress: true, rate: 1.0},
{name: "/rover_status/jetson_status", compress: true, rate: 5.0},
{name: "/rover_status/jetson_status", compress: true, rate: 0.2},
{name: "/rover_status/misc_status", compress: true, rate: 1.0}]
</rosparam>
</node>