Added error handling for missing radio. More spacenav changes, testing nav launch file.

software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py

@@ -19,6 +19,9 @@ THREAD_HERTZ = 15
 # Controller Class Definition
 #####################################
 class SpaceNavControlSender(QtCore.QThread):
+    GUI_MODE = 0
+    ARM_MODE = 1
+
     def __init__(self, shared_objects):
         super(SpaceNavControlSender, self).__init__()
 
@@ -90,6 +93,10 @@ class SpaceNavControlSender(QtCore.QThread):
             5: "f_pressed"
         }
 
+
+
+        self.current_control_mode = self.GUI_MODE
+
     def run(self):
         spnav.spnav_open()
 
@@ -108,20 +115,26 @@ class SpaceNavControlSender(QtCore.QThread):
 
         if event:
             if event.ev_type == spnav.SPNAV_EVENT_MOTION:
-                # FIXME: Make sure these divisors are correct. Should be for most. Check linear_z, is weird
                 self.spnav_states["linear_x"] = event.translation[0] / 350.0
                 self.spnav_states["linear_y"] = event.translation[2] / 350.0
                 self.spnav_states["linear_z"] = event.translation[1] / 350.0
 
                 self.spnav_states["angular_x"] = event.rotation[2] / 350.0
-                self.spnav_states["angular_y"] = event.rotation[0] / 350.0
-                self.spnav_states["angular_z"] = event.rotation[1] / 350.0
+                self.spnav_states["angular_y"] = -(event.rotation[0] / 350.0)
+                self.spnav_states["angular_z"] = -(event.rotation[1] / 350.0)
 
                 # print "x", self.spnav_states["linear_x"], "\t", "y", self.spnav_states["linear_y"], "\t", "z", self.spnav_states["linear_z"]
                 # print "x", self.spnav_states["angular_x"], "\t", "y", self.spnav_states["angular_y"], "\t", "z", self.spnav_states["angular_z"]
             else:
                 self.spnav_states[self.event_mapping_to_button_mapping[event.bnum]] = event.press
 
+    def check_control_mode_change(self):
+        if self.spnav_states["1_pressed"]:
+            self.current_control_mode = self.GUI_MODE
+        elif self.spnav_states["2_pressed"]:
+            self.current_control_mode = self.ARM_MODE
+
+
     def connect_signals_and_slots(self):
         pass
 

software/ros_packages/ground_station/src/Framework/SettingsSystems/UbiquitiRadioSettings.py

@@ -58,7 +58,12 @@ class UbiquitiRadioSettings(QtCore.QThread):
 
     def run(self):
         self.set_gui_elements_enabled__signal.emit(False)
+
+        try:
             self.setup_and_connect_ssh_client()
+        except Exception:
+            return
+
         self.get_and_show_current_channel()
 
         while self.run_thread_flag:

software/testing/nav_testing/nav.launch

@@ -2,7 +2,7 @@
 <launch>
     <!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
 <!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
-    <node name="rosbag" pkg="rosbag" type="play" args="-l /home/caperren/nav_testing/gps_imu_data_2018-02-01-05-31-34.bag">
+    <node name="rosbag" pkg="rosbag" type="play" args="/home/caperren/nav_testing/gps_imu_data_2018-02-01-05-31-34.bag">
         <remap from="/imu_data" to="/imu/data" />
     </node>
 

software/testing/nav_testing/rviz config.rviz

@@ -0,0 +1,147 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 1113
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Angle Tolerance: 0.100000001
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.300000012
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.100000001
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.100000001
+        Color: 255; 25; 0
+        Head Length: 0.300000012
+        Head Radius: 0.100000001
+        Shaft Length: 1
+        Shaft Radius: 0.0500000007
+        Value: Arrow
+      Topic: /odometry/filtered
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 14.6344223
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 1.49345744
+        Y: -0.492769718
+        Z: -0.707593679
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.35979652
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.07858229
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1401
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000004e1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000004e1000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000004e1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000004e10000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003510000003efc0100000002fb0000000800540069006d00650100000000000003510000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000000ef000004e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 849
+  X: 2787
+  Y: 18