caperren/osurc_mars_rover_2017_2018
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Added full end effector transports.

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This commit is contained in:
Corwin Perren
2018-03-06 17:13:18 -08:00
parent 503b86f41f
commit 381eccf4b3
6 changed files with 71 additions and 30 deletions
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12
software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
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@@ -16,13 +16,13 @@ import RoverVideoReceiver
CAMERA_TOPIC_PATH = "/cameras/" CAMERA_TOPIC_PATH = "/cameras/"
EXCLUDED_CAMERAS = ["zed"] EXCLUDED_CAMERAS = ["zed"]
# #
PRIMARY_LABEL_MAX = (640, 360) # PRIMARY_LABEL_MAX = (640, 360)
SECONDARY_LABEL_MAX = (256, 144) # SECONDARY_LABEL_MAX = (256, 144)
TERTIARY_LABEL_MAX = (256, 144) # TERTIARY_LABEL_MAX = (256, 144)
# PRIMARY_LABEL_MAX = (1280, 720) PRIMARY_LABEL_MAX = (1280, 720)
# SECONDARY_LABEL_MAX = (640, 360) SECONDARY_LABEL_MAX = (640, 360)
# TERTIARY_LABEL_MAX = (640, 360) TERTIARY_LABEL_MAX = (640, 360)
##################################### #####################################

5
software/ros_packages/nimbro_topic_transport/launch/topics.yaml
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@@ -1,5 +0,0 @@
topics:
- name: "/drive/motoroneandtwo"
compress: true # enable bz2 compression
rate: 20.0 # rate limit at 1Hz
- name: "/my_second_topic"

4
software/ros_packages/rover_camera/src/rover_camera.cpp
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@@ -33,9 +33,9 @@ public:
node_handle->param("small_image_width", small_image_width, 256); node_handle->param("small_image_width", small_image_width, 256);
node_handle->param("small_image_height", small_image_height, 144); node_handle->param("small_image_height", small_image_height, 144);
broadcast_large_image = true; broadcast_large_image = false;
broadcast_medium_image = false; broadcast_medium_image = false;
broadcast_small_image = false; broadcast_small_image = true;
if(is_rtsp_camera){ if(is_rtsp_camera){
cap = new cv::VideoCapture(capture_device_path); cap = new cv::VideoCapture(capture_device_path);

1
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
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@@ -58,7 +58,6 @@ class DriveCoordinator(object):
self.left_bogie_publisher = rospy.Publisher(self.left_bogie_topic, DriveControlMessage, queue_size=1) self.left_bogie_publisher = rospy.Publisher(self.left_bogie_topic, DriveControlMessage, queue_size=1)
self.right_bogie_publisher = rospy.Publisher(self.right_bogie_topic, DriveControlMessage, queue_size=1) self.right_bogie_publisher = rospy.Publisher(self.right_bogie_topic, DriveControlMessage, queue_size=1)
# Other Vars TODO: fix this later
self.drive_command_data = { self.drive_command_data = {
"iris": { "iris": {
"message": DriveCommandMessage(), "message": DriveCommandMessage(),

31
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
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@@ -1,36 +1,51 @@
<launch> <launch>
<group ns="cameras"> <group ns="cameras">
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17001" /> <param name="port" value="17001" />
</node> </node>
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17002" /> <param name="port" value="17002" />
</node> </node>
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17003" /> <param name="port" value="17003" />
</node> </node>
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17004" /> <param name="port" value="17004" />
</node> </node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17005" /> <param name="port" value="17005" />
</node> </node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17006" /> <param name="port" value="17006" />
</node> </node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17007" /> <param name="port" value="17007" />
</node> </node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17008" /> <param name="port" value="17008" />
</node> </node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17009" />
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17010" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17011" />
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17012" />
</node>
</group> </group>
</launch> </launch>

48
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
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@@ -2,9 +2,41 @@
<group ns="sender_transports"> <group ns="sender_transports">
<arg name="target" default="192.168.1.15" /> <arg name="target" default="192.168.1.15" />
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" /> <param name="destination_port" value="17001" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 30.0}] [{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>
@@ -12,7 +44,7 @@
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" /> <param name="destination_port" value="17006" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 30.0}] [{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>
@@ -20,7 +52,7 @@
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" /> <param name="destination_port" value="17007" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}] [{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>
@@ -28,7 +60,7 @@
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" /> <param name="destination_port" value="17008" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}] [{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>
@@ -36,7 +68,7 @@
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" /> <param name="destination_port" value="17009" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}] [{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>
@@ -44,7 +76,7 @@
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" /> <param name="destination_port" value="17010" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}] [{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>
@@ -52,7 +84,7 @@
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" /> <param name="destination_port" value="17011" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}] [{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>
@@ -60,7 +92,7 @@
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen"> <node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" /> <param name="destination_port" value="17012" />
<rosparam param="topics"> <rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}] [{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam> </rosparam>