caperren/osurc_mars_rover_2017_2018
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Pan/tilt now works for both tower and chassis. Intelligently controllable and centerable using joystick. Added some error handling for map stuff. New firmware for chassis node.

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This commit is contained in:
Corwin Perren
2018-07-19 18:42:55 -07:00
parent a573f72c1c
commit 39a7d482de
11 changed files with 455 additions and 40 deletions
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3
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
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@@ -7,7 +7,8 @@
<param name="destination_port" value="17100" />
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/pan_tilt/control", compress: true, rate: 20.0}]
{name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0}]
</rosparam>
</node>

2
software/ros_packages/rover_main/launch/rover/control.launch
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@@ -34,5 +34,7 @@
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/>
<node name="tower_and_pan_tilt" pkg="rover_control" type="tower_and_pan_tilt_control.py" respawn="true" output="screen"/>
<node name="chassis_pan_tilt" pkg="rover_control" type="chassis_pan_tilt_control.py" respawn="true" output="screen"/>
</group>
</launch>