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updated gps info for system_statuses_node.py and GPSInfo.msg. This probably won't compile lul

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This commit is contained in:
MatthewTaylor24
2018-04-14 18:20:33 -07:00
parent a15500b4c5
commit 40df3b2987
2 changed files with 23 additions and 15 deletions
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8
software/ros_packages/rover_status/msg/GPSInfo.msg
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@@ -1,2 +1,6 @@
int8 UTC_GPS_time bool gps_connected
int8 GPS_connection_status bool gps_fix
int8 num_satellites
float32 horizontal_dilution
float32 kmph
float32 gps_heading

30
software/ros_packages/rover_status/src/system_statuses_node.py
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@@ -6,6 +6,7 @@
import rospy import rospy
import os.path import os.path
import psutil import psutil
import pynmea2
import subprocess import subprocess
from rover_status.msg import CameraStatuses, WheelStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo from rover_status.msg import CameraStatuses, WheelStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
from rover_control.msg import DriveCommandMessage, DriveStatusMessage from rover_control.msg import DriveCommandMessage, DriveStatusMessage
@@ -16,6 +17,7 @@ from time import time
##################################### #####################################
# Global Variables # Global Variables
##################################### #####################################
# Publishers
DEFAULT_CAMERA_TOPIC_NAME = "camera_status" DEFAULT_CAMERA_TOPIC_NAME = "camera_status"
DEFAULT_WHEEL_TOPIC_NAME = "wheel_status" DEFAULT_WHEEL_TOPIC_NAME = "wheel_status"
DEFAULT_FRSKY_TOPIC_NAME = "frsky_status" DEFAULT_FRSKY_TOPIC_NAME = "frsky_status"
@@ -23,13 +25,14 @@ DEFAULT_GPS_TOPIC_NAME = "gps_status"
DEFAULT_JETSON_TOPIC_NAME = "jetson_status" DEFAULT_JETSON_TOPIC_NAME = "jetson_status"
DEFAULT_MISC_TOPIC_NAME = "misc_status" DEFAULT_MISC_TOPIC_NAME = "misc_status"
DEFAULT_REQUEST_UPDATE_TOPIC_NAME = "update_requested"
MAX_JETSON_UPDATE_HERTZ = 0.2 MAX_JETSON_UPDATE_HERTZ = 0.2
# Subscribers
DEFAULT_REQUEST_UPDATE_TOPIC_NAME = "update_requested"
DEFAULT_BOGIE_LEFT_TOPIC_NAME = '/rover_control/drive_status/left' DEFAULT_BOGIE_LEFT_TOPIC_NAME = '/rover_control/drive_status/left'
DEFAULT_BOGIE_RIGHT_TOPIC_NAME = '/rover_control/drive_status/right' DEFAULT_BOGIE_RIGHT_TOPIC_NAME = '/rover_control/drive_status/right'
DEFAULT_BOGIE_REAR_TOPIC_NAME = '/rover_control/drive_status/rear' DEFAULT_BOGIE_REAR_TOPIC_NAME = '/rover_control/drive_status/rear'
DEFAULT_GPS_NMEA_TOPIC_NAME = '/nmea_sentence'
##################################### #####################################
@@ -55,18 +58,20 @@ class SystemStatuses:
rospy.init_node('SystemStatuses') rospy.init_node('SystemStatuses')
# Get Topic Names # Get Topic Names
self.camera_topic_name = rospy.get_param("~camera_status_topic", DEFAULT_CAMERA_TOPIC_NAME) self.camera_topic_name = rospy.get_param("~pub_camera_status_topic", DEFAULT_CAMERA_TOPIC_NAME)
self.wheel_topic_name = rospy.get_param("~wheel_status_topic", DEFAULT_WHEEL_TOPIC_NAME) self.wheel_topic_name = rospy.get_param("~pub_wheel_status_topic", DEFAULT_WHEEL_TOPIC_NAME)
self.frsky_topic_name = rospy.get_param("~frsky_status_topic", DEFAULT_FRSKY_TOPIC_NAME) self.frsky_topic_name = rospy.get_param("~pub_frsky_status_topic", DEFAULT_FRSKY_TOPIC_NAME)
self.gps_topic_name = rospy.get_param("~gps_status_topic", DEFAULT_GPS_TOPIC_NAME) self.gps_topic_name = rospy.get_param("~pub_gps_status_topic", DEFAULT_GPS_TOPIC_NAME)
self.jetson_topic_name = rospy.get_param("~jetson_status_topic", DEFAULT_JETSON_TOPIC_NAME) self.jetson_topic_name = rospy.get_param("~pub_jetson_status_topic", DEFAULT_JETSON_TOPIC_NAME)
self.misc_topic_name = rospy.get_param("~misc_status_topic", DEFAULT_MISC_TOPIC_NAME) self.misc_topic_name = rospy.get_param("~pub_misc_status_topic", DEFAULT_MISC_TOPIC_NAME)
self.request_update_topic_name = rospy.get_param("~request_update_status_topic", # Subscribers
self.request_update_topic_name = rospy.get_param("~sub_request_update_status_topic",
DEFAULT_REQUEST_UPDATE_TOPIC_NAME) DEFAULT_REQUEST_UPDATE_TOPIC_NAME)
self.bogie_left_topic_name = rospy.get_param("~bogie_left_topic", DEFAULT_BOGIE_LEFT_TOPIC_NAME) self.bogie_left_topic_name = rospy.get_param("~sub_bogie_left_topic", DEFAULT_BOGIE_LEFT_TOPIC_NAME)
self.bogie_right_topic_name = rospy.get_param("~bogie_right_topic", DEFAULT_BOGIE_RIGHT_TOPIC_NAME) self.bogie_right_topic_name = rospy.get_param("~sub_bogie_right_topic", DEFAULT_BOGIE_RIGHT_TOPIC_NAME)
self.bogie_rear_topic_name = rospy.get_param("~bogie_rear_topic", DEFAULT_BOGIE_REAR_TOPIC_NAME) self.bogie_rear_topic_name = rospy.get_param("~sub_bogie_rear_topic", DEFAULT_BOGIE_REAR_TOPIC_NAME)
self.gps_nmea_topic_name = rospy.get_param("~sub_gps_nmea_topic", DEFAULT_GPS_NMEA_TOPIC_NAME)
# init all publisher functions # init all publisher functions
self.pub_camera = rospy.Publisher(self.camera_topic_name, CameraStatuses, queue_size=1) self.pub_camera = rospy.Publisher(self.camera_topic_name, CameraStatuses, queue_size=1)
@@ -106,7 +111,6 @@ class SystemStatuses:
self.__set_gps_info() self.__set_gps_info()
self.__set_arm_connection_status() self.__set_arm_connection_status()
self.__set_arm_end_effector_connection_statuses() self.__set_arm_end_effector_connection_statuses()
#self.__set_bogie_subscribers()
self.__set_cameras() self.__set_cameras()
self.__set_sample_containment_connection_status() self.__set_sample_containment_connection_status()
self.__set_tower_connection_status() self.__set_tower_connection_status()