caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-08 18:21:15 +00:00
Code Issues Packages Projects Releases Wiki Activity

Rover arm pretty much working! Still some minor changes needed probably, but very happy with it. Lots of misc changes.

Browse Source
This commit is contained in:
Corwin Perren
2018-08-05 05:10:39 -07:00
parent 5d7ac8f4dc
commit 44da64cb32
20 changed files with 1574 additions and 150 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
View File

@@ -79,5 +79,9 @@
<param name="port" value="17019" />
</node>
<node name="udp_arm_statuses" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17020" />
</node>
</group>
</launch>

6
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
View File

@@ -9,7 +9,8 @@
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/mining/control", compress: true, rate: 15.0}]
{name: "/rover_control/mining/control", compress: true, rate: 15.0},
{name: "/rover_arm/control/relative", compress: true, rate: 30.0}]
</rosparam>
</node>
@@ -21,7 +22,8 @@
{name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
{name: "/rover_status/update_requested", compress: false, rate: 5.0},]
{name: "/rover_status/update_requested", compress: false, rate: 5.0},
{name: "/rover_arm/control/absolute", compress: true, rate: 5.0}]
</rosparam>
</node>
</group>

1
software/ros_packages/rover_main/launch/rover.launch
View File

@@ -1,6 +1,7 @@
<launch>
<!-- ########## Start Rover Control Nodes ########## -->
<include file="$(find rover_main)/launch/rover/control.launch"/>
<include file="$(find rover_main)/launch/rover/arm.launch"/>
<!-- ########## Start All Rover Camera Nodes ########## -->
<include file="$(find rover_main)/launch/rover/cameras.launch"/>

3
software/ros_packages/rover_main/launch/rover/arm.launch Normal file
View File

@@ -0,0 +1,3 @@
<launch>
<node name="rover_arm_control" pkg="rover_arm" type="rover_arm" respawn="true" output="screen"/>
</launch>

12
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -155,7 +155,17 @@
{name: "/rover_status/battery_status", compress: false, rate: 1.0},
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0},
{name: "/rover_odometry/imu/data", compress: false, rate: 10.0},
{name: "/rover_control/mining/status", compress: false, rate: 5.0},
{name: "/rover_control/mining/status", compress: false, rate: 5.0}
]
</rosparam>
</node>
<node name="arm_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<rosparam param="topics">
[
{name: "/rover_arm/status", compress: false, rate: 5.0}
]
</rosparam>
</node>