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Main drive over FrSky tested on Rover using Jetson. Works as intended.

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This commit is contained in:
Corwin Perren
2018-02-26 11:36:09 +00:00
parent f37337a976
commit 4972e5b7b2
2 changed files with 6 additions and 4 deletions
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9
software/rover/rover_control/launch/rover_control.launch
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@@ -1,25 +1,26 @@
<launch> <launch>
<group ns="rover_control"> <group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" output="screen"> <node name="iris_controller" pkg="rover_control" type="iris_controller.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_2_2"/> <param name="port" value="/dev/rover/ttyIRIS"/>
<param name="hertz" value="16"/>
</node> </node>
<node name="control_coordinator" pkg="rover_control" type="control_coordinator.py" output="screen"/> <node name="control_coordinator" pkg="rover_control" type="control_coordinator.py" output="screen"/>
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen"> <node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_0"/> <param name="port" value="/dev/rover/ttyBogieRear"/>
<param name="drive_control_topic" value="drive_control/rear"/> <param name="drive_control_topic" value="drive_control/rear"/>
</node> </node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen"> <node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_1"/> <param name="port" value="/dev/rover/ttyBogieLeft"/>
<param name="drive_control_topic" value="drive_control/left"/> <param name="drive_control_topic" value="drive_control/left"/>
<param name="invert_first_motor" value="True"/> <param name="invert_first_motor" value="True"/>
<param name="invert_second_motor" value="True"/> <param name="invert_second_motor" value="True"/>
</node> </node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen"> <node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_2"/> <param name="port" value="/dev/rover/ttyBogieRight"/>
<param name="drive_control_topic" value="drive_control/right"/> <param name="drive_control_topic" value="drive_control/right"/>
</node> </node>

1
software/rover/rover_control/src/iris_controller/iris_controller.py
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@@ -83,6 +83,7 @@ class IrisController(object):
self.drive_command_publisher_topic = rospy.get_param("~drive_command_topic", DEFAULT_DRIVE_COMMAND_TOPIC) self.drive_command_publisher_topic = rospy.get_param("~drive_command_topic", DEFAULT_DRIVE_COMMAND_TOPIC)
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ) self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
# print self.wait_time
self.iris = minimalmodbus.Instrument(self.port, MODBUS_ID) self.iris = minimalmodbus.Instrument(self.port, MODBUS_ID)
self.__setup_minimalmodbus_for_485() self.__setup_minimalmodbus_for_485()