caperren/osurc_mars_rover_2017_2018
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Got rover status messgaes sending to rover. Ground station can also request and update.

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This commit is contained in:
Corwin Perren
2018-03-08 15:03:26 -08:00
parent 69c4cc6c71
commit 4a55fb2649
14 changed files with 123 additions and 50 deletions
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24
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
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@@ -45,6 +45,19 @@ class DriveCoordinator(object):
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
# Drive data
self.drive_command_data = {
"iris": {
"message": DriveCommandMessage(),
"last_time": time()
},
"ground_station": {
"message": DriveCommandMessage(),
"last_time": time()
}
}
# ########## Class Variables ##########
self.iris_drive_command_subscriber = rospy.Subscriber(self.iris_drive_command_topic,
DriveCommandMessage,
@@ -58,17 +71,6 @@ class DriveCoordinator(object):
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.drive_command_data = {
"iris": {
"message": DriveCommandMessage(),
"last_time": time()
},
"ground_station": {
"message": DriveCommandMessage(),
"last_time": time()
}
}
self.last_message_time = time()