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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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4
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
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@@ -47,5 +47,9 @@
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17012" />
</node>
<node name="rover_status" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17013" />
</node>
</group>
</launch>

8
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
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@@ -14,12 +14,12 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17021" />
<rosparam param="topics">
[
{name: "/cameras/chassis/camera_control", compress: true, rate: 5.0},
[{name: "/cameras/chassis/camera_control", compress: true, rate: 5.0},
{name: "/cameras/undercarriage/camera_control", compress: true, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: true, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: true, rate: 5.0}
]
{name: "/cameras/end_effector/camera_control", compress: true, rate: 5.0},
{name: "/cameras/chassis/camera_control", compress: true, rate: 1.0},
{name: "/rover_status/update_requested", compress: true, rate: 1.0}]
</rosparam>
</node>
</group>

1
software/ros_packages/rover_main/launch/rover.launch
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@@ -6,6 +6,7 @@
<include file="$(find rover_main)/launch/rover/cameras.launch"/>
<!-- ########## Start System Status Monitoring Nodes ########## -->
<include file="$(find rover_main)/launch/rover/status.launch"/>
<!-- ########## Start Nimbro Topic Transport Nodes ########## -->
<include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/>

5
software/ros_packages/rover_main/launch/rover/status.launch Normal file
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@@ -0,0 +1,5 @@
<launch>
<group ns="rover_status">
<node name="rover_status" pkg="rover_status" type="system_statuses_node.py" output="screen"/>
</group>
</launch>

13
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
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@@ -97,5 +97,18 @@
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="rover_tcp_topics" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17013" />
<rosparam param="topics">
[{name: "/rover_status/bogie_status", compress: true, rate: 1.0},
{name: "/rover_status/camera_status", compress: true, rate: 1.0},
{name: "/rover_status/frsky_status", compress: true, rate: 1.0},
{name: "/rover_status/gps_status", compress: true, rate: 1.0},
{name: "/rover_status/jetson_status", compress: true, rate: 5.0},
{name: "/rover_status/misc_status", compress: true, rate: 1.0}]
</rosparam>
</node>
</group>
</launch>