Added status data from rover_drive nodes.

software/ros_packages/rover_control/CMakeLists.txt

@@ -52,6 +52,7 @@ find_package(catkin REQUIRED COMPONENTS
    FILES
    DriveCommandMessage.msg
    DriveControlMessage.msg
+   DriveStatusMessage.msg
  )
 
 ## Generate services in the 'srv' folder

software/ros_packages/rover_control/msg/DriveStatusMessage.msg

@@ -0,0 +1,11 @@
+bool first_motor_connected
+bool second_motor_connected
+
+float32 first_motor_current
+float32 second_motor_current
+
+bool first_motor_fault
+bool second_motor_fault
+
+float32 first_motor_temp
+float32 second_motor_temp

software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py

@@ -23,7 +23,7 @@ DEFAULT_RIGHT_BOGIE_TOPIC = "drive_control/right"
 
 UINT16_MAX = 65535
 
-DEFAULT_HERTZ = 15
+DEFAULT_HERTZ = 20
 
 WATCHDOG_TIMEOUT = 0.3
 

software/ros_packages/rover_control/src/drive_control/drive_control.py

@@ -11,7 +11,7 @@ import serial.rs485
 import minimalmodbus
 
 # Custom Imports
-from rover_control.msg import DriveControlMessage
+from rover_control.msg import DriveControlMessage, DriveStatusMessage
 
 #####################################
 # Global Variables
@@ -24,6 +24,7 @@ DEFAULT_BAUD = 115200
 DEFAULT_INVERT = False
 
 DEFAULT_DRIVE_CONTROL_TOPIC = "drive_control/rear"
+DEFAULT_DRIVE_CONTROL_STATUS_TOPIC = "drive_status/rear"
 
 FIRST_MOTOR_ID = 1
 SECOND_MOTOR_ID = 2
@@ -68,6 +69,8 @@ class DriveControl(object):
 
         self.drive_control_subscriber_topic = rospy.get_param("~drive_control_topic", DEFAULT_DRIVE_CONTROL_TOPIC)
 
+        self.drive_control_status_topic = rospy.get_param("~drive_control_status_topic", DEFAULT_DRIVE_CONTROL_STATUS_TOPIC)
+
         self.first_motor = minimalmodbus.Instrument(self.port, FIRST_MOTOR_ID)
         self.second_motor = minimalmodbus.Instrument(self.port, SECOND_MOTOR_ID)
         self.__setup_minimalmodbus_for_485()
@@ -75,6 +78,11 @@ class DriveControl(object):
         self.drive_control_subscriber = \
             rospy.Subscriber(self.drive_control_subscriber_topic, DriveControlMessage, self.drive_control_callback)
 
+        self.drive_control_status_publisher = rospy.Publisher(self.drive_control_status_topic, DriveStatusMessage, queue_size=1)
+
+        self.drive_control_message = DriveControlMessage()
+        self.new_control_message = False
+
         self.run()
 
     def __setup_minimalmodbus_for_485(self):
@@ -90,27 +98,65 @@ class DriveControl(object):
 
     def run(self):
         while not rospy.is_shutdown():
-            sleep(0.25)
+            self.send_drive_control_message()
+            self.get_drive_status()
+            sleep(0.005)
+
+    def send_drive_control_message(self):
+        if self.new_control_message:
+            drive_control = self.drive_control_message
+            try:
+                first_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE)
+                first_direction = \
+                    not drive_control.first_motor_direction if self.first_motor_inverted else drive_control.first_motor_direction
+                first_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = first_direction
+                first_motor_register_data[MODBUS_REGISTERS["SPEED"]] = min(drive_control.first_motor_speed, UINT16_MAX)
+
+                second_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE)
+                second_direction = not drive_control.second_motor_direction if self.second_motor_inverted else drive_control.second_motor_direction
+                second_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = second_direction
+                second_motor_register_data[MODBUS_REGISTERS["SPEED"]] = min(drive_control.second_motor_speed, UINT16_MAX)
+
+                self.first_motor.write_registers(0, first_motor_register_data)
+                self.second_motor.write_registers(0, second_motor_register_data)
+
+            except Exception, error:
+                print "Error occurred:", error
+
+            self.new_control_message = False
+
+    def get_drive_status(self):
+        status = DriveStatusMessage()
+
+        first_motor_status = [0, 0, 0]
+        second_motor_status = [0, 0, 0]
+
+        try:
+            first_motor_status = self.first_motor.read_registers(3, 3)
+            status.first_motor_connected = True
+        except Exception:
+            status.first_motor_connected = False
+
+        try:
+            second_motor_status = self.second_motor.read_registers(3, 3)
+            status.second_motor_connected = True
+        except Exception:
+            status.second_motor_connected = False
+
+        if status.first_motor_connected:
+            status.first_motor_current = first_motor_status[0] / 1000.0
+            status.first_motor_fault = first_motor_status[1]
+            status.first_motor_temp = first_motor_status[2] / 1000.0
+
+        if status.second_motor_connected:
+            status.second_motor_current = second_motor_status[0] / 1000.0
+            status.second_motor_fault = second_motor_status[1]
+            status.second_motor_temp = second_motor_status[2] / 1000.0
 
     def drive_control_callback(self, drive_control):
-        try:
+        self.drive_control_message = drive_control
-            first_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE)
+        self.new_control_message = True
-            first_direction = \
-                not drive_control.first_motor_direction if self.first_motor_inverted else drive_control.first_motor_direction
-            first_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = first_direction
-            first_motor_register_data[MODBUS_REGISTERS["SPEED"]] = min(drive_control.first_motor_speed, UINT16_MAX)
-
-            second_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE)
-            second_direction = not drive_control.second_motor_direction if self.second_motor_inverted else drive_control.second_motor_direction
-            second_motor_register_data[MODBUS_REGISTERS["DIRECTION"]] = second_direction
-            second_motor_register_data[MODBUS_REGISTERS["SPEED"]] = min(drive_control.second_motor_speed, UINT16_MAX)
-
-            self.first_motor.write_registers(0, first_motor_register_data)
-            self.second_motor.write_registers(0, second_motor_register_data)
-
-        except Exception, error:
-            print "Error occurred:", error
 
 
 if __name__ == "__main__":
-    DriveControl()
+    DriveControl()

software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch

@@ -2,7 +2,7 @@
     <group ns="sender_transports">
         <arg name="target" default="192.168.1.10" />
 
-        <node name="udp_sender4" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+        <node name="ground_staion_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
             <param name="destination_port" value="17020" />
             <rosparam param="topics">