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Finished re-write of ground station videoreceiver and videocoordinator to handle new nimbo udp sending, and working auto quality adjustmentgit status!

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This commit is contained in:
Corwin Perren
2018-03-07 00:01:50 -08:00
parent 381eccf4b3
commit 69c4cc6c71
6 changed files with 173 additions and 131 deletions
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15
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
View File

@@ -2,12 +2,25 @@
<group ns="sender_transports">
<arg name="target" default="192.168.1.10" />
<node name="ground_staion_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="ground_station_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0}]
</rosparam>
</node>
<node name="ground_station_tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17021" />
<rosparam param="topics">
[
{name: "/cameras/chassis/camera_control", compress: true, rate: 5.0},
{name: "/cameras/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}
]
</rosparam>
</node>
</group>
</launch>

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

@@ -3,5 +3,9 @@
<node name="ground_station_drive_command" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17020" />
</node>
<node name="ground_station_tcp_topics" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17021" />
</node>
</group>
</launch>

24
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -6,7 +6,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -14,7 +14,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -22,7 +22,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -30,7 +30,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -38,7 +38,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -46,7 +46,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -54,7 +54,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -62,7 +62,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -70,7 +70,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17009" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -78,7 +78,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17010" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -86,7 +86,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17011" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
@@ -94,7 +94,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17012" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}]
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
</group>