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Added battery status monitoring. Also made wheel status senders/recievers.

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This commit is contained in:
Corwin Perren
2018-04-21 17:01:27 -07:00
parent 7b7efbe37a
commit 72994f9c9c
7 changed files with 47 additions and 11 deletions
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2
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
View File

@@ -75,7 +75,7 @@
<param name="port" value="17018" />
</node>
<node name="gps_status_udp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<node name="udp_statuses" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17019" />
</node>

9
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -102,7 +102,7 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17013" />
<rosparam param="topics">
[{name: "/rover_status/bogie_status", compress: false, rate: 1.0}]
[{name: "/rover_status/wheel_status", compress: false, rate: 1.0}]
</rosparam>
</node>
@@ -146,11 +146,14 @@
</rosparam>
</node>
<node name="gps_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="udp_statuses_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17019" />
<rosparam param="topics">
[{name: "/rover_status/gps_status", compress: true, rate: 5.0}]
[
{name: "/rover_status/gps_status", compress: true, rate: 5.0},
{name: "/rover_status/battery_status", compress: false, rate: 1.0}
]
</rosparam>
</node>
</group>