Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py

@@ -201,6 +201,8 @@ class LogitechControllerControlSender(QtCore.QThread):
         self.last_camera_change_time = time()
         self.last_camera_toggle_time = time()
 
+        self.speed_limit = 0.5
+
     def run(self):
         self.logger.debug("Starting Joystick Thread")
 

software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py

@@ -1,5 +1,5 @@
 '''
-Mapping.py: Objected Orientated Google Maps for Python
+MappingSettings.py: Objected Orientated Google Maps for Python
 ReWritten by Chris Pham
 
 Copyright OSURC, orginal code from GooMPy by Alec Singer and Simon D. Levy

software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py

@@ -20,7 +20,7 @@ from sensor_msgs.msg import Imu
 
 # Custom Imports
 import RoverMap
-from Resources.Settings import Mapping as MappingSettings
+from Resources.Settings import MappingSettings
 from sensor_msgs.msg import NavSatFix
 
 #####################################
@@ -31,7 +31,6 @@ from sensor_msgs.msg import NavSatFix
 GPS_POSITION_TOPIC = "/rover_odometry/fix"
 IMU_DATA_TOPIC = "/rover_odometry/imu/data"
 
-
 MAP_WIDGET_WIDTH = float(1280)
 MAP_WIDGET_HEIGHT = float(720)
 MAP_WIDGET_RATIO = MAP_WIDGET_WIDTH / MAP_WIDGET_HEIGHT
@@ -41,6 +40,8 @@ class RoverMapCoordinator(QtCore.QThread):
     pixmap_ready_signal = QtCore.pyqtSignal()
     change_waypoint_signal = QtCore.pyqtSignal()
 
+    zoom_level_enabled_state_update__signal = QtCore.pyqtSignal(int)
+
     def __init__(self, shared_objects):
         super(RoverMapCoordinator, self).__init__()
 
@@ -49,12 +50,15 @@ class RoverMapCoordinator(QtCore.QThread):
         self.mapping_label = self.left_screen.mapping_label  # type:QtWidgets.QLabel
         self.navigation_label = self.left_screen.navigation_waypoints_table_widget
         self.landmark_label = self.left_screen.landmark_waypoints_table_widget
+        self.map_selection_combo_box = self.left_screen.map_selection_combo_box  # type: QtWidgets.QComboBox
+        self.map_zoom_level_combo_box = self.left_screen.map_zoom_level_combo_box  # type: QtWidgets.QComboBox
 
         self.setings = QtCore.QSettings()
 
         self.logger = logging.getLogger("groundstation")
 
-        self.gps_position_subscriber = rospy.Subscriber(GPS_POSITION_TOPIC, NavSatFix, self.gps_position_updated_callback)
+        self.gps_position_subscriber = rospy.Subscriber(GPS_POSITION_TOPIC, NavSatFix,
+                                                        self.gps_position_updated_callback)
 
         self.run_thread_flag = True
         self.setup_map_flag = True
@@ -65,7 +69,10 @@ class RoverMapCoordinator(QtCore.QThread):
         self.overlay_image = None
         self.overlay_image_object = None
 
-        self.map_pixmap = QtGui.QPixmap.fromImage(ImageQt(Image.open("Resources/Images/maps_loading.png").resize((1280, 720), Image.BICUBIC)))
+        self.loading_image_pixmap = QtGui.QPixmap.fromImage(
+            ImageQt(Image.open("Resources/Images/maps_loading.png").resize((1280, 720), Image.BICUBIC)))
+
+        self.map_pixmap = self.loading_image_pixmap
         self.last_map_pixmap_cache_key = None
 
         self.longitude = 0
@@ -97,9 +104,19 @@ class RoverMapCoordinator(QtCore.QThread):
         self.x_drag_end = -1
         self.y_drag_end = -1
 
+        self.map_selection_name = ""
+        self.map_selection_latitude = 0
+        self.map_selection_longitude = 0
+        self.map_selection_zoom = 0
+
+        self.setup_mapping_locations()
+
     def run(self):
         self.logger.debug("Starting Map Coordinator Thread")
         self.pixmap_ready_signal.emit()  # This gets us the loading map
+
+        # self.precache_all_maps()
+
         while self.run_thread_flag:
             if self.setup_map_flag:
                 self._map_setup()
@@ -114,16 +131,67 @@ class RoverMapCoordinator(QtCore.QThread):
 
         self.logger.debug("Stopping Map Coordinator Thread")
 
-    def _map_setup(self):
+    def setup_mapping_locations(self):
-        self.google_maps_object = RoverMap.GMapsStitcher(1280,
+        locations = [location for location in MappingSettings.MAPPING_LOCATIONS]
+
+        self.map_selection_combo_box.addItems(locations)
+
+        self.update_settings_from_selection()
+        self.map_selection_combo_box.setCurrentText(self.map_selection_name)
+
+        self.update_zoom_combo_box_items(
+            MappingSettings.MAPPING_LOCATIONS[MappingSettings.LAST_SELECTION]["valid_zoom_options"],
+            MappingSettings.LAST_ZOOM_LEVEL)
+
+    def update_settings_from_selection(self):
+        self.map_selection_latitude = MappingSettings.MAPPING_LOCATIONS[MappingSettings.LAST_SELECTION]["latitude"]
+        self.map_selection_longitude = MappingSettings.MAPPING_LOCATIONS[MappingSettings.LAST_SELECTION]["longitude"]
+        self.map_selection_zoom = MappingSettings.LAST_ZOOM_LEVEL
+
+        self.map_selection_name = MappingSettings.LAST_SELECTION
+
+    def precache_all_maps(self):
+        print "Caching all map options!!!"
+        for map in MappingSettings.MAPPING_LOCATIONS:
+            lat = MappingSettings.MAPPING_LOCATIONS[map]["latitude"]
+            lon = MappingSettings.MAPPING_LOCATIONS[map]["longitude"]
+            for zoom in MappingSettings.MAPPING_LOCATIONS[map]["valid_zoom_options"]:
+                print "Caching map: %s at zoom %d" % (map, zoom)
+
+                try:
+                    RoverMap.GMapsStitcher(1280,
                                            720,
-                                                         44.5675721667,
+                                           lat,
-                                                         -123.2750535,
+                                           lon,
-                                                         18,  # FIXME: Used to be 18
+                                           zoom,
                                            'satellite',
                                            None, 20)
+                except:
+                    print "Could not cache map: %s at zoom %d" % (map, zoom)
+                print "Finished caching map: %s at zoom %d" % (map, zoom)
+
+        print "Map cache complete!"
+
+    def _map_setup(self):
+        self.update_zoom_combo_box_items(
+            MappingSettings.MAPPING_LOCATIONS[MappingSettings.LAST_SELECTION]["valid_zoom_options"],
+            MappingSettings.LAST_ZOOM_LEVEL)
+
+        self.map_image = None
+        self.map_pixmap = self.loading_image_pixmap
+        self.pixmap_ready__slot()
+
+        self.google_maps_object = None
+        self.google_maps_object = RoverMap.GMapsStitcher(1280,
+                                                         720,
+                                                         self.map_selection_latitude,
+                                                         self.map_selection_longitude,
+                                                         self.map_selection_zoom,
+                                                         'satellite',
+                                                         None, 20)
+        self.overlay_image_object = None
         self.overlay_image_object = (
-            RoverMap.OverlayImage(44.5675721667, -123.2750535,
+            RoverMap.OverlayImage(self.map_selection_latitude, self.map_selection_longitude,
                                   self.google_maps_object.northwest,
                                   self.google_maps_object.southeast,
                                   self.google_maps_object.big_image.size[0],
@@ -150,7 +218,8 @@ class RoverMapCoordinator(QtCore.QThread):
 
             crop_x_start = ((self.zoom_subtraction * MAP_WIDGET_RATIO) / 2) - self.x_drag - self.x_drag_end
             crop_y_start = (self.zoom_subtraction / 2) - self.y_drag - self.y_drag_end
-            crop_x_end = (MAP_WIDGET_WIDTH - ((self.zoom_subtraction * MAP_WIDGET_RATIO) / 2)) - self.x_drag - self.x_drag_end
+            crop_x_end = (MAP_WIDGET_WIDTH - (
+                    (self.zoom_subtraction * MAP_WIDGET_RATIO) / 2)) - self.x_drag - self.x_drag_end
             crop_y_end = (MAP_WIDGET_HEIGHT - (self.zoom_subtraction / 2)) - self.y_drag - self.y_drag_end
             crop_box = (int(crop_x_start), int(crop_y_start), int(crop_x_end), int(crop_y_end))
 
@@ -192,6 +261,9 @@ class RoverMapCoordinator(QtCore.QThread):
         self.mapping_label.wheelEvent = self.__mouse_wheel_event
         self.mapping_label.mouseMoveEvent = self.__mouse_move_event
 
+        self.map_selection_combo_box.currentTextChanged.connect(self.map_selection_changed__slot)
+        self.map_zoom_level_combo_box.currentTextChanged.connect(self.zoom_selection_changed__slot)
+
     def on_kill_threads_requested_slot(self):
         self.run_thread_flag = False
 
@@ -229,8 +301,6 @@ class RoverMapCoordinator(QtCore.QThread):
                 self.last_heading,
                 navigation_list,
                 landmark_list)
-            # self.last_heading = (self.last_heading + 5) % 360
-            # self.overlay_image.save("something.png")
 
     def gps_position_updated_callback(self, data):
         self.latitude = data.latitude
@@ -260,9 +330,7 @@ class RoverMapCoordinator(QtCore.QThread):
         self.x_drag = 0
         self.x_drag = 0
 
-
     def __mouse_wheel_event(self, event):
-        # print "wheel:", event.angleDelta()
         self.zoom_subtraction += event.angleDelta().y() / 12
 
     def __mouse_move_event(self, event):
@@ -281,6 +349,27 @@ class RoverMapCoordinator(QtCore.QThread):
             self.x_drag_start = event.pos().x()
             self.y_drag_start = event.pos().y()
 
+    def update_zoom_combo_box_items(self, zooms, selection):
+        self.map_zoom_level_combo_box.clear()
+        self.map_zoom_level_combo_box.addItems([str(item) for item in zooms])
+        self.map_zoom_level_combo_box.setCurrentText(str(selection))
+
+    def zoom_selection_changed__slot(self, zoom):
+
+        if zoom:
+            MappingSettings.LAST_ZOOM_LEVEL = int(zoom)
+            self.map_selection_zoom = int(zoom)
+            self.setup_map_flag = True
+
+    def map_selection_changed__slot(self, selection):
+        MappingSettings.LAST_SELECTION = selection
+        MappingSettings.LAST_ZOOM_LEVEL = MappingSettings.MAPPING_LOCATIONS[selection]["default_zoom"]
+
+        self.update_settings_from_selection()
+        self.setup_map_flag = True
+
+        self.map_selection_name = selection
+
     @staticmethod
     def constrain(val, min_val, max_val):
         return min(max_val, max(min_val, val))

software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py

@@ -213,7 +213,6 @@ class MiscArm(QtCore.QThread):
         message.wrist_pitch = movement[4]
         message.wrist_roll = movement[5]
 
-        print message
         self.arm_absolute_control_publisher.publish(message)
 
         self.wait_for_targets_reached(movement)
@@ -227,27 +226,27 @@ class MiscArm(QtCore.QThread):
         wrist_roll_set = movement[5] - (wrist_pitch_set / 2.0)
 
         while abs(self.base_position - base_set) > POSITIONAL_TOLERANCE:
-            self.logger.debug("Waiting for base| %f\t%f" % (self.base_position, base_set))
+            # self.logger.debug("Waiting for base| %f\t%f" % (self.base_position, base_set))
             self.msleep(10)
 
         while abs(self.shoulder_position - shoulder_set) > POSITIONAL_TOLERANCE:
-            self.logger.debug("Waiting for shoulder| %f\t%f" % (self.shoulder_position, shoulder_set))
+            # self.logger.debug("Waiting for shoulder| %f\t%f" % (self.shoulder_position, shoulder_set))
             self.msleep(10)
 
         while abs(self.elbow_position - elbow_set) > POSITIONAL_TOLERANCE:
-            self.logger.debug("Waiting for elbow| %f\t%f" % (self.elbow_position, elbow_set))
+            # self.logger.debug("Waiting for elbow| %f\t%f" % (self.elbow_position, elbow_set))
             self.msleep(10)
 
         while abs(self.roll_position - roll_set) > POSITIONAL_TOLERANCE:
-            self.logger.debug("Waiting for roll| %f\t%f" % (self.roll_position, roll_set))
+            # self.logger.debug("Waiting for roll| %f\t%f" % (self.roll_position, roll_set))
             self.msleep(10)
 
         while abs(self.wrist_pitch_position - wrist_pitch_set) > POSITIONAL_TOLERANCE:
-            self.logger.debug("Waiting for wrist_pitch| %f\t%f" % (self.wrist_pitch_position, wrist_pitch_set))
+            # self.logger.debug("Waiting for wrist_pitch| %f\t%f" % (self.wrist_pitch_position, wrist_pitch_set))
             self.msleep(10)
 
         while abs(self.wrist_roll_position - wrist_roll_set) > POSITIONAL_TOLERANCE:
-            self.logger.debug("Waiting for wrist_roll| %f\t%f" % (self.wrist_roll_position, wrist_roll_set))
+            # self.logger.debug("Waiting for wrist_roll| %f\t%f" % (self.wrist_roll_position, wrist_roll_set))
             self.msleep(10)
 
     def connect_signals_and_slots(self):

software/ros_packages/ground_station/src/Framework/NavigationSystems/SpeedAndHeadingIndication.py

@@ -14,7 +14,7 @@ from tf import transformations
 from scipy.interpolate import interp1d
 import math
 from sensor_msgs.msg import Imu
-from Resources.Settings import Mapping as MappingSettings
+from Resources.Settings import MappingSettings as MappingSettings
 
 #####################################
 # Global Variables

software/ros_packages/ground_station/src/Resources/Settings/Mapping.py

@@ -1,23 +0,0 @@
-# Note that the lat and lon positions below correspond to the center point of the maps you want to download
-# Proper zoom level selection determines total viewable area
-
-MAPPING_LOCATIONS = {
-    "Graf Hall": {
-        "latitude": 44.5675721667,
-        "longitude": -123.2750535,
-        "default_zoom": 18,
-        "valid_zoom_options": [15, 16, 17, 18, 19, 20],
-        "pre_cache_map_zoom_levels": [18, 19, 20]
-    },
-
-    "Crystal Lake": {
-        "latitude": 44.547155,
-        "longitude": -123.251438,
-        "default_zoom": 18,
-        "valid_zoom_options": [15, 16, 17, 18, 19, 20],
-        "pre_cache_map_zoom_levels": [18, 19, 20]
-    }
-}
-
-# ##### This is the offset from magnetic north to true north
-DECLINATION_OFFSET = 15

software/ros_packages/ground_station/src/Resources/Settings/MappingSettings.py

@@ -0,0 +1,66 @@
+# Note that the lat and lon positions below correspond to the center point of the maps you want to download
+# Proper zoom level selection determines total viewable area
+
+MAPPING_LOCATIONS = {
+    "Graf Hall": {
+        "latitude": 44.5675721667,
+        "longitude": -123.2750535,
+        "default_zoom": 18,
+        "valid_zoom_options": [16, 17, 18, 19, 20],
+        "pre_cache_map_zoom_levels": [18, 19, 20]
+    },
+
+    "Crystal Lake": {
+        "latitude": 44.547155,
+        "longitude": -123.251438,
+        "default_zoom": 18,
+        "valid_zoom_options": [16, 17, 18, 19, 20],
+        "pre_cache_map_zoom_levels": [18, 19, 20]
+    },
+
+    "Bend's \"The Pit\"": {
+        "latitude": 43.9941317,
+        "longitude": -121.4150066,
+        "default_zoom": 17,
+        "valid_zoom_options": [16, 17, 18, 19, 20],
+        "pre_cache_map_zoom_levels": [18, 19, 20]
+    },
+
+    "McMullen": {
+        "latitude": 51.470326,
+        "longitude": -112.773995,
+        "default_zoom": 17,
+        "valid_zoom_options": [16, 17, 18, 19, 20],
+        "pre_cache_map_zoom_levels": [18, 19, 20]
+    },
+
+    "Compound": {
+        "latitude": 51.470941,
+        "longitude": -112.752322,
+        "default_zoom": 17,
+        "valid_zoom_options": [16, 17, 18, 19, 20],
+        "pre_cache_map_zoom_levels": [18, 19, 20]
+    },
+
+    "1st Avenue": {
+        "latitude": 51.453744,
+        "longitude": -112.715879,
+        "default_zoom": 17,
+        "valid_zoom_options": [16, 17, 18, 19, 20],
+        "pre_cache_map_zoom_levels": [18, 19, 20]
+    },
+
+    "Rosedale": {
+        "latitude": 51.421368,
+        "longitude": -112.641666,
+        "default_zoom": 17,
+        "valid_zoom_options": [16, 17, 18, 19, 20],
+        "pre_cache_map_zoom_levels": [18, 19, 20]
+    },
+}
+
+LAST_SELECTION = "Graf Hall"
+LAST_ZOOM_LEVEL = MAPPING_LOCATIONS[LAST_SELECTION]["default_zoom"]
+
+# ##### This is the offset from magnetic north to true north
+DECLINATION_OFFSET = 15

software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui

@@ -1390,7 +1390,7 @@ N/A</string>
          </size>
         </property>
         <property name="currentIndex">
-         <number>0</number>
+         <number>4</number>
         </property>
         <widget class="QWidget" name="tab_5">
          <attribute name="title">
@@ -2447,14 +2447,7 @@ N/A</string>
           <string>Settings</string>
          </attribute>
          <layout class="QGridLayout" name="gridLayout_6">
-          <item row="1" column="0">
+          <item row="4" column="1">
-           <widget class="QLabel" name="label">
-            <property name="text">
-             <string>Ubiquiti Radio Channel</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
            <spacer name="verticalSpacer_2">
             <property name="orientation">
              <enum>Qt::Vertical</enum>
@@ -2468,35 +2461,25 @@ N/A</string>
            </spacer>
           </item>
           <item row="0" column="0">
+           <layout class="QFormLayout" name="formLayout_7">
+            <item row="1" column="1">
+             <widget class="QComboBox" name="map_selection_combo_box"/>
+            </item>
+            <item row="1" column="0">
              <widget class="QLabel" name="label_6">
               <property name="text">
                <string>Map Selection</string>
               </property>
              </widget>
             </item>
-          <item row="1" column="2">
+            <item row="3" column="0">
-           <spacer name="horizontalSpacer">
+             <widget class="QLabel" name="label">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item row="0" column="1">
-           <widget class="QComboBox" name="comboBox">
-            <item>
               <property name="text">
-              <string>OSU Campus</string>
+               <string>Ubiquiti Radio Channel</string>
               </property>
-            </item>
              </widget>
             </item>
-          <item row="1" column="1">
+            <item row="3" column="1">
              <layout class="QHBoxLayout" name="horizontalLayout_3">
               <item>
                <widget class="QSpinBox" name="ubiquiti_channel_spin_box">
@@ -2523,6 +2506,31 @@ N/A</string>
               </item>
              </layout>
             </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_30">
+              <property name="text">
+               <string>Map Zoom Level</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QComboBox" name="map_zoom_level_combo_box"/>
+            </item>
+           </layout>
+          </item>
+          <item row="3" column="2">
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
          </layout>
         </widget>
        </widget>

software/ros_packages/rover_arm/src/rover_arm.cpp

@@ -149,7 +149,7 @@ public:
             smSetParameter(arm_bus_handle, roll_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
             smSetParameter(arm_bus_handle, wrist_pitch_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
             smSetParameter(arm_bus_handle, wrist_roll_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
-//            arm_successfully_connected = false;
+            arm_successfully_connected = false;
             should_reset = false;
         }
     }

software/ros_packages/rover_control/src/effectors_control/effectors_control.py

@@ -20,14 +20,15 @@ from rover_control.msg import MiningControlMessage, MiningStatusMessage
 NODE_NAME = "effectors_control"
 
 # ##### Communication Defines #####
-DEFAULT_PORT = "/dev/rover/ttyEffectors"
+# DEFAULT_PORT = "/dev/rover/ttyEffectors"
+DEFAULT_PORT = "/dev/ttyUSB0"
 DEFAULT_BAUD = 115200
 
 GRIPPER_NODE_ID = 1
 MINING_NODE_ID = 2
 SCIENCE_NODE_ID = 3
 
-GRIPPER_TIMEOUT = 0.15
+GRIPPER_TIMEOUT = 0.5
 MINING_TIMEOUT = 0.3
 SCIENCE_TIMEOUT = 0.15
 
@@ -150,25 +151,30 @@ class EffectorsControl(object):
         # self.initialize_mining_system()
 
         while not rospy.is_shutdown():
-            try:
+            # try:
-                self.process_mining_control_message()
+            #     self.process_mining_control_message()
-            except IOError, e:
+            # except IOError, e:
-                print e
+            #     # print e
-                if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
+            #     if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
-                    print "Lost connection to mining system. Exiting for reconnect."
+            #         print "Lost connection to mining system. Exiting for reconnect."
-                    return
+            #         return
-            except Exception, e:
+            # except Exception, e:
-                print e
+            #     pass
+            #
+            # try:
+            #     self.send_mining_status_message()
+            # except IOError, e:
+            #     print e
+            #     if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
+            #         print "Lost connection to mining system. Exiting for reconnect."
+            #         return
+            # except Exception, e:
+            #     pass
 
             try:
-                self.send_mining_status_message()
+                print self.gripper_node.read_register(0)
-            except IOError, e:
+            except Exception, error:
-                print e
+                print error
-                if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
-                    print "Lost connection to mining system. Exiting for reconnect."
-                    return
-            except Exception, e:
-                print e
 
     def connect_to_nodes(self):
         self.gripper_node = minimalmodbus.Instrument(self.port, int(self.gripper_node_id))
@@ -196,30 +202,6 @@ class EffectorsControl(object):
         except:
             self.science_node_present = False
 
-    def initialize_mining_system(self):
-        if self.mining_node_present:
-            self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]] = 1023
-            self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = 350
-
-            self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = 114
-
-            while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[
-                MINING_MODBUS_REGISTERS["LIFT_SET"]]) > MINING_POSITIONAL_THRESHOLD or \
-                    abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[
-                        MINING_MODBUS_REGISTERS["TILT_SET"]]) > MINING_POSITIONAL_THRESHOLD:
-                try:
-                    self.mining_node.write_registers(0, self.mining_registers)
-                    self.mining_registers = self.mining_node.read_registers(0, 7)
-                except Exception, e:
-                    print "Had trouble communicating:", e
-
-            try:
-                self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 1
-                self.mining_node.write_registers(0, self.mining_registers)
-                self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 0
-            except:
-                print "Had trouble communicating: no tare: ", e
-
     def process_mining_control_message(self):
 
         if self.new_mining_control_message and self.mining_node_present:

software/ros_packages/rover_main/launch/rover/arm.launch

@@ -1,3 +1,3 @@
-<launch>
+<launch>device.name
     <node name="rover_arm" pkg="rover_arm" type="rover_arm" respawn="true" output="screen"/>
 </launch>