caperren/osurc_mars_rover_2017_2018
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Got farther with mapping, heading indication, and firmware with cal for IMU. Need to figure out which direction IMU is in for ROS to work right.

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Corwin Perren
2018-07-27 21:25:24 -07:00
parent 63454f22d1
commit 9d3969f9e4
9 changed files with 241 additions and 61 deletions
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3
software/ros_packages/rover_main/launch/rover/cameras.launch
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@@ -3,6 +3,7 @@
<!-- Start Undercarriage Camera -->
<node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
<param name="device_path" value="/dev/rover/camera_undercarriage"/>
<param name="upside_down" value="true"/>
</node>
<!--&lt;!&ndash; Start Main Navigation Camera &ndash;&gt;-->
@@ -17,7 +18,7 @@
<!--&lt;!&ndash; Start End Effector Camera &ndash;&gt;-->
<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >
<param name="is_rtsp_camera" value="True" />
<param name="is_rtsp_camera" value="true" />
<param name="device_path" value="rtsp://192.168.1.11" />
</node>
</group>

3
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
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@@ -153,7 +153,8 @@
<rosparam param="topics">
[
{name: "/rover_status/battery_status", compress: false, rate: 1.0},
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0}
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0},
{name: "/rover_odometry/imu/data", compress: false, rate: 10.0},
]
</rosparam>
</node>