caperren/osurc_mars_rover_2017_2018
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Got more statuses working, mainly GPS. Played with odom a bit more. Map now shows live GPS location!

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This commit is contained in:
Corwin Perren
2018-07-15 22:35:50 -07:00
parent 1b7f5437b9
commit a573f72c1c
8 changed files with 405 additions and 146 deletions
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2
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
View File

@@ -7,7 +7,7 @@
<param name="destination_port" value="17100" />
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/pan_tilt/control", compress: true, rate: 15.0}]
{name: "/rover_control/pan_tilt/control", compress: true, rate: 20.0}]
</rosparam>
</node>

45
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -2,7 +2,7 @@
<group ns="sender_transports">
<arg name="target" default="192.168.1.15" />
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<rosparam param="topics">
@@ -10,7 +10,7 @@
</rosparam>
</node>
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<rosparam param="topics">
@@ -18,7 +18,7 @@
</rosparam>
</node>
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<rosparam param="topics">
@@ -26,7 +26,7 @@
</rosparam>
</node>
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
@@ -34,7 +34,7 @@
</rosparam>
</node>
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
@@ -42,7 +42,7 @@
</rosparam>
</node>
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
@@ -50,7 +50,7 @@
</rosparam>
</node>
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
@@ -58,7 +58,7 @@
</rosparam>
</node>
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
@@ -66,7 +66,7 @@
</rosparam>
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17009" />
<rosparam param="topics">
@@ -74,7 +74,7 @@
</rosparam>
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17010" />
<rosparam param="topics">
@@ -82,7 +82,7 @@
</rosparam>
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17011" />
<rosparam param="topics">
@@ -90,7 +90,7 @@
</rosparam>
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17012" />
<rosparam param="topics">
@@ -98,7 +98,7 @@
</rosparam>
</node>
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17013" />
<rosparam param="topics">
@@ -106,7 +106,7 @@
</rosparam>
</node>
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17014" />
<rosparam param="topics">
@@ -114,7 +114,7 @@
</rosparam>
</node>
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17015" />
<rosparam param="topics">
@@ -122,15 +122,16 @@
</rosparam>
</node>
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17016" />
<rosparam param="topics">
[{name: "/rover_status/gps_status", compress: false, rate: 1.0}]
[{name: "/rover_status/gps_status", compress: false, rate: 1.0},
{name: "/rover_odometry/fix", compress: false, rate: 5.0}]
</rosparam>
</node>
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17017" />
<rosparam param="topics">
@@ -138,7 +139,7 @@
</rosparam>
</node>
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17018" />
<rosparam param="topics">
@@ -146,13 +147,13 @@
</rosparam>
</node>
<node name="udp_statuses_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="udp_statuses_sender" pkg="nimbro_topic_transport" type="udp_sender">
<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/battery_status", compress: false, rate: 1.0}
{name: "/rover_status/battery_status", compress: false, rate: 1.0},
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0}
]
</rosparam>
</node>