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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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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8
software/ros_packages/rover_status/src/system_statuses_node.py
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@@ -36,7 +36,7 @@ DEFAULT_IRIS_STATUS_TOPIC_NAME = "/rover_control/iris_status"
DEFAULT_BOGIE_LEFT_TOPIC_NAME = '/rover_control/drive_status/left'
DEFAULT_BOGIE_RIGHT_TOPIC_NAME = '/rover_control/drive_status/right'
DEFAULT_BOGIE_REAR_TOPIC_NAME = '/rover_control/drive_status/rear'
DEFAULT_GPS_NMEA_TOPIC_NAME = '/odometry/gps/sentence'
DEFAULT_GPS_NMEA_TOPIC_NAME = '/rover_odometry/gps/sentence'
#####################################
@@ -130,7 +130,11 @@ class SystemStatuses:
# Pulls the UTC GPS Information (WIP v2.0)
def __set_gps_info(self, data):
self.GPS_msg.gps_connected = True
self.Nmea_Message = pynmea2.parse(data.sentence)
try:
self.Nmea_Message = pynmea2.parse(data.sentence)
except:
return
if self.Nmea_Message.sentence_type == 'GGA':
if int(self.Nmea_Message.gps_qual) != 0:
self.GPS_msg.gps_fix = True