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Added keyfile copy. Tried to keep map from updating too much. Modified left screen UI. Split TCP topoics out to own senders/receivers.

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This commit is contained in:
Corwin Perren
2018-03-15 16:33:03 -07:00
parent b79d6ea8f1
commit a88f5a6c58
8 changed files with 96 additions and 23 deletions
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22
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
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@@ -48,8 +48,28 @@
<param name="port" value="17012" />
</node>
<node name="rover_status" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17013" />
</node>
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17014" />
</node>
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17015" />
</node>
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17016" />
</node>
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17017" />
</node>
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17018" />
</node>
</group>
</launch>

15
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
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@@ -4,7 +4,7 @@
<node name="ground_station_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<param name="destination_port" value="17100" />
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0}]
</rosparam>
@@ -12,14 +12,13 @@
<node name="ground_station_tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17021" />
<param name="destination_port" value="17101" />
<rosparam param="topics">
[{name: "/cameras/chassis/camera_control", compress: true, rate: 5.0},
{name: "/cameras/undercarriage/camera_control", compress: true, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: true, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: true, rate: 5.0},
{name: "/cameras/chassis/camera_control", compress: true, rate: 1.0},
{name: "/rover_status/update_requested", compress: true, rate: 1.0}]
[{name: "/cameras/chassis/camera_control", compress: false, rate: 5.0},
{name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
{name: "/rover_status/update_requested", compress: false, rate: 5.0}]
</rosparam>
</node>
</group>

4
software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch
View File

@@ -1,11 +1,11 @@
<launch>
<group ns="rover_control">
<node name="ground_station_drive_command" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17020" />
<param name="port" value="17100" />
</node>
<node name="ground_station_tcp_topics" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17021" />
<param name="port" value="17101" />
</node>
</group>
</launch>

49
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -98,16 +98,51 @@
</rosparam>
</node>
<node name="rover_tcp_topics" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17013" />
<rosparam param="topics">
[{name: "/rover_status/bogie_status", compress: true, rate: 1.0},
{name: "/rover_status/camera_status", compress: true, rate: 1.0},
{name: "/rover_status/frsky_status", compress: true, rate: 1.0},
{name: "/rover_status/gps_status", compress: true, rate: 1.0},
{name: "/rover_status/jetson_status", compress: true, rate: 1.0},
{name: "/rover_status/misc_status", compress: true, rate: 1.0}]
[{name: "/rover_status/bogie_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17014" />
<rosparam param="topics">
[{name: "/rover_status/camera_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17015" />
<rosparam param="topics">
[{name: "/rover_status/frsky_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17016" />
<rosparam param="topics">
[{name: "/rover_status/gps_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17017" />
<rosparam param="topics">
[{name: "/rover_status/jetson_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17018" />
<rosparam param="topics">
[{name: "/rover_status/misc_status", compress: false, rate: 1.0}]
</rosparam>
</node>
</group>