caperren/osurc_mars_rover_2017_2018
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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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2
software/ros_packages/ground_station/scripts/ground_station_launch.sh
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@@ -11,6 +11,8 @@ launch_dir_length_without_current_folder=$(($launch_dir_length-$current_folder_n
script_launch_path="${launch_dir:0:$launch_dir_length_without_current_folder}/src" script_launch_path="${launch_dir:0:$launch_dir_length_without_current_folder}/src"
cd $script_launch_path cd $script_launch_path
cp ~/key .
sleep 1 sleep 1
export DISPLAY=:0 export DISPLAY=:0

4
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
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@@ -45,6 +45,7 @@ class RoverMapCoordinator(QtCore.QThread):
self.overlay_image_object = None self.overlay_image_object = None
self.map_pixmap = None self.map_pixmap = None
self.last_map_pixmap_cache_key = None
def run(self): def run(self):
self.logger.debug("Starting Map Coordinator Thread") self.logger.debug("Starting Map Coordinator Thread")
@@ -102,6 +103,9 @@ class RoverMapCoordinator(QtCore.QThread):
# get overlay here # get overlay here
qim = ImageQt(self.map_image) qim = ImageQt(self.map_image)
self.map_pixmap = QtGui.QPixmap.fromImage(qim) self.map_pixmap = QtGui.QPixmap.fromImage(qim)
if self.map_pixmap.cacheKey() != self.last_map_pixmap_cache_key:
self.last_map_pixmap_cache_key = self.map_pixmap.cacheKey()
self.pixmap_ready_signal.emit() self.pixmap_ready_signal.emit()
def connect_signals_and_slots(self): def connect_signals_and_slots(self):

9
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
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@@ -1,4 +1,5 @@
#!/usr/bin/env python #!/usr/bin/env python
# coding=utf-8
import rospy import rospy
from rover_status.msg import * from rover_status.msg import *
@@ -158,7 +159,7 @@ class SensorCore(QtCore.QThread):
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __jetson_callback(self, data): def __jetson_callback(self, data):
self.jetson_cpu_update_ready__signal.emit(str(data.jetson_CPU)) self.jetson_cpu_update_ready__signal.emit("Jetson CPU\n" + str(data.jetson_CPU) + "%")
if data.jetson_CPU > 79: if data.jetson_CPU > 79:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
@@ -167,7 +168,7 @@ class SensorCore(QtCore.QThread):
else: else:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_ram_update_ready__signal.emit(str(data.jetson_RAM)) self.jetson_ram_update_ready__signal.emit("Jetson RAM\n" + str(data.jetson_RAM) + "%")
if data.jetson_RAM > 79: if data.jetson_RAM > 79:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
@@ -176,7 +177,7 @@ class SensorCore(QtCore.QThread):
else: else:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_gpu_temp_update_ready__signal.emit(str(data.jetson_GPU_temp)) self.jetson_gpu_temp_update_ready__signal.emit("Jetson EMMC Used\n" + str(data.jetson_GPU_temp) + "%")
if data.jetson_GPU_temp > 64: if data.jetson_GPU_temp > 64:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
@@ -185,7 +186,7 @@ class SensorCore(QtCore.QThread):
else: else:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_emmc_update_ready__signal.emit(str(data.jetson_EMMC)) self.jetson_emmc_update_ready__signal.emit("Jetson Max Temp\n" + str(data.jetson_EMMC) + "°C")
if data.jetson_EMMC > 79: if data.jetson_EMMC > 79:
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")

12
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

@@ -87,6 +87,9 @@
<property name="text"> <property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;EMMC&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;EMMC&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="5"> <item row="1" column="5">
@@ -97,6 +100,9 @@
<property name="text"> <property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:9pt; font-weight:600;&quot;&gt;GPU Temp C&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:9pt; font-weight:600;&quot;&gt;GPU Temp C&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="4" column="4"> <item row="4" column="4">
@@ -538,6 +544,9 @@ Connected</string>
<property name="text"> <property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;RAM&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;RAM&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
@@ -548,6 +557,9 @@ Connected</string>
<property name="text"> <property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;CPU %&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;CPU %&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="5" column="4"> <item row="5" column="4">

22
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
View File

@@ -48,8 +48,28 @@
<param name="port" value="17012" /> <param name="port" value="17012" />
</node> </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" /> <param name="port" value="17013" />
</node> </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> </group>
</launch> </launch>

15
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
View File

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

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

@@ -1,11 +1,11 @@
<launch> <launch>
<group ns="rover_control"> <group ns="rover_control">
<node name="ground_station_drive_command" pkg="nimbro_topic_transport" type="udp_receiver" output="screen"> <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>
<node name="ground_station_tcp_topics" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen"> <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> </node>
</group> </group>
</launch> </launch>

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

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