From add93b6b7f0149ad78663dc6628024f41a28962d Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Sat, 3 Mar 2018 20:41:10 -0800
Subject: [PATCH] Actually published the status. Changed names so they match
 the bogie.

---
 .../rover_control/src/drive_control/drive_control.py           | 2 ++
 software/ros_packages/rover_main/launch/rover/control.launch   | 3 +++
 2 files changed, 5 insertions(+)

diff --git a/software/ros_packages/rover_control/src/drive_control/drive_control.py b/software/ros_packages/rover_control/src/drive_control/drive_control.py
index 47415fb..51386d6 100755
--- a/software/ros_packages/rover_control/src/drive_control/drive_control.py
+++ b/software/ros_packages/rover_control/src/drive_control/drive_control.py
@@ -153,6 +153,8 @@ class DriveControl(object):
             status.second_motor_fault = second_motor_status[1]
             status.second_motor_temp = second_motor_status[2] / 1000.0
 
+        self.drive_control_status_publisher.publish(status)
+
     def drive_control_callback(self, drive_control):
         self.drive_control_message = drive_control
         self.new_control_message = True
diff --git a/software/ros_packages/rover_main/launch/rover/control.launch b/software/ros_packages/rover_main/launch/rover/control.launch
index 73d6c81..540ee4f 100644
--- a/software/ros_packages/rover_main/launch/rover/control.launch
+++ b/software/ros_packages/rover_main/launch/rover/control.launch
@@ -8,11 +8,13 @@
         <node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen">
             <param name="port" value="/dev/rover/ttyBogieRear"/>
             <param name="drive_control_topic" value="drive_control/rear"/>
+            <param name="drive_control_status_topic" value="drive_status/rear"/>
         </node>
 
         <node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen">
             <param name="port" value="/dev/rover/ttyBogieLeft"/>
             <param name="drive_control_topic" value="drive_control/left"/>
+            <param name="drive_control_status_topic" value="drive_status/left"/>
             <param name="invert_first_motor" value="True"/>
             <param name="invert_second_motor" value="True"/>
         </node>
@@ -20,6 +22,7 @@
         <node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen">
             <param name="port" value="/dev/rover/ttyBogieRight"/>
             <param name="drive_control_topic" value="drive_control/right"/>
+            <param name="drive_control_status_topic" value="drive_status/right"/>
         </node>
 
         <node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" output="screen"/>