caperren/osurc_mars_rover_2017_2018
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Actually published the status. Changed names so they match the bogie.

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Corwin Perren
2018-03-03 20:41:10 -08:00
parent 628efbb1c5
commit add93b6b7f
2 changed files with 5 additions and 0 deletions
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2
software/ros_packages/rover_control/src/drive_control/drive_control.py
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@@ -153,6 +153,8 @@ class DriveControl(object):
status.second_motor_fault = second_motor_status[1] status.second_motor_fault = second_motor_status[1]
status.second_motor_temp = second_motor_status[2] / 1000.0 status.second_motor_temp = second_motor_status[2] / 1000.0
self.drive_control_status_publisher.publish(status)
def drive_control_callback(self, drive_control): def drive_control_callback(self, drive_control):
self.drive_control_message = drive_control self.drive_control_message = drive_control
self.new_control_message = True self.new_control_message = True

3
software/ros_packages/rover_main/launch/rover/control.launch
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@@ -8,11 +8,13 @@
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen"> <node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyBogieRear"/> <param name="port" value="/dev/rover/ttyBogieRear"/>
<param name="drive_control_topic" value="drive_control/rear"/> <param name="drive_control_topic" value="drive_control/rear"/>
<param name="drive_control_status_topic" value="drive_status/rear"/>
</node> </node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen"> <node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyBogieLeft"/> <param name="port" value="/dev/rover/ttyBogieLeft"/>
<param name="drive_control_topic" value="drive_control/left"/> <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_first_motor" value="True"/>
<param name="invert_second_motor" value="True"/> <param name="invert_second_motor" value="True"/>
</node> </node>
@@ -20,6 +22,7 @@
<node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen"> <node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyBogieRight"/> <param name="port" value="/dev/rover/ttyBogieRight"/>
<param name="drive_control_topic" value="drive_control/right"/> <param name="drive_control_topic" value="drive_control/right"/>
<param name="drive_control_status_topic" value="drive_status/right"/>
</node> </node>
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" output="screen"/> <node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" output="screen"/>