caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-09 02:31:14 +00:00
Code Issues Packages Projects Releases Wiki Activity

Pan/tilt now working from ground station with working tower on rover. Need to integreate tower node on modbus bus for that node, but overall working.

Browse Source
This commit is contained in:
Corwin Perren
2018-07-14 16:19:18 -07:00
parent 1110dce885
commit de93764849
6 changed files with 33 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
View File

@@ -16,7 +16,7 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DEFAULT_PAN_TILT_COMMAND_TOPIC = "/tower/control"
DEFAULT_PAN_TILT_COMMAND_TOPIC = "/rover_control/pan_tilt/control"
DRIVE_COMMAND_HERTZ = 15
@@ -31,9 +31,10 @@ CAMERA_CHANGE_TIME = 0.2
GUI_ELEMENT_CHANGE_TIME = 0.2
CAMERA_TOGGLE_CHANGE_TIME = 0.35
PAN_TILT_X_AXIS_SCALAR = 5
PAN_TILT_X_AXIS_SCALAR = 3
PAN_TILT_Y_AXIS_SCALAR = 10
#####################################
# Controller Class Definition
#####################################

8
software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
View File

@@ -16,16 +16,16 @@ from rover_control.msg import TowerPanTiltControlMessage
#####################################
# Global Variables
#####################################
NODE_NAME = "drive_control"
NODE_NAME = "pan_tilt_and_tower_control"
DEFAULT_PORT = "/dev/ttyUSB0"
DEFAULT_PORT = "/dev/rover/ttyTowerAndPanTilt"
DEFAULT_BAUD = 115200
DEFAULT_INVERT = False
DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "tower/control"
DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "pan_tilt/control"
NODE_ID = 1
NODE_ID = 2
COMMUNICATIONS_TIMEOUT = 0.01 # Seconds

5
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
View File

@@ -6,7 +6,8 @@
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17100" />
<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},
{name: "/rover_control/pan_tilt/control", compress: true, rate: 15.0}]
</rosparam>
</node>
@@ -18,7 +19,7 @@
{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}]
{name: "/rover_status/update_requested", compress: false, rate: 5.0},]
</rosparam>
</node>
</group>

2
software/ros_packages/rover_main/launch/rover/control.launch
View File

@@ -32,5 +32,7 @@
</node>
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/>
<node name="tower_and_pan_tilt" pkg="rover_control" type="tower_and_pan_tilt_control.py" respawn="true" output="screen"/>
</group>
</launch>