caperren/osurc_mars_rover_2017_2018
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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.

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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
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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>