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IRIS is back. Still driving on backups. Made modifications for OMSI.

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This commit is contained in:
Corwin Perren
2018-06-14 14:15:51 -07:00
parent d89685a156
commit f132bb38d4
5 changed files with 42 additions and 40 deletions
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24
software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
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@@ -7,20 +7,20 @@
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyGPS" # SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyGPS"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_0_0" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_0_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_0_1" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_0_1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_0_2" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_0_2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_1_1" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_1_1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_1_2" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_1_2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_2_1" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_2_1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_2_2" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_2_3" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_2_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyLEFT" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyLEFT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H89E", SYMLINK+="rover/ttyRIGHT" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H89E", SYMLINK+="rover/ttyRIGHT"

8
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
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@@ -91,10 +91,10 @@ class DriveCoordinator(object):
sleep(max(self.wait_time - time_diff, 0)) sleep(max(self.wait_time - time_diff, 0))
def process_drive_commands(self): def process_drive_commands(self):
# if not self.drive_command_data["iris"]["message"].ignore_drive_control: if not self.drive_command_data["iris"]["message"].ignore_drive_control:
# self.send_drive_control_command(self.drive_command_data["iris"]) self.send_drive_control_command(self.drive_command_data["iris"])
# else: else:
self.send_drive_control_command(self.drive_command_data["ground_station"]) self.send_drive_control_command(self.drive_command_data["ground_station"])
def send_drive_control_command(self, drive_command_data): def send_drive_control_command(self, drive_command_data):

4
software/ros_packages/rover_main/launch/rover.launch
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@@ -9,7 +9,7 @@
<include file="$(find rover_main)/launch/rover/status.launch"/> <include file="$(find rover_main)/launch/rover/status.launch"/>
<!-- ########## Start Nimbro Topic Transport Nodes ########## --> <!-- ########## Start Nimbro Topic Transport Nodes ########## -->
<include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/> <!--<include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/>-->
<include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/> <!--<include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/>-->
</launch> </launch>

32
software/ros_packages/rover_main/launch/rover/cameras.launch
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@@ -1,24 +1,24 @@
<launch> <launch>
<group ns="cameras"> <group ns="cameras">
<!-- Start Undercarriage Camera --> <!-- Start Undercarriage Camera -->
<node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen"> <!--<node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">-->
<param name="device_path" value="/dev/rover/camera_undercarriage"/> <!--<param name="device_path" value="/dev/rover/camera_undercarriage"/>-->
</node> <!--</node>-->
<!-- Start Main Navigation Camera --> <!--&lt;!&ndash; Start Main Navigation Camera &ndash;&gt;-->
<node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" > <!--<node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" >-->
<param name="device_path" value="/dev/rover/camera_main_navigation" /> <!--<param name="device_path" value="/dev/rover/camera_main_navigation" />-->
</node> <!--</node>-->
<!-- Start Chassis Camera --> <!--&lt;!&ndash; Start Chassis Camera &ndash;&gt;-->
<node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" > <!--<node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >-->
<param name="device_path" value="/dev/rover/camera_chassis" /> <!--<param name="device_path" value="/dev/rover/camera_chassis" />-->
</node> <!--</node>-->
<!-- Start End Effector Camera --> <!--&lt;!&ndash; Start End Effector Camera &ndash;&gt;-->
<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" > <!--<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >-->
<param name="is_rtsp_camera" value="True" /> <!--<param name="is_rtsp_camera" value="True" />-->
<param name="device_path" value="rtsp://192.168.1.11" /> <!--<param name="device_path" value="rtsp://192.168.1.11" />-->
</node> <!--</node>-->
</group> </group>
</launch> </launch>

14
software/ros_packages/rover_main/launch/rover/control.launch
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@@ -1,16 +1,18 @@
<launch> <launch>
<group ns="rover_control"> <group ns="rover_control">
<!--<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">--> <node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">
<!--<param name="port" value="/dev/rover/ttyIRIS"/>--> <param name="port" value="/dev/rover/ttyIRIS"/>
<!--<param name="hertz" value="20"/>--> <param name="hertz" value="20"/>
<!--</node>--> </node>
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen"> <node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyREAR"/> <param name="port" value="/dev/rover/ttyREAR"/>
<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"/> <param name="drive_control_status_topic" value="drive_status/rear"/>
<param name="first_motor_id" value="2"/> <param name="first_motor_id" value="1"/>
<param name="second_motor_id" value="1"/> <param name="second_motor_id" value="2"/>
<param name="invert_first_motor" value="True"/>
<param name="invert_second_motor" value="True"/>
</node> </node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen"> <node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">