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add update request publisher

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Ken Steinfeldt
2018-03-13 18:17:13 -07:00
parent 4b57b53231
commit f48384f143
1 changed files with 7 additions and 0 deletions
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7
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
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@@ -3,6 +3,9 @@
import rospy import rospy
from rover_status.msg import * from rover_status.msg import *
from PyQt5 import QtWidgets, QtCore, QtGui, uic from PyQt5 import QtWidgets, QtCore, QtGui, uic
from std_msgs.msg import Empty
REQUEST_UPDATE_TOPIC = "/rover_status/update_requested"
class SensorCore(QtCore.QThread): class SensorCore(QtCore.QThread):
@@ -53,6 +56,10 @@ class SensorCore(QtCore.QThread):
self.jetson_msg = JetsonInfo() self.jetson_msg = JetsonInfo()
self.misc_msg = MiscStatuses() self.misc_msg = MiscStatuses()
self.req = rospy.Publisher(REQUEST_UPDATE_TOPIC, Empty, queue_size=1)
self.req.publish(Empty())
def __camera_callback(self, data): def __camera_callback(self, data):
self.camera_msg.camera_zed = data.camera_zed self.camera_msg.camera_zed = data.camera_zed
self.camera_msg.camera_undercarriage = data.camera_undercarriage self.camera_msg.camera_undercarriage = data.camera_undercarriage