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updated to use next branch of ugv_sdk

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This commit is contained in:
Ruixiang Du
2021-10-05 15:04:21 +08:00
parent fd7ae717cb
commit 117f8def26
4 changed files with 308 additions and 322 deletions
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85
scout_base/include/scout_base/scout_messenger.hpp
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@@ -1,9 +1,9 @@
/*
/*
* scout_messenger.hpp
*
*
* Created on: Jun 14, 2019 10:24
* Description:
*
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
@@ -11,6 +11,7 @@
#define SCOUT_MESSENGER_HPP
#include <string>
#include <mutex>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
@@ -18,57 +19,55 @@
#include <tf2_ros/transform_broadcaster.h>
#include "scout_msgs/ScoutLightCmd.h"
#include "ugv_sdk/scout_base.hpp"
#include "ugv_sdk/mobile_robot/scout_robot.hpp"
namespace westonrobot
{
class ScoutROSMessenger
{
public:
explicit ScoutROSMessenger(ros::NodeHandle *nh);
ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle *nh);
namespace westonrobot {
class ScoutROSMessenger {
public:
explicit ScoutROSMessenger(ros::NodeHandle *nh);
ScoutROSMessenger(std::shared_ptr<ScoutRobot> scout, ros::NodeHandle *nh);
std::string odom_frame_;
std::string base_frame_;
std::string odom_topic_name_;
std::string odom_frame_;
std::string base_frame_;
std::string odom_topic_name_;
bool simulated_robot_ = false;
int sim_control_rate_ = 50;
bool simulated_robot_ = false;
int sim_control_rate_ = 50;
void SetupSubscription();
void SetupSubscription();
void PublishStateToROS();
void PublishSimStateToROS(double linear, double angular);
void PublishStateToROS();
void PublishSimStateToROS(double linear, double angular);
void GetCurrentMotionCmdForSim(double &linear, double &angular);
void GetCurrentMotionCmdForSim(double &linear, double &angular);
private:
ScoutBase *scout_;
ros::NodeHandle *nh_;
private:
std::shared_ptr<ScoutRobot> scout_;
ros::NodeHandle *nh_;
std::mutex twist_mutex_;
geometry_msgs::Twist current_twist_;
std::mutex twist_mutex_;
geometry_msgs::Twist current_twist_;
ros::Publisher odom_publisher_;
ros::Publisher status_publisher_;
ros::Subscriber motion_cmd_subscriber_;
ros::Subscriber light_cmd_subscriber_;
tf2_ros::TransformBroadcaster tf_broadcaster_;
ros::Publisher odom_publisher_;
ros::Publisher status_publisher_;
ros::Subscriber motion_cmd_subscriber_;
ros::Subscriber light_cmd_subscriber_;
tf2_ros::TransformBroadcaster tf_broadcaster_;
// speed variables
double linear_speed_ = 0.0;
double angular_speed_ = 0.0;
double position_x_ = 0.0;
double position_y_ = 0.0;
double theta_ = 0.0;
// speed variables
double linear_speed_ = 0.0;
double angular_speed_ = 0.0;
double position_x_ = 0.0;
double position_y_ = 0.0;
double theta_ = 0.0;
ros::Time last_time_;
ros::Time current_time_;
ros::Time last_time_;
ros::Time current_time_;
void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg);
void LightCmdCallback(const scout_msgs::ScoutLightCmd::ConstPtr &msg);
void PublishOdometryToROS(double linear, double angular, double dt);
void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg);
void LightCmdCallback(const scout_msgs::ScoutLightCmd::ConstPtr &msg);
void PublishOdometryToROS(double linear, double angular, double dt);
};
} // namespace westonrobot
} // namespace westonrobot
#endif /* SCOUT_MESSENGER_HPP */

42
scout_base/include/scout_base/scout_params.hpp
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@@ -1,33 +1,33 @@
/*
/*
* scout_params.hpp
*
*
* Created on: Sep 27, 2019 15:08
* Description:
*
* Description:
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef SCOUT_PARAMS_HPP
#define SCOUT_PARAMS_HPP
namespace westonrobot
{
struct ScoutParams
{
/* Scout Parameters */
static constexpr double max_steer_angle = 30.0; // in degree
namespace westonrobot {
struct ScoutParams {
/* Scout Parameters */
static constexpr double max_steer_angle = 30.0; // in degree
static constexpr double track = 0.58306; // in meter (left & right wheel distance)
static constexpr double wheelbase = 0.498; // in meter (front & rear wheel distance)
static constexpr double wheel_radius = 0.165; // in meter
static constexpr double track =
0.58306; // in meter (left & right wheel distance)
static constexpr double wheelbase =
0.498; // in meter (front & rear wheel distance)
static constexpr double wheel_radius = 0.165; // in meter
// from user manual v1.2.8 P18
// max linear velocity: 1.5 m/s
// max angular velocity: 0.7853 rad/s
static constexpr double max_linear_speed = 1.5; // in m/s
static constexpr double max_angular_speed = 0.7853; // in rad/s
static constexpr double max_speed_cmd = 10.0; // in rad/s
};
} // namespace westonrobot
// from user manual v1.2.8 P18
// max linear velocity: 1.5 m/s
// max angular velocity: 0.7853 rad/s
static constexpr double max_linear_speed = 1.5; // in m/s
static constexpr double max_angular_speed = 0.7853; // in rad/s
static constexpr double max_speed_cmd = 10.0; // in rad/s
};
} // namespace westonrobot
#endif /* SCOUT_PARAMS_HPP */