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updated scout description, still working on scout gazebo sim control

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Ruixiang Du
2020-03-25 23:46:23 +08:00
parent 9c26ce9c34
commit 38510eb257
17 changed files with 3900 additions and 43 deletions
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14
scout_gazebo_sim/src/scout_skid_steer.cpp Normal file
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/*
* scout_skid_steer.cpp
*
* Created on: Mar 25, 2020 22:54
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "scout_gazebo/scout_skid_steer.hpp"
namespace wescore {
}

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scout_gazebo_sim/src/scout_skid_steer_controller.cpp Normal file
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#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "scout_gazebo/scout_skid_steer.hpp"
using namespace wescore;
int main(int argc, char **argv)
{
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~");
// // instantiate a robot object
// ScoutBase robot;
// ScoutROSMessenger messenger(&robot, &node);
// // fetch parameters before connecting to robot
// std::string port_name;
// private_node.param<std::string>("port_name", port_name, std::string("can0"));
// private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
// private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
// private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);
// // connect to robot and setup ROS subscription
// if (port_name.find("can") != std::string::npos)
// {
// robot.Connect(port_name);
// ROS_INFO("Using CAN bus to talk with the robot");
// }
// else
// {
// robot.Connect(port_name, 115200);
// ROS_INFO("Using UART to talk with the robot");
// }
// messenger.SetupSubscription();
// // publish robot state at 20Hz while listening to twist commands
// ros::Rate rate_20hz(20); // 20Hz
// while (true)
// {
// messenger.PublishStateToROS();
// ros::spinOnce();
// rate_20hz.sleep();
// }
return 0;
}