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updated scout mini support

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This commit is contained in:
Ruixiang Du
2020-12-21 11:43:30 +08:00
parent 038df7b1bb
commit 5c695eccfc
2 changed files with 17 additions and 7 deletions
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2
scout_base/launch/scout_base.launch
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@@ -10,10 +10,12 @@
* UART: 115200, Parity None, 8-bit Data, 1 Stop Bit * UART: 115200, Parity None, 8-bit Data, 1 Stop Bit
--> -->
<arg name="port_name" default="can0" /> <arg name="port_name" default="can0" />
<arg name="is_scout_mini" default="false" />
<arg name="simulated_robot" default="false" /> <arg name="simulated_robot" default="false" />
<arg name="odom_topic_name" default="odom" /> <arg name="odom_topic_name" default="odom" />
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen"> <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
<param name="port_name" type="string" value="$(arg port_name)" /> <param name="port_name" type="string" value="$(arg port_name)" />
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" /> <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
<param name="odom_frame" type="string" value="odom" /> <param name="odom_frame" type="string" value="odom" />

22
scout_base/src/scout_base_node.cpp
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@@ -1,5 +1,7 @@
#include <nav_msgs/Odometry.h> #include <memory>
#include <ros/ros.h> #include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/JointState.h> #include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h> #include <tf/transform_broadcaster.h>
@@ -8,11 +10,11 @@
using namespace westonrobot; using namespace westonrobot;
ScoutBase robot; std::shared_ptr<ScoutBase> robot;
void DetachRobot(int signal) { void DetachRobot(int signal) {
robot.Disconnect(); robot->Disconnect();
robot.Terminate(); robot->Terminate();
} }
int main(int argc, char **argv) { int main(int argc, char **argv) {
@@ -22,8 +24,14 @@ int main(int argc, char **argv) {
std::signal(SIGINT, DetachRobot); std::signal(SIGINT, DetachRobot);
// check wether controlling scout mini
bool is_scout_mini = false;
private_node.param<bool>("is_scout_mini", is_scout_mini, false);
std::cout << "Working as scout mini: " << is_scout_mini << std::endl;
// instantiate a robot object // instantiate a robot object
ScoutROSMessenger messenger(&robot, &node); robot = std::make_shared<ScoutBase>(is_scout_mini);
ScoutROSMessenger messenger(robot.get(), &node);
// fetch parameters before connecting to robot // fetch parameters before connecting to robot
std::string port_name; std::string port_name;
@@ -41,10 +49,10 @@ int main(int argc, char **argv) {
if (!messenger.simulated_robot_) { if (!messenger.simulated_robot_) {
// connect to robot and setup ROS subscription // connect to robot and setup ROS subscription
if (port_name.find("can") != std::string::npos) { if (port_name.find("can") != std::string::npos) {
robot.Connect(port_name); robot->Connect(port_name);
ROS_INFO("Using CAN bus to talk with the robot"); ROS_INFO("Using CAN bus to talk with the robot");
} else { } else {
robot.Connect(port_name, 115200); robot->Connect(port_name, 115200);
ROS_INFO("Using UART to talk with the robot"); ROS_INFO("Using UART to talk with the robot");
} }
} }