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updated package structure and more fixes

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This commit is contained in:
Ruixiang Du
2019-10-07 23:14:29 +08:00
parent ccccce9d40
commit 829b6f8845
4459 changed files with 6640 additions and 518864 deletions
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18
scout_base/src/scout_base_node.cpp
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@@ -1,12 +1,11 @@
#include <string>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "scout/scout_base.hpp"
#include "scout_sdk/scout_base.hpp"
#include "scout_base/scout_messenger.hpp"
using namespace wescore;
@@ -15,30 +14,29 @@ int main(int argc, char **argv)
{
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node("scout_robot"), private_node("~");
ros::NodeHandle node(""), private_node("~");
// instantiate a robot
ScoutBase robot;
ScoutROSMessenger messenger(&robot, node);
ScoutROSMessenger messenger(&robot, &node);
std::string scout_can_port;
private_node.param<std::string>("port_name", scout_can_port, std::string("can1"));
private_node.param<std::string>("port_name", scout_can_port, 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_footprint"));
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 scout and setup ROS subscription
robot.ConnectCANBus(scout_can_port);
robot.StartCmdThread(10);
robot.Connect(scout_can_port);
messenger.SetupSubscription();
// publish robot state at 20Hz while listening to twist commands
ros::Rate rt(20); // 20Hz
ros::Rate rate_20hz(20); // 20Hz
while (true)
{
messenger.PublishStateToROS();
ros::spinOnce();
rt.sleep();
rate_20hz.sleep();
}
return 0;