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added option to select odom navmsgs topic name

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This commit is contained in:
Tan Pin Da
2020-09-07 13:43:05 +08:00
parent 291f2baa08
commit 932b05cf72
4 changed files with 8 additions and 3 deletions
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1
scout_base/include/scout_base/scout_messenger.hpp
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@@ -30,6 +30,7 @@ public:
std::string odom_frame_; std::string odom_frame_;
std::string base_frame_; std::string base_frame_;
std::string odom_topic_name_;
bool simulated_robot_ = false; bool simulated_robot_ = false;
int sim_control_rate_ = 50; int sim_control_rate_ = 50;

4
scout_base/launch/scout_base.launch
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@@ -11,7 +11,8 @@
--> -->
<arg name="port_name" default="can0" /> <arg name="port_name" default="can0" />
<arg name="simulated_robot" default="false" /> <arg name="simulated_robot" default="false" />
<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />> <arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
<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="port_name" type="string" value="$(arg port_name)" /> <param name="port_name" type="string" value="$(arg port_name)" />
@@ -19,6 +20,7 @@
<param name="odom_frame" type="string" value="odom" /> <param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_link" /> <param name="base_frame" type="string" value="base_link" />
<param name = "odom_topic_name" type="string" value="$(arg odom_topic_name)" />
</node> </node>
<param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/> <param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>

2
scout_base/src/scout_base_node.cpp
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@@ -27,6 +27,8 @@ int main(int argc, char **argv) {
private_node.param<bool>("simulated_robot", messenger.simulated_robot_, private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
false); false);
private_node.param<int>("control_rate", messenger.sim_control_rate_, 50); private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
private_node.param<std::string>("odom_topic_name", messenger.odom_topic_name_,
std::string("odom"));
if (!messenger.simulated_robot_) { if (!messenger.simulated_robot_) {
// connect to robot and setup ROS subscription // connect to robot and setup ROS subscription

4
scout_base/src/scout_messenger.cpp
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@@ -24,7 +24,7 @@ ScoutROSMessenger::ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle *nh)
void ScoutROSMessenger::SetupSubscription() { void ScoutROSMessenger::SetupSubscription() {
// odometry publisher // odometry publisher
odom_publisher_ = nh_->advertise<nav_msgs::Odometry>(odom_frame_, 50); odom_publisher_ = nh_->advertise<nav_msgs::Odometry>(odom_topic_name_, 50);
status_publisher_ = status_publisher_ =
nh_->advertise<scout_msgs::ScoutStatus>("/scout_status", 10); nh_->advertise<scout_msgs::ScoutStatus>("/scout_status", 10);
@@ -239,7 +239,7 @@ void ScoutROSMessenger::PublishOdometryToROS(double linear, double angular,
// publish odometry and tf messages // publish odometry and tf messages
nav_msgs::Odometry odom_msg; nav_msgs::Odometry odom_msg;
odom_msg.header.stamp = current_time_; odom_msg.header.stamp = current_time_;
odom_msg.header.frame_id = odom_frame_; odom_msg.header.frame_id = "testes";
odom_msg.child_frame_id = base_frame_; odom_msg.child_frame_id = base_frame_;
odom_msg.pose.pose.position.x = position_x_; odom_msg.pose.pose.position.x = position_x_;