Merge branch 'PD_dev' into 'master'

Pd dev

See merge request westonrobot/ros/scout_base!3

scout_base/include/scout_base/scout_messenger.hpp

@@ -30,6 +30,7 @@ public:
 
     std::string odom_frame_;
     std::string base_frame_;
+    std::string odom_topic_name_;
 
     bool simulated_robot_ = false;
     int sim_control_rate_ = 50;

scout_base/launch/scout_base.launch

@@ -12,11 +12,15 @@
     <arg name="port_name" default="can0" />
     <arg name="simulated_robot" default="false" />
 
+    <arg name ="odom_topic_name" default = "odom"/>
+
     <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
         <param name="port_name" type="string" value="$(arg port_name)" />
         <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
 
         <param name="odom_frame" type="string" value="odom" />
         <param name="base_frame" type="string" value="base_link" />
+        <param name = "odom_topic_name" type="string" value="$(arg odom_topic_name)" />
     </node>
+
 </launch>

scout_base/launch/scout_base_sim.launch

@@ -1,22 +0,0 @@
-<launch>
-    <!-- 
-        The robot can be controlled either through CAN bus or UART port. Make sure the hardware
-        interface is set up correctly before attempting to connect to the robot.
-        
-        You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should 
-        operate with the following configuration:
-        
-        * CAN bus: 500k
-        * UART: 115200, Parity None, 8-bit Data, 1 Stop Bit 
-    -->
-    <arg name="simulated_robot" default="true" />
-    <arg name="control_rate" default="50" />
-
-    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
-        <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
-        <param name="control_rate" type="int" value="$(arg control_rate)" />
-
-        <param name="odom_frame" type="string" value="odom" />
-        <param name="base_frame" type="string" value="base_link" />
-    </node>
-</launch>

scout_base/launch/view_scout_model.launch

@@ -1,6 +0,0 @@
-<launch>
-    <param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
-    <node name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find scout_viz)/rviz/scout_model.rviz" />
-</launch>

scout_base/src/scout_base_node.cpp

@@ -27,6 +27,8 @@ int main(int argc, char **argv) {
   private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
                            false);
   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_) {
     // connect to robot and setup ROS subscription

scout_base/src/scout_messenger.cpp

@@ -13,16 +13,18 @@
 
 #include "scout_msgs/ScoutStatus.h"
 
+
 namespace westonrobot {
 ScoutROSMessenger::ScoutROSMessenger(ros::NodeHandle *nh)
     : scout_(nullptr), nh_(nh) {}
 
+
 ScoutROSMessenger::ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle *nh)
     : scout_(scout), nh_(nh) {}
 
 void ScoutROSMessenger::SetupSubscription() {
   // 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_ =
       nh_->advertise<scout_msgs::ScoutStatus>("/scout_status", 10);
 
@@ -106,6 +108,7 @@ void ScoutROSMessenger::LightCmdCallback(
   }
 }
 
+
 void ScoutROSMessenger::PublishStateToROS() {
   current_time_ = ros::Time::now();
   double dt = (current_time_ - last_time_).toSec();
@@ -145,7 +148,6 @@ void ScoutROSMessenger::PublishStateToROS() {
   status_msg.rear_light_state.mode = state.rear_light_state.mode;
   status_msg.rear_light_state.custom_value =
       state.front_light_state.custom_value;
-
   status_publisher_.publish(status_msg);
 
   // publish odometry and tf
@@ -166,6 +168,7 @@ void ScoutROSMessenger::PublishSimStateToROS(double linear, double angular) {
     init_run = false;
     return;
   }
+  
 
   // publish scout state message
   scout_msgs::ScoutStatus status_msg;
@@ -236,7 +239,7 @@ void ScoutROSMessenger::PublishOdometryToROS(double linear, double angular,
   // publish odometry and tf messages
   nav_msgs::Odometry odom_msg;
   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.pose.pose.position.x = position_x_;