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resovled conflicts

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Ruixiang Du
2020-08-21 16:50:53 +08:00
parent 9dfc9af81c 61824fb4c8
commit dc3654ed8e
82 changed files with 8838 additions and 130 deletions
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75
scout_base/src/scout_base_node.cpp
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@@ -1,53 +1,58 @@
#include <string>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "wrp_sdk/platforms/scout/scout_base.hpp"
#include "scout_base/scout_messenger.hpp"
using namespace westonrobot;
int main(int argc, char **argv)
{
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~");
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);
// 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);
// 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);
private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
if (!messenger.simulated_robot_) {
// 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");
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");
}
else
{
robot.Connect(port_name, 115200);
ROS_INFO("Using UART to talk with the robot");
}
messenger.SetupSubscription();
}
messenger.SetupSubscription();
// publish robot state at 50Hz while listening to twist commands
ros::Rate rate_50hz(50); // 50Hz
while (true)
{
messenger.PublishStateToROS();
ros::spinOnce();
rate_50hz.sleep();
// publish robot state at 50Hz while listening to twist commands
ros::Rate rate(50);
while (true) {
if (!messenger.simulated_robot_) {
messenger.PublishStateToROS();
} else {
double linear, angular;
messenger.GetCurrentMotionCmdForSim(linear, angular);
messenger.PublishSimStateToROS(linear, angular);
}
ros::spinOnce();
rate.sleep();
}
return 0;
return 0;
}