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updated launch files and readme

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This commit is contained in:
Ruixiang Du
2019-10-10 11:13:11 +08:00
parent fff2e3f73b
commit ef72005125
11 changed files with 130 additions and 54 deletions
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20
scout_base/src/scout_base_node.cpp
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@@ -16,18 +16,28 @@ int main(int argc, char **argv)
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~");
// instantiate a robot
// instantiate a robot object
ScoutBase robot;
ScoutROSMessenger messenger(&robot, &node);
std::string scout_can_port;
private_node.param<std::string>("port_name", scout_can_port, std::string("can0"));
// 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);
// connect to scout and setup ROS subscription
robot.Connect(scout_can_port);
// 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");
}
else
{
robot.Connect(port_name, 115200);
ROS_INFO("Using UART to talk with the robot");
}
messenger.SetupSubscription();
// publish robot state at 20Hz while listening to twist commands