fixed state publish rate error (from 20hz to 50hz), gazebo scout v2 sim ready

scout_base/CMakeLists.txt

@@ -51,6 +51,10 @@ set_property(TARGET scout_messenger PROPERTY POSITION_INDEPENDENT_CODE ON)
 add_executable(scout_base_node src/scout_base_node.cpp)
 target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
 
+add_executable(scout_base_sim_node src/scout_base_sim_node.cpp)
+target_link_libraries(scout_base_sim_node scout_messenger ${catkin_LIBRARIES})
+
+
 #############
 ## Install ##
 #############

scout_base/launch/scout_base_sim.launch

@@ -0,0 +1,22 @@
+<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_sim_node" pkg="scout_base" type="scout_base_sim_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/src/scout_base_node.cpp

@@ -40,13 +40,13 @@ int main(int argc, char **argv)
     }
     messenger.SetupSubscription();
 
-    // publish robot state at 20Hz while listening to twist commands
-    ros::Rate rate_20hz(20); // 20Hz
+    // publish robot state at 50Hz while listening to twist commands
+    ros::Rate rate_50hz(50); // 50Hz
     while (true)
     {
         messenger.PublishStateToROS();
         ros::spinOnce();
-        rate_20hz.sleep();
+        rate_50hz.sleep();
     }
 
     return 0;

scout_base/src/scout_base_sim_node.cpp

@@ -0,0 +1,47 @@
+#include <string>
+
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+#include <tf/transform_broadcaster.h>
+#include <nav_msgs/Odometry.h>
+
+#include "scout_sdk/scout_base.hpp"
+#include "scout_base/scout_messenger.hpp"
+
+using namespace wescore;
+
+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);
+
+    // 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_, true);
+    private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
+
+    // no connection for simulated robot
+    // setup ROS subscription
+    messenger.SetupSubscription();
+
+    // publish robot state at 50Hz while listening to twist commands
+    double linear, angular;
+    ros::Rate rate_50hz(50); // 50Hz
+    while (true)
+    {
+        messenger.GetCurrentMotionCmdForSim(linear, angular);
+        messenger.PublishSimStateToROS(linear, angular);
+        ros::spinOnce();
+        rate_50hz.sleep();
+    }
+
+    return 0;
+}