adapted to ilon_car_ctrl

.gitignore

 *.pyc
+.vscode/

nodes/mecanum_drive_controller

@@ -3,22 +3,23 @@ from __future__ import division
 
 import rospy
 from geometry_msgs.msg import Twist
-from std_msgs.msg import Int16MultiArray
+from ilon_wheel_ctrl.msg import WheelRates
 
 from mecanum_drive import controller
 
 class ControllerNode:
+    ZERO_RATES = WheelRates(frontLeft=0, frontRight=0, backLeft=0, backRight=0)
 
     def __init__(self):
         self.controller = controller.Controller()
         self.linearXVelocity = 0.0
         self.linearYVelocity = 0.0
         self.angularVelocity = 0.0
-        self.wheels_to_send = Int16MultiArray()
+        self.wheels_to_send = WheelRates()
 
     def main(self):                                        
         self.wheelPub = rospy.Publisher('wheels_desired_rate',
-                                        Int16MultiArray, queue_size=1)
+                                        WheelRates, queue_size=1)
                                         
         rospy.init_node('mecanum_drive_controller')
         self.nodeName = rospy.get_name()
@@ -49,11 +50,14 @@ class ControllerNode:
             speeds = self.controller.getSpeeds(self.linearXVelocity,self.linearYVelocity,
                                                self.angularVelocity)
 
-            self.wheels_to_send.data = [int(speeds.frontLeft), int(speeds.frontRight), int(speeds.rearLeft), int(speeds.rearRight)]
+            self.wheels_to_send.frontLeft = int(speeds.frontLeft)
+            self.wheels_to_send.frontRight = int(speeds.frontRight)
+            self.wheels_to_send.backLeft = int(speeds.rearLeft)
+            self.wheels_to_send.backRight = int(speeds.rearRight)
+
             self.wheelPub.publish(self.wheels_to_send)
         else:
-            self.wheels_to_send.data = [0, 0, 0, 0]
-            self.wheelPub.publish(self.wheels_to_send)
+            self.wheelPub.publish(self.ZERO_RATES)
 
     def twistCallback(self, twist):
         self.linearXVelocity = twist.linear.x

package.xml

@@ -17,6 +17,8 @@
   <depend>geometry_msgs</depend>
   <depend>actionlib_msgs</depend>
   <build_depend>rostest</build_depend>
+  <build_depend>ilon_wheel_cmd</build_depend>
   <depend>message_generation</depend>
+  <exec_depend>ilon_wheel_cmd</exec_depend>
   
 </package>