From 86baf6b729485a544cc9e928048193c5db9071dc Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Wed, 8 Sep 2021 18:49:40 +0200
Subject: [PATCH] adapted to ilon_car_ctrl
---
.gitignore | 1 +
nodes/mecanum_drive_controller | 16 ++++++++++------
package.xml | 2 ++
3 files changed, 13 insertions(+), 6 deletions(-)
diff --git a/.gitignore b/.gitignore
index 0d20b64..f4f1641 100755
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
*.pyc
+.vscode/
diff --git a/nodes/mecanum_drive_controller b/nodes/mecanum_drive_controller
index 9ff7d57..baec0a7 100755
--- a/nodes/mecanum_drive_controller
+++ b/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
diff --git a/package.xml b/package.xml
index eb225cf..4f0467a 100755
--- a/package.xml
+++ b/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>
--
GitLab