yikestone/ros_arduino_bridge
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Added try-except around sensor params and added name argument for base controller

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This commit is contained in:
Patrick Goebel 2016-10-08 18:10:51 -07:00
parent dc6873ee08
commit 174878c7ab
2 changed files with 14 additions and 8 deletions
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19
ros_arduino_python/nodes/arduino_node.py
View File

@ -30,11 +30,14 @@ import thread
class ArduinoROS():
def __init__(self):
rospy.init_node('Arduino', log_level=rospy.DEBUG)
rospy.init_node('arduino', log_level=rospy.INFO)
# Get the actual node name in case it is set in the launch file
self.name = rospy.get_name()
# Cleanup when termniating the node
rospy.on_shutdown(self.shutdown)
self.port = rospy.get_param("~port", "/dev/ttyACM0")
self.baud = int(rospy.get_param("~baud", 57600))
self.timeout = rospy.get_param("~timeout", 0.5)
@ -127,13 +130,15 @@ class ArduinoROS():
# if params['type'] == "MaxEZ1":
# self.sensors[len(self.sensors)]['trigger_pin'] = params['trigger_pin']
# self.sensors[len(self.sensors)]['output_pin'] = params['output_pin']
self.mySensors.append(sensor)
rospy.loginfo(name + " " + str(params) + " published on topic " + rospy.get_name() + "/sensor/" + name)
try:
self.mySensors.append(sensor)
rospy.loginfo(name + " " + str(params) + " published on topic " + rospy.get_name() + "/sensor/" + name)
except:
rospy.logerr("Sensor type " + str(params['type']) + " not recognized.")
# Initialize the base controller if used
if self.use_base_controller:
self.myBaseController = BaseController(self.controller, self.base_frame)
self.myBaseController = BaseController(self.controller, self.base_frame, self.name + "_base_controller")
# Start polling the sensors and base controller
while not rospy.is_shutdown():

3
ros_arduino_python/src/ros_arduino_python/base_controller.py
View File

@ -31,8 +31,9 @@ from tf.broadcaster import TransformBroadcaster
""" Class to receive Twist commands and publish Odometry data """
class BaseController:
def __init__(self, arduino, base_frame):
def __init__(self, arduino, base_frame, name="base_controllers"):
self.arduino = arduino
self.name = name
self.base_frame = base_frame
self.rate = float(rospy.get_param("~base_controller_rate", 10))
self.timeout = rospy.get_param("~base_controller_timeout", 1.0)