yikestone/ros_arduino_bridge
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Tweaked namespace for dynamic reconfigure and base controller to allow for more than one Arduino simultaneously

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This commit is contained in:
Patrick Goebel 2016-10-06 06:35:26 -07:00
parent 44137ce34c
commit aa8ba65e1d
1 changed files with 12 additions and 11 deletions
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19
ros_arduino_python/nodes/arduino_node.py
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@ -29,7 +29,7 @@ from ros_arduino_python.base_controller import BaseController
from ros_arduino_python.servo_controller import Servo, ServoController from ros_arduino_python.servo_controller import Servo, ServoController
from ros_arduino_python.follow_controller import FollowController from ros_arduino_python.follow_controller import FollowController
from ros_arduino_python.joint_state_publisher import JointStatePublisher from ros_arduino_python.joint_state_publisher import JointStatePublisher
from dynamic_reconfigure.server import Server import dynamic_reconfigure.server
import dynamic_reconfigure.client import dynamic_reconfigure.client
from geometry_msgs.msg import Twist from geometry_msgs.msg import Twist
from std_srvs.srv import Empty, EmptyResponse from std_srvs.srv import Empty, EmptyResponse
@ -41,8 +41,10 @@ controller_types = { "follow_controller" : FollowController }
class ArduinoROS(): class ArduinoROS():
def __init__(self): def __init__(self):
self.name = 'arduino' rospy.init_node('arduino', log_level=rospy.INFO)
rospy.init_node(self.name, log_level=rospy.INFO)
# Find the actual node name in case it is set in the launch file
self.name = rospy.get_name()
# Cleanup when termniating the node # Cleanup when termniating the node
rospy.on_shutdown(self.shutdown) rospy.on_shutdown(self.shutdown)
@ -129,11 +131,10 @@ class ArduinoROS():
else: else:
rospy.logerr("No serial connection found.") rospy.logerr("No serial connection found.")
os._exit(0) os._exit(0)
#rospy.signal_shutdown("No serial connection found.")
# Initialize the base controller if used # Initialize the base controller if used
if self.use_base_controller: if self.use_base_controller:
self.base_controller = BaseController(self.device, self.base_frame) self.base_controller = BaseController(self.device, self.base_frame, self.name + "_base_controller")
# A service to reset the odometry values to 0 # A service to reset the odometry values to 0
rospy.Service('~reset_odometry', Empty, self.ResetOdometryHandler) rospy.Service('~reset_odometry', Empty, self.ResetOdometryHandler)
@ -141,11 +142,11 @@ class ArduinoROS():
# A service to update the PID parameters Kp, Kd, Ki, and Ko # A service to update the PID parameters Kp, Kd, Ki, and Ko
rospy.Service('~update_pid', UpdatePID, self.UpdatePIDHandler) rospy.Service('~update_pid', UpdatePID, self.UpdatePIDHandler)
# Fire up the dynamic_reconfigure server # Fire up the dynamic_reconfigure server
dyn_server = Server(ROSArduinoBridgeConfig, self.dynamic_reconfigure_server_callback) dyn_server = dynamic_reconfigure.server.Server(ROSArduinoBridgeConfig, self.dynamic_reconfigure_server_callback, namespace=self.name)
# Connect to the dynamic_reconfigure client # Connect to the dynamic_reconfigure client
dyn_client = dynamic_reconfigure.client.Client("arduino", timeout=5) dyn_client = dynamic_reconfigure.client.Client(self.name, timeout=5)
# Reserve a thread lock # Reserve a thread lock
mutex = thread.allocate_lock() mutex = thread.allocate_lock()