From ad01b6ad551e9a3a9d11639e427f74df01770db9 Mon Sep 17 00:00:00 2001 From: Patrick Goebel Date: Fri, 21 Dec 2012 18:07:11 -0800 Subject: [PATCH] Fixed bug in arduino_node.py changing aggregate topic name from sensors to sensor_state --- .../MegaRobogaiaPololu/MegaRobogaiaPololu.ino | 4 ++-- ros_arduino_python/config/arduino_params.yaml | 14 +++++++------- ros_arduino_python/nodes/arduino_node.py | 2 +- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/MegaRobogaiaPololu.ino b/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/MegaRobogaiaPololu.ino index 2c165d1..ccbae63 100644 --- a/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/MegaRobogaiaPololu.ino +++ b/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/MegaRobogaiaPololu.ino @@ -219,9 +219,9 @@ int runCommand() { #ifdef USE_BASE case READ_ENCODERS: - Serial.print(readEncoder(0)); + Serial.print(readEncoder(LEFT)); Serial.print(" "); - Serial.println(readEncoder(1)); + Serial.println(readEncoder(RIGHT)); break; case RESET_ENCODERS: resetEncoders(); diff --git a/ros_arduino_python/config/arduino_params.yaml b/ros_arduino_python/config/arduino_params.yaml index 7f22bfb..9843bf3 100644 --- a/ros_arduino_python/config/arduino_params.yaml +++ b/ros_arduino_python/config/arduino_params.yaml @@ -1,11 +1,11 @@ -port: /dev/ttyACM0 +port: /dev/ttyUSB0 baud: 57600 timeout: 0.1 rate: 50 sensorstate_rate: 10 -use_base_controller: True +use_base_controller: False base_controller_rate: 10 # === Robot drivetrain parameters @@ -30,9 +30,9 @@ base_controller_rate: 10 # * PololuMotorCurrent sensors: { - motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5}, - motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5}, - ir_front_center: {pin: 2, type: GP2D12, rate: 10}, - sonar_front_center: {pin: 5, type: Ping, rate: 10}, - arduino_led: {pin: 13, type: Digital, rate: 2, direction: output} + #motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5}, + #motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5}, + #ir_front_center: {pin: 2, type: GP2D12, rate: 10}, + #sonar_front_center: {pin: 5, type: Ping, rate: 10}, + arduino_led: {pin: 13, type: Digital, rate: 5, direction: output} } diff --git a/ros_arduino_python/nodes/arduino_node.py b/ros_arduino_python/nodes/arduino_node.py index 4b2fb44..4a24161 100755 --- a/ros_arduino_python/nodes/arduino_node.py +++ b/ros_arduino_python/nodes/arduino_node.py @@ -63,7 +63,7 @@ class ArduinoROS(): # The SensorState publisher periodically publishes the values of all sensors on # a single topic. - self.sensorStatePub = rospy.Publisher('~sensors', SensorState) + self.sensorStatePub = rospy.Publisher('~sensor_state', SensorState) # A service to position a PWM servo rospy.Service('~servo_write', ServoWrite, self.ServoWriteHandler)