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Fixed bug in arduino_node.py changing aggregate topic name from sensors to sensor_state

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This commit is contained in:
Patrick Goebel 2012-12-21 18:07:11 -08:00
parent a1a87116f5
commit ad01b6ad55
3 changed files with 10 additions and 10 deletions
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4
ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/MegaRobogaiaPololu.ino
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@ -219,9 +219,9 @@ int runCommand() {
#ifdef USE_BASE #ifdef USE_BASE
case READ_ENCODERS: case READ_ENCODERS:
Serial.print(readEncoder(0)); Serial.print(readEncoder(LEFT));
Serial.print(" "); Serial.print(" ");
Serial.println(readEncoder(1)); Serial.println(readEncoder(RIGHT));
break; break;
case RESET_ENCODERS: case RESET_ENCODERS:
resetEncoders(); resetEncoders();

14
ros_arduino_python/config/arduino_params.yaml
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@ -1,11 +1,11 @@
port: /dev/ttyACM0 port: /dev/ttyUSB0
baud: 57600 baud: 57600
timeout: 0.1 timeout: 0.1
rate: 50 rate: 50
sensorstate_rate: 10 sensorstate_rate: 10
use_base_controller: True use_base_controller: False
base_controller_rate: 10 base_controller_rate: 10
# === Robot drivetrain parameters # === Robot drivetrain parameters
@ -30,9 +30,9 @@ base_controller_rate: 10
# * PololuMotorCurrent # * PololuMotorCurrent
sensors: { sensors: {
motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5}, #motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5},
motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5}, #motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5},
ir_front_center: {pin: 2, type: GP2D12, rate: 10}, #ir_front_center: {pin: 2, type: GP2D12, rate: 10},
sonar_front_center: {pin: 5, type: Ping, rate: 10}, #sonar_front_center: {pin: 5, type: Ping, rate: 10},
arduino_led: {pin: 13, type: Digital, rate: 2, direction: output} arduino_led: {pin: 13, type: Digital, rate: 5, direction: output}
} }

2
ros_arduino_python/nodes/arduino_node.py
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@ -63,7 +63,7 @@ class ArduinoROS():
# The SensorState publisher periodically publishes the values of all sensors on # The SensorState publisher periodically publishes the values of all sensors on
# a single topic. # a single topic.
self.sensorStatePub = rospy.Publisher('~sensors', SensorState) self.sensorStatePub = rospy.Publisher('~sensor_state', SensorState)
# A service to position a PWM servo # A service to position a PWM servo
rospy.Service('~servo_write', ServoWrite, self.ServoWriteHandler) rospy.Service('~servo_write', ServoWrite, self.ServoWriteHandler)