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https://github.com/YikeStone/ros_arduino_bridge.git
synced 2025-08-03 19:24:09 +05:30
Fixed bug in arduino_node.py changing aggregate topic name from sensors to sensor_state
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@ -219,9 +219,9 @@ int runCommand() {
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#ifdef USE_BASE
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case READ_ENCODERS:
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Serial.print(readEncoder(0));
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Serial.print(readEncoder(LEFT));
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Serial.print(" ");
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Serial.println(readEncoder(1));
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Serial.println(readEncoder(RIGHT));
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break;
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case RESET_ENCODERS:
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resetEncoders();
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@ -1,11 +1,11 @@
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port: /dev/ttyACM0
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port: /dev/ttyUSB0
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baud: 57600
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timeout: 0.1
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rate: 50
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sensorstate_rate: 10
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use_base_controller: True
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use_base_controller: False
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base_controller_rate: 10
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# === Robot drivetrain parameters
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@ -30,9 +30,9 @@ base_controller_rate: 10
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# * PololuMotorCurrent
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sensors: {
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motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5},
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motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5},
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ir_front_center: {pin: 2, type: GP2D12, rate: 10},
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sonar_front_center: {pin: 5, type: Ping, rate: 10},
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arduino_led: {pin: 13, type: Digital, rate: 2, direction: output}
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#motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5},
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#motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5},
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#ir_front_center: {pin: 2, type: GP2D12, rate: 10},
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#sonar_front_center: {pin: 5, type: Ping, rate: 10},
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arduino_led: {pin: 13, type: Digital, rate: 5, direction: output}
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}
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@ -63,7 +63,7 @@ class ArduinoROS():
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# The SensorState publisher periodically publishes the values of all sensors on
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# a single topic.
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self.sensorStatePub = rospy.Publisher('~sensors', SensorState)
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self.sensorStatePub = rospy.Publisher('~sensor_state', SensorState)
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# A service to position a PWM servo
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rospy.Service('~servo_write', ServoWrite, self.ServoWriteHandler)
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