yikestone/ros_arduino_bridge
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Commented out follow_controller code since it is not yet ready

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This commit is contained in:
Patrick Goebel 2016-03-20 18:31:00 -07:00
parent 63a3296007
commit cc5fa475b3
1 changed files with 9 additions and 3 deletions
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12
ros_arduino_python/nodes/arduino_node.py
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@ -25,14 +25,14 @@ from ros_arduino_python.arduino_sensors import *
from ros_arduino_msgs.srv import *
from ros_arduino_python.base_controller import BaseController
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 geometry_msgs.msg import Twist
import os, time
import thread
from math import radians
controller_types = { "follow_controller" : FollowController }
#controller_types = { "follow_controller" : FollowController }
class ArduinoROS():
def __init__(self):
@ -167,7 +167,13 @@ class ArduinoROS():
# Configure each servo
for name, params in joint_params.iteritems():
self.device.joints[name] = Servo(self.device, name)
try:
if params['continuous'] == True:
self.device.joints[name] = ContinuousServo(self.device, name)
else:
self.device.joints[name] = Servo(self.device, name)
except:
self.device.joints[name] = Servo(self.device, name)
# Display the joint setup on the terminal
rospy.loginfo(name + " " + str(params))