Skip to content

Fixed swiftpro code and launch files to be more ROS-like and not hard… #17

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
jetdillo wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Fixed swiftpro code and launch files to be more ROS-like and not hard… #17

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 9 additions & 4 deletions swiftpro/launch/pro_control.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,15 @@
<launch>
<param name="robot_description" command="cat $(find swiftpro)/urdf/pro_model.xacro" />
<param name="robot_description" command="cat $(find propro)/urdf/pro_model.xacro" />
<param name="use_gui" value= "False" />
<param name="port" value="/dev/ttyUSB0" />

<node name="swiftpro_write_node" pkg="swiftpro" type="swiftpro_write_node"/>
<node name="swiftpro_moveit_node" pkg="swiftpro" type="swiftpro_moveit_node"/>
<node name="swiftpro_rviz_node" pkg="swiftpro" type="swiftpro_rviz_node"/>
<node name="swiftpro_rviz_node" pkg="swiftpro" type="swiftpro_rviz_node" />
<node name="swiftpro_read_node"
pkg="swiftpro"
type="swiftpro_read_node">
args="$(port)"
</node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" />
</launch>
9 changes: 7 additions & 2 deletions swiftpro/launch/pro_display.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,9 +1,14 @@
<launch>
<param name="robot_description" command="cat $(find swiftpro)/urdf/pro_model.xacro" />
<param name="robot_description" command="cat $(find propro)/urdf/pro_model.xacro" />
<param name="use_gui" value= "False" />
<param name="port" value="/dev/ttyUSB0" />

<node name="swiftpro_rviz_node" pkg="swiftpro" type="swiftpro_rviz_node" />
<node name="swiftpro_read_node" pkg="swiftpro" type="swiftpro_read_node" />
<node name="swiftpro_read_node"
pkg="swiftpro"
type="swiftpro_read_node">
args="$(port)"
</node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" />
Expand Down
9 changes: 8 additions & 1 deletion swiftpro/launch/swift_control.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,15 @@
<launch>
<arg name="port" default="/dev/ttyUSB0" />
<param name="robot_description" command="cat $(find swiftpro)/urdf/swift_model.xacro" />
<param name="use_gui" value= "False" />

<node name="swiftpro_write_node" pkg="swiftpro" type="swiftpro_write_node" />
<node
name="swiftpro_write_node"
pkg="swiftpro"
type="swiftpro_write_node">
args="$(port)"
</node>

<node name="swiftpro_moveit_node" pkg="swiftpro" type="swiftpro_moveit_node" />
<node name="swiftpro_rviz_node" pkg="swiftpro" type="swiftpro_rviz_node" />

Expand Down
7 changes: 6 additions & 1 deletion swiftpro/launch/swift_display.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,9 +1,14 @@
<launch>
<param name="robot_description" command="cat $(find swiftpro)/urdf/swift_model.xacro" />
<param name="use_gui" value= "False" />
<param name="port" value="/dev/ttyUSB0" />

<node name="swiftpro_rviz_node" pkg="swiftpro" type="swiftpro_rviz_node" />
<node name="swiftpro_read_node" pkg="swiftpro" type="swiftpro_read_node" />
<node name="swiftpro_read_node"
pkg="swiftpro"
type="swiftpro_read_node">
args="$(port)"
</node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" />
Expand Down
13 changes: 11 additions & 2 deletions swiftpro/src/swiftpro_read_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,16 +67,25 @@ void handlechar(char c)
int main(int argc, char** argv)
{
ros::init(argc, argv, "swiftpro_read_node");
ros::NodeHandle nh;
ros::NodeHandle nh("~");
swiftpro::SwiftproState swiftpro_state;
std_msgs::String result;

std::string param;
std::string serport;

ros::Publisher pub = nh.advertise<swiftpro::SwiftproState>("SwiftproState_topic", 1);
ros::Rate loop_rate(20);

if (nh.getParam("port",param)) {
serport.assign(param.c_str());
} else {
serport="/dev/ttyUSB0";
}

try
{
_serial.setPort("/dev/ttyACM0");
_serial.setPort(serport);
_serial.setBaudrate(115200);
serial::Timeout to = serial::Timeout::simpleTimeout(1000);
_serial.setTimeout(to);
Expand Down
15 changes: 13 additions & 2 deletions swiftpro/src/swiftpro_write_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,11 @@ void pump_callback(const swiftpro::status& msg)
int main(int argc, char** argv)
{
ros::init(argc, argv, "swiftpro_write_node");
ros::NodeHandle nh;
ros::NodeHandle nh("~");

std::string param;
std::string serport;

swiftpro::SwiftproState swiftpro_state;

ros::Subscriber sub1 = nh.subscribe("position_write_topic", 1, position_write_callback);
Expand All @@ -172,9 +176,16 @@ int main(int argc, char** argv)
ros::Publisher pub = nh.advertise<swiftpro::SwiftproState>("SwiftproState_topic", 1);
ros::Rate loop_rate(20);

ROS_INFO("Got parameter: %s", param.c_str());
if (nh.getParam("port",param)) {
serport.assign(param.c_str());
} else {
serport="/dev/ttyUSB0";
}

try
{
_serial.setPort("/dev/ttyACM0");
_serial.setPort(serport);
_serial.setBaudrate(115200);
serial::Timeout to = serial::Timeout::simpleTimeout(1000);
_serial.setTimeout(to);
Expand Down