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feat: add joint_state pub to Core for wheel position and velocity

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David
2025-10-13 21:50:09 -05:00
parent 6bbb5d8706
commit 366f1e0c58
1 changed files with 13 additions and 2 deletions
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15
src/core_pkg/core_pkg/core_node.py
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@@ -14,10 +14,10 @@ import sys
import threading import threading
import glob import glob
from scipy.spatial.transform import Rotation from scipy.spatial.transform import Rotation
from math import copysign from math import copysign, pi
from std_msgs.msg import String, Header from std_msgs.msg import String, Header
from sensor_msgs.msg import Imu, NavSatFix, NavSatStatus from sensor_msgs.msg import Imu, NavSatFix, NavSatStatus, JointState
from geometry_msgs.msg import TwistStamped, Twist from geometry_msgs.msg import TwistStamped, Twist
from ros2_interfaces_pkg.msg import CoreControl, CoreFeedback from ros2_interfaces_pkg.msg import CoreControl, CoreFeedback
from ros2_interfaces_pkg.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState from ros2_interfaces_pkg.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState
@@ -84,6 +84,8 @@ class SerialRelay(Node):
self.feedback_new_state.fr_motor.id = 3 self.feedback_new_state.fr_motor.id = 3
self.feedback_new_state.br_motor.id = 4 self.feedback_new_state.br_motor.id = 4
self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback) # TODO: not sure about this self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback) # TODO: not sure about this
# Joint states for topic-based controller
self.joint_state_pub_ = self.create_publisher(JointState, '/core/joint_states', 2)
# IMU (embedded BNO-055) # IMU (embedded BNO-055)
self.imu_pub_ = self.create_publisher(Imu, '/core/imu', 10) self.imu_pub_ = self.create_publisher(Imu, '/core/imu', 10)
self.imu_state = Imu() self.imu_state = Imu()
@@ -433,22 +435,31 @@ class SerialRelay(Node):
motorId = round(float(msg.data[0])) motorId = round(float(msg.data[0]))
position = float(msg.data[1]) position = float(msg.data[1])
velocity = float(msg.data[2]) velocity = float(msg.data[2])
joint_state_msg = JointState() # TODO: not sure if all motors should be in each message or not
joint_state_msg.position = [position * (2 * pi)] # revolutions to radians
joint_state_msg.velocity = [velocity * (2 * pi / 60.0)] # RPM to rad/s
if motorId == 1: if motorId == 1:
self.feedback_new_state.fl_motor.position = position self.feedback_new_state.fl_motor.position = position
self.feedback_new_state.fl_motor.velocity = velocity self.feedback_new_state.fl_motor.velocity = velocity
self.feedback_new_state.fl_motor.header.stamp = msg.header.stamp self.feedback_new_state.fl_motor.header.stamp = msg.header.stamp
joint_state_msg.name = ["fl_motor_joint"]
elif motorId == 2: elif motorId == 2:
self.feedback_new_state.bl_motor.position = position self.feedback_new_state.bl_motor.position = position
self.feedback_new_state.bl_motor.velocity = velocity self.feedback_new_state.bl_motor.velocity = velocity
self.feedback_new_state.bl_motor.header.stamp = msg.header.stamp self.feedback_new_state.bl_motor.header.stamp = msg.header.stamp
joint_state_msg.name = ["bl_motor_joint"]
elif motorId == 3: elif motorId == 3:
self.feedback_new_state.fr_motor.position = position self.feedback_new_state.fr_motor.position = position
self.feedback_new_state.fr_motor.velocity = velocity self.feedback_new_state.fr_motor.velocity = velocity
self.feedback_new_state.fr_motor.header.stamp = msg.header.stamp self.feedback_new_state.fr_motor.header.stamp = msg.header.stamp
joint_state_msg.name = ["fr_motor_joint"]
elif motorId == 4: elif motorId == 4:
self.feedback_new_state.br_motor.position = position self.feedback_new_state.br_motor.position = position
self.feedback_new_state.br_motor.velocity = velocity self.feedback_new_state.br_motor.velocity = velocity
self.feedback_new_state.br_motor.header.stamp = msg.header.stamp self.feedback_new_state.br_motor.header.stamp = msg.header.stamp
joint_state_msg.name = ["br_motor_joint"]
joint_state_msg.header.stamp = msg.header.stamp
self.joint_state_pub_.publish(joint_state_msg)
else: else:
return return