aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-04-20 03:41:17 -05:00
Code Issues Packages Projects Releases Wiki Activity

fix(core): align rover_platform parameter with launch file

Browse Source 
Launch file uses clucky, testbed, auto. Node was using core, testbed, auto. Replaced core with clucky in the node.
This commit is contained in:
David
2026-04-11 00:22:51 -05:00
parent 3dd80bbd29
commit 5e0946e8d7
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
src/core_pkg/core_pkg/core_node.py
View File

@@ -56,7 +56,7 @@ class CoreNode(Node):
56: 4, # really 3, but viccan 56: 4, # really 3, but viccan
58: 4, # ditto 58: 4, # ditto
} }
rover_platform: Literal["core", "testbed"] rover_platform: Literal["clucky", "testbed"]
def __init__(self): def __init__(self):
super().__init__("core_node") super().__init__("core_node")
@@ -79,11 +79,11 @@ class CoreNode(Node):
self.get_logger().info( self.get_logger().info(
"rover_platform parameter is unset, falling back to environment variable" "rover_platform parameter is unset, falling back to environment variable"
) )
rover_platform = getenv("ROVER_PLATFORM", "auto") rover_platform = getenv("ROVER_PLATFORM", "clucky")
if rover_platform not in ("core", "testbed"): # make sure we have a valid value if rover_platform not in ("clucky", "testbed"): # make sure we have a valid value
raise ValueError("rover platform must be either 'core' or 'testbed'.") raise ValueError("rover platform must be either 'clucky' or 'testbed'.")
else: else:
self.rover_platform = cast(Literal["core", "testbed"], rover_platform) self.rover_platform = cast(Literal["clucky", "testbed"], rover_platform)
if self.rover_platform == "testbed": if self.rover_platform == "testbed":
global TESTBED_WHEELBASE, TESTBED_WHEEL_RADIUS, TESTBED_GEAR_RATIO global TESTBED_WHEELBASE, TESTBED_WHEEL_RADIUS, TESTBED_GEAR_RATIO