aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-02-11 09:20:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

feat: update for new faerie arm

Browse Source
This commit is contained in:
David
2025-05-23 05:46:19 +00:00
parent 4a9a0bfb0d
commit ff68d53e24
3 changed files with 20 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/anchor_pkg/anchor_pkg/anchor_node.py
View File

@@ -90,9 +90,9 @@ class SerialRelay(Node):
msg.data = output msg.data = output
if output.startswith("can_relay_fromvic,core"): if output.startswith("can_relay_fromvic,core"):
self.core_pub.publish(msg) self.core_pub.publish(msg)
elif output.startswith("can_relay_fromvic,arm"): elif output.startswith("can_relay_fromvic,arm") or output.startswith("can_relay_fromvic,digit"): # digit for voltage readings
self.arm_pub.publish(msg) self.arm_pub.publish(msg)
elif output.startswith("can_relay_fromvic,bio"): elif output.startswith("can_relay_fromvic,citadel") or output.startswith("can_relay_fromvic,digit"): # digit for SHT sensor
self.bio_pub.publish(msg) self.bio_pub.publish(msg)
# msg = String() # msg = String()
# msg.data = output # msg.data = output
@@ -135,16 +135,16 @@ def myexcepthook(type, value, tb):
print("Uncaught exception:", type, value) print("Uncaught exception:", type, value)
if serial_pub: if serial_pub:
serial_pub.cleanup() serial_pub.cleanup()
def main(args=None): def main(args=None):
rclpy.init(args=args) rclpy.init(args=args)
sys.excepthook = myexcepthook sys.excepthook = myexcepthook
global serial_pub global serial_pub
serial_pub = SerialRelay() serial_pub = SerialRelay()
serial_pub.run() serial_pub.run()
if __name__ == '__main__': if __name__ == '__main__':
signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0)) # Catch Ctrl+Z and exit cleanly signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0)) # Catch Ctrl+Z and exit cleanly

21
src/bio_pkg/bio_pkg/bio_node.py
View File

@@ -9,6 +9,7 @@ import atexit
import signal import signal
from std_msgs.msg import String from std_msgs.msg import String
from ros2_interfaces_pkg.msg import BioControl from ros2_interfaces_pkg.msg import BioControl
from ros2_interfaces_pkg.msg import BioFeedback
serial_pub = None serial_pub = None
thread = None thread = None
@@ -25,10 +26,10 @@ class SerialRelay(Node):
# Create publishers # Create publishers
self.debug_pub = self.create_publisher(String, '/bio/feedback/debug', 10) self.debug_pub = self.create_publisher(String, '/bio/feedback/debug', 10)
#self.socket_pub = self.create_publisher(SocketFeedback, '/arm/feedback/socket', 10) self.bio_pub = self.create_publisher(BioFeedback, '/bio/feedback', 10)
# Create subscribers\ # Create subscribers
self.control_sub = self.create_subscription(BioControl, '/bio/control', self.send_control, 10) self.control_sub = self.create_subscription(BioControl, '/bio/control', self.send_control, 10)
# Topics used in anchor mode # Topics used in anchor mode
@@ -136,7 +137,7 @@ class SerialRelay(Node):
self.send_cmd(command) self.send_cmd(command)
# LSS # LSS (SCYTHE)
command = "can_relay_tovic,citadel,24," + str(msg.lss_direction) + "\n" command = "can_relay_tovic,citadel,24," + str(msg.lss_direction) + "\n"
self.send_cmd(command) self.send_cmd(command)
# Vibration Motor # Vibration Motor
@@ -150,18 +151,18 @@ class SerialRelay(Node):
# To be reviewed before use# # To be reviewed before use#
# Laser # Laser
command = "can_relay_tovic,faerie,28," + str(msg.laser) + "\n" command = "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
self.send_cmd(command) self.send_cmd(command)
# # UV Light
# command = "can_relay_tovic,faerie,38," + str(msg.uvLight) + "\n"
# self.send_cmd(command)
# Drill # Drill (SCABBARD)
command = f"can_relay_tovic,faerie,19,{msg.drill_duty:.2f}\n" command = f"can_relay_tovic,digit,19,{msg.drill_duty:.2f}\n"
print(msg.drill_duty) print(msg.drill_duty)
self.send_cmd(command) self.send_cmd(command)
# Bio linear actuator
command = "can_relay_tovic,digit,42," + str(msg.drill_arm) + "\n"
self.send_cmd(command)
def send_cmd(self, msg): def send_cmd(self, msg):

2
src/ros2_interfaces_pkg

Submodule src/ros2_interfaces_pkg updated: f7f39a6352...3db6c94833