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Revision 43811241

ID43811241b4b22dba6e0abbbbb16af2e6ef041c0d
Parent a0928f39
Child 093a1aea, f878b5f9

Added by Alex Zirbel over 11 years ago

Added services to set individual control for visualization tools.

However, there is a bug in the sonar viz for multiple scouts, looking into it now.

View differences:

scout/scoutsim/src/sim_frame.h
58 58 
#include <std_srvs/Empty.h>
59 59 
#include <scoutsim/Spawn.h>
60 60 
#include <scoutsim/Kill.h>
61 
#include <scoutsim/SetSonarViz.h>
62 
#include <scoutsim/SetGhost.h>
63 
#include <scoutsim/SetTeleop.h>
61 64 
#include <motors/set_motors.h>
62 65 
#include <map>
63 66 

  		




  ......




  76
  79
  
    
#define ID_TELEOP_NONE 7


  		




  77
  80
  
    
#define ID_TELEOP_PRECISE 8


  		




  78
  81
  
    
#define ID_TELEOP_FLUID 9


  		




  79
  
  
    
#define ID_SONAR 10


  		




  80
  
  
    
#define ID_TEST 11


  		




  81
  82
  
    

  		




  82
  83
  
    
// Absolute speeds (-128 - 127)


  		




  83
  
  
    
#define TELEOP_PRECISE_SPEED 50


  		




  
  84
  
    
/// @todo: Clean this up a little; we should be risking overflowing shorts.


  		




  
  85
  
    
#define TELEOP_PRECISE_SPEED 60


  		




  
  86
  
    
#define TELEOP_PRECISE_TURN_SPEED 124


  		




  84
  87
  
    
#define TELEOP_FLUID_MAX_SPEED 100


  		




  85
  88
  
    
#define TELEOP_FLUID_INC 8


  		




  86
  89
  
    

  		




  ......




  109
  112
  
    
            void stopTeleop(wxCommandEvent& event);


  		




  110
  113
  
    
            void startTeleopPrecise(wxCommandEvent& event);


  		




  111
  114
  
    
            void startTeleopFluid(wxCommandEvent& event);


  		




  112
  
  
    
            void showSonar(wxCommandEvent& event);


  		




  113
  
  
    
            void doTest(wxCommandEvent& event);


  		




  114
  115
  
    

  		




  115
  116
  
    
            DECLARE_EVENT_TABLE()


  		




  116
  117
  
    

  		




  ......




  134
  135
  
    
            bool spawnCallback(Spawn::Request&, Spawn::Response&);


  		




  135
  136
  
    
            bool killCallback(Kill::Request&, Kill::Response&);


  		




  136
  137
  
    

  		




  
  138
  
    
            bool setSonarVizCallback(SetSonarViz::Request&, SetSonarViz::Response&);


  		




  
  139
  
    
            bool setGhostCallback(SetGhost::Request&, SetGhost::Response&);


  		




  
  140
  
    
            bool setTeleopCallback(SetTeleop::Request&, SetTeleop::Response&);


  		




  
  141
  
    

  		




  137
  142
  
    
            void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg);


  		




  138
  143
  
    

  		




  139
  144
  
    
            ros::Subscriber wireless_send;


  		




  ......




  165
  170
  
    
            ros::ServiceServer reset_srv;


  		




  166
  171
  
    
            ros::ServiceServer spawn_srv;


  		




  167
  172
  
    
            ros::ServiceServer kill_srv;


  		




  
  173
  
    
            ros::ServiceServer set_sonar_viz_srv;


  		




  
  174
  
    
            ros::ServiceServer set_ghost_srv;


  		




  
  175
  
    
            ros::ServiceServer set_teleop_srv;


  		




  168
  176
  
    

  		




  169
  177
  
    
            typedef std::map<std::string, ScoutPtr> M_Scout;


  		




  170
  178
  
    
            M_Scout scouts;


  		




  ......




  176
  184
  
    
            float width_in_meters;


  		




  177
  185
  
    
            float height_in_meters;


  		




  178
  186
  
    

  		




  179
  
  
    
            bool sonar_visual_on;


  		




  180
  
  
    

  		




  181
  187
  
    
            std::string map_base_name;


  		




  182
  188
  
    
            std::string map_lines_name;


  		




  183
  189
  
    
            std::string map_walls_name;


  		












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