Revision 43811241
| ID | 43811241b4b22dba6e0abbbbb16af2e6ef041c0d |
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.
| scout/scoutsim/src/sim_frame.h | ||
|---|---|---|
| 58 | 58 |
#include <std_srvs/Empty.h> |
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#include <scoutsim/Spawn.h> |
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#include <scoutsim/Kill.h> |
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#include <scoutsim/SetSonarViz.h> |
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| 62 |
#include <scoutsim/SetGhost.h> |
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#include <scoutsim/SetTeleop.h> |
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| 61 | 64 |
#include <motors/set_motors.h> |
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#include <map> |
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|
| ... | ... | |
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#define ID_TELEOP_NONE 7 |
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#define ID_TELEOP_PRECISE 8 |
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#define ID_TELEOP_FLUID 9 |
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#define ID_SONAR 10 |
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#define ID_TEST 11 |
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|
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// Absolute speeds (-128 - 127) |
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#define TELEOP_PRECISE_SPEED 50 |
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/// @todo: Clean this up a little; we should be risking overflowing shorts. |
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#define TELEOP_PRECISE_SPEED 60 |
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#define TELEOP_PRECISE_TURN_SPEED 124 |
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#define TELEOP_FLUID_MAX_SPEED 100 |
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#define TELEOP_FLUID_INC 8 |
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|
| ... | ... | |
| 109 | 112 |
void stopTeleop(wxCommandEvent& event); |
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void startTeleopPrecise(wxCommandEvent& event); |
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void startTeleopFluid(wxCommandEvent& event); |
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void showSonar(wxCommandEvent& event); |
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void doTest(wxCommandEvent& event); |
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| 114 | 115 |
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DECLARE_EVENT_TABLE() |
| 116 | 117 |
|
| ... | ... | |
| 134 | 135 |
bool spawnCallback(Spawn::Request&, Spawn::Response&); |
| 135 | 136 |
bool killCallback(Kill::Request&, Kill::Response&); |
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bool setSonarVizCallback(SetSonarViz::Request&, SetSonarViz::Response&); |
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bool setGhostCallback(SetGhost::Request&, SetGhost::Response&); |
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bool setTeleopCallback(SetTeleop::Request&, SetTeleop::Response&); |
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| 141 |
|
|
| 137 | 142 |
void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg); |
| 138 | 143 |
|
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ros::Subscriber wireless_send; |
| ... | ... | |
| 165 | 170 |
ros::ServiceServer reset_srv; |
| 166 | 171 |
ros::ServiceServer spawn_srv; |
| 167 | 172 |
ros::ServiceServer kill_srv; |
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ros::ServiceServer set_sonar_viz_srv; |
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ros::ServiceServer set_ghost_srv; |
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ros::ServiceServer set_teleop_srv; |
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| 168 | 176 |
|
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typedef std::map<std::string, ScoutPtr> M_Scout; |
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M_Scout scouts; |
| ... | ... | |
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float width_in_meters; |
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float height_in_meters; |
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|
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bool sonar_visual_on; |
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std::string map_base_name; |
| 182 | 188 |
std::string map_lines_name; |
| 183 | 189 |
std::string map_walls_name; |
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