Revision 9f547ef7
| ID | 9f547ef719e5b32f52210cdb56bc7cae9eb16c7d |
Added scoutsim support for encoders.
To see the query_encoders.srv (used for accessing this data) in action, use: rosrun libscout test_encoders. You will see a stream of encoder data.
| scout/scoutsim/src/scout.h | ||
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| 52 | 52 |
#include <boost/shared_ptr.hpp> |
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|
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#include <motors/set_motors.h> |
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#include <encoders/query_encoders.h> |
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#include <scoutsim/Pose.h> |
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#include <scoutsim/SetPen.h> |
| ... | ... | |
| 110 | 111 |
float getSonar(float angle); |
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bool setPenCallback(scoutsim::SetPen::Request&, |
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scoutsim::SetPen::Response&); |
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bool query_encoders_callback(encoders::query_encoders::Request&, |
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encoders::query_encoders::Response&); |
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ros::NodeHandle node; |
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|
| ... | ... | |
| 119 | 122 |
Vector2 pos; |
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float orient; |
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/// @todo should these be an array or something? |
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// Keep track of the last commanded speeds sent to the sim |
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int motor_fl_speed; |
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int motor_fr_speed; |
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int motor_bl_speed; |
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int motor_br_speed; |
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// Keep track of encoder ticks for each motor |
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unsigned int fl_ticks; |
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unsigned int fr_ticks; |
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unsigned int bl_ticks; |
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unsigned int br_ticks; |
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// Each scout has a unique id number, which is also displayed on its image. |
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int scout_id; |
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float lin_vel; |
|
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float ang_vel; |
|
| 133 | 142 |
bool pen_on; |
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wxPen pen; |
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|
| ... | ... | |
| 137 | 146 |
ros::Publisher pose_pub; |
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ros::Publisher color_pub; |
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ros::ServiceServer set_pen_srv; |
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ros::ServiceServer query_encoders_srv; |
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| 140 | 150 |
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| 141 | 151 |
ros::WallTime last_command_time; |
| 142 | 152 |
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