Revision 60a90290
\Fixed teleop to work with behaviors. Teleop currently has priority over behaviors
| scout/motors/msg/set_motors.msg | ||
|---|---|---|
| 5 | 5 |
bool fr_set |
| 6 | 6 |
bool bl_set |
| 7 | 7 |
bool br_set |
| 8 |
bool teleop_ON |
|
| 8 | 9 |
|
| 9 | 10 |
# The absolute motor speeds to set (-128 to 127) |
| 10 | 11 |
# TODO check that this is the correct range |
| scout/scoutsim/src/old_scout_teleop.cpp | ||
|---|---|---|
| 1 |
#include <ros/ros.h> |
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| 2 |
#include <motors/set_motors.h> |
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| 3 |
#include <signal.h> |
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| 4 |
#include <termios.h> |
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#include <stdio.h> |
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// TODO: add this to a constants.h |
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| 8 |
#define QUEUE_SIZE 10 |
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| 9 |
|
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| 10 |
#define KEYCODE_R 0x43 |
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| 11 |
#define KEYCODE_L 0x44 |
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#define KEYCODE_U 0x41 |
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#define KEYCODE_D 0x42 |
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#define KEYCODE_Q 0x71 |
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#define KEYCODE_S 0x73 |
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class TeleopScout |
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{
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public: |
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TeleopScout(); |
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void keyLoop(); |
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private: |
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ros::NodeHandle nh_; |
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bool fl_set_, fr_set_, bl_set_, br_set_; |
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int fl_speed_, fr_speed_, bl_speed_, br_speed_; |
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char last_key; |
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ros::Publisher motors_pub_; |
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}; |
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TeleopScout::TeleopScout() |
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{
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fl_set_ = fr_set_ = bl_set_ = br_set_ = true; |
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fl_speed_ = fr_speed_ = bl_speed_ = br_speed_ = 0; |
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motors_pub_ = nh_.advertise<motors::set_motors>( |
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"scout1/set_motors", QUEUE_SIZE); |
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} |
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|
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int kfd = 0; |
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struct termios cooked, raw; |
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|
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void quit(int sig) |
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{
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tcsetattr(kfd, TCSANOW, &cooked); |
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ros::shutdown(); |
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exit(0); |
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} |
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|
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int main(int argc, char** argv) |
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{
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ros::init(argc, argv, "teleop_scout"); |
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TeleopScout teleop_scout; |
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signal(SIGINT,quit); |
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teleop_scout.keyLoop(); |
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return(0); |
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} |
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void TeleopScout::keyLoop() |
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{
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char c; |
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bool dirty=false; |
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// get the console in raw mode |
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tcgetattr(kfd, &cooked); |
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memcpy(&raw, &cooked, sizeof(struct termios)); |
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raw.c_lflag &=~ (ICANON | ECHO); |
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// Setting a new line, then end of file |
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raw.c_cc[VEOL] = 1; |
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raw.c_cc[VEOF] = 2; |
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tcsetattr(kfd, TCSANOW, &raw); |
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puts("Reading from keyboard");
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puts("---------------------------");
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puts("Use arrow keys to move the scout.");
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for(;;) |
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{
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ROS_INFO("loop pass engaged");
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// get the next event from the keyboard |
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if(read(kfd, &c, 1) < 0) |
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{
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perror("read():");
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exit(-1); |
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} |
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//ROS_DEBUG("value: 0x%02X\n", c);
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//ROS_INFO("value: 0x%02X\n", c);
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switch(c) |
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{
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case KEYCODE_L: |
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ROS_INFO("LEFT");
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fl_speed_ = bl_speed_ = 200; |
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fr_speed_ = br_speed_ = -200; |
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dirty = true; |
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break; |
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case KEYCODE_R: |
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ROS_INFO("RIGHT");
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fl_speed_ = bl_speed_ = -200; |
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fr_speed_ = br_speed_ = 200; |
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dirty = true; |
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break; |
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case KEYCODE_U: |
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ROS_INFO("UP");
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fl_speed_ = bl_speed_ = 200; |
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fr_speed_ = br_speed_ = 200; |
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dirty = true; |
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break; |
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case KEYCODE_D: |
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ROS_INFO("DOWN");
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fl_speed_ = bl_speed_ = -200; |
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fr_speed_ = br_speed_ = -200; |
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dirty = true; |
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break; |
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default: |
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ROS_INFO("test");
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fl_speed_ = bl_speed_ = 0; |
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fr_speed_ = br_speed_ = 0; |
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dirty = true; |
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break; |
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} |
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motors::set_motors msg; |
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msg.fl_set = fl_set_; |
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msg.fr_set = fr_set_; |
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msg.bl_set = bl_set_; |
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msg.br_set = br_set_; |
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msg.fl_speed = fl_speed_; |
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msg.fr_speed = fr_speed_; |
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msg.bl_speed = bl_speed_; |
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msg.br_speed = br_speed_; |
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if(dirty == true) |
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{
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if (last_key != c) |
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{
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motors_pub_.publish(msg); |
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} |
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dirty=false; |
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} |
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last_key = c; |
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} |
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return; |
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} |
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|
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| scout/scoutsim/src/scout.cpp | ||
|---|---|---|
| 65 | 65 |
: path_bitmap(path_bitmap) |
| 66 | 66 |
, sonar_visual_on(false) |
| 67 | 67 |
, sonar_on(true) |
| 68 |
, ignore_behavior(false) |
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, current_teleop_scout("")
|
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| 68 | 70 |
, node (nh) |
| 69 | 71 |
, scout_image(scout_image) |
| 70 | 72 |
, pos(pos) |
| ... | ... | |
| 134 | 136 |
{
|
| 135 | 137 |
last_command_time = ros::WallTime::now(); |
| 136 | 138 |
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if(msg->fl_set) |
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//ignore non-teleop commands if commands if teleop is ON |
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if (node.getNamespace() != current_teleop_scout || msg->teleop_ON) |
|
| 138 | 141 |
{
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motor_fl_speed = absolute_to_mps(msg->fl_speed); |
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} |
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if(msg->fr_set) |
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{
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motor_fr_speed = absolute_to_mps(msg->fr_speed); |
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} |
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if(msg->bl_set) |
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{
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motor_bl_speed = absolute_to_mps(msg->bl_speed); |
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} |
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if(msg->br_set) |
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{
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motor_br_speed = absolute_to_mps(msg->br_speed); |
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if(msg->fl_set) |
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{
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motor_fl_speed = absolute_to_mps(msg->fl_speed); |
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} |
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if(msg->fr_set) |
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{
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motor_fr_speed = absolute_to_mps(msg->fr_speed); |
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} |
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if(msg->bl_set) |
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{
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motor_bl_speed = absolute_to_mps(msg->bl_speed); |
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} |
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if(msg->br_set) |
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{
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motor_br_speed = absolute_to_mps(msg->br_speed); |
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} |
|
| 152 | 158 |
} |
| 159 |
|
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| 153 | 160 |
} |
| 154 | 161 |
|
| 155 | 162 |
bool Scout::handle_sonar_toggle(sonar::sonar_toggle::Request &req, |
| ... | ... | |
| 397 | 404 |
const wxImage& walls_image, |
| 398 | 405 |
wxColour background_color, |
| 399 | 406 |
wxColour sonar_color, |
| 400 |
world_state state) |
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| 407 |
world_state state, |
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string teleop_scoutname) |
|
| 401 | 409 |
{
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| 402 | 410 |
// Assume that the two motors on the same side will be set to |
| 403 | 411 |
// roughly the same speed. Does not account for slip conditions |
| ... | ... | |
| 409 | 417 |
float lin_dist = SIM_TIME_REFRESH_RATE * (l_speed + r_speed) / 2; |
| 410 | 418 |
float ang_dist = SIM_TIME_REFRESH_RATE * (r_speed - l_speed); |
| 411 | 419 |
|
| 420 |
//store currently teleop'd scoutname |
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std::stringstream ss; |
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ss << "/" << teleop_scoutname; |
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current_teleop_scout = ss.str(); |
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| 424 |
|
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| 412 | 425 |
Vector2 old_pos = pos; |
| 413 | 426 |
|
| 414 | 427 |
// Update encoders |
| ... | ... | |
| 439 | 452 |
int canvas_x = pos.x * PIX_PER_METER; |
| 440 | 453 |
int canvas_y = pos.y * PIX_PER_METER; |
| 441 | 454 |
|
| 455 |
|
|
| 442 | 456 |
{
|
| 443 | 457 |
wxImage rotated_image = |
| 444 | 458 |
scout_image.Rotate(orient - PI/2.0, |
| scout/scoutsim/src/scout.h | ||
|---|---|---|
| 118 | 118 |
const wxImage& walls_image, |
| 119 | 119 |
wxColour background_color, |
| 120 | 120 |
wxColour sonar_color, |
| 121 |
world_state state); |
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world_state state,std::string teleop_scoutname);
|
|
| 122 | 122 |
void paint(wxDC& dc); |
| 123 | 123 |
void set_sonar_visual(bool on); |
| 124 | 124 |
|
| ... | ... | |
| 155 | 155 |
wxBitmap *path_bitmap; |
| 156 | 156 |
bool sonar_visual_on; |
| 157 | 157 |
bool sonar_on; |
| 158 |
bool ignore_behavior; |
|
| 159 |
|
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| 160 |
std::string current_teleop_scout; |
|
| 158 | 161 |
|
| 159 | 162 |
ros::NodeHandle node; |
| 160 | 163 |
|
| scout/scoutsim/src/sim_frame.cpp | ||
|---|---|---|
| 130 | 130 |
teleop_type = TELEOP_OFF; |
| 131 | 131 |
teleop_l_speed = 0; |
| 132 | 132 |
teleop_r_speed = 0; |
| 133 |
teleop_scoutname = "scout1"; |
|
| 134 |
|
|
| 133 | 135 |
teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000);
|
| 134 | 136 |
|
| 135 | 137 |
ROS_INFO("Starting scoutsim with node name %s",
|
| ... | ... | |
| 240 | 242 |
std::stringstream ss; |
| 241 | 243 |
ss << "/" << req.scout_name << "/set_motors"; |
| 242 | 244 |
teleop_pub = nh.advertise<motors::set_motors>(ss.str(), 1000); |
| 245 |
teleop_scoutname = req.scout_name.c_str(); |
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| 246 |
ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement
|
|
| 243 | 247 |
|
| 244 | 248 |
return true; |
| 245 | 249 |
} |
| ... | ... | |
| 533 | 537 |
msg.fr_set = true; |
| 534 | 538 |
msg.bl_set = true; |
| 535 | 539 |
msg.br_set = true; |
| 540 |
msg.teleop_ON = true; |
|
| 536 | 541 |
|
| 537 | 542 |
msg.fl_speed = teleop_l_speed; |
| 538 | 543 |
msg.fr_speed = teleop_r_speed; |
| ... | ... | |
| 544 | 549 |
|
| 545 | 550 |
void SimFrame::updateScouts() |
| 546 | 551 |
{
|
| 552 |
std::string teleop_out = ""; |
|
| 553 |
|
|
| 547 | 554 |
if (last_scout_update.isZero()) |
| 548 | 555 |
{
|
| 549 | 556 |
last_scout_update = ros::WallTime::now(); |
| ... | ... | |
| 562 | 569 |
|
| 563 | 570 |
for (; it != end; ++it) |
| 564 | 571 |
{
|
| 572 |
|
|
| 573 |
//default to scout1 |
|
| 574 |
if (teleop_type != TELEOP_OFF) |
|
| 575 |
{
|
|
| 576 |
teleop_out = teleop_scoutname; |
|
| 577 |
} |
|
| 578 |
|
|
| 565 | 579 |
it->second->update(SIM_TIME_REFRESH_RATE, |
| 566 | 580 |
path_dc, sonar_dc, |
| 567 | 581 |
path_image, lines_image, walls_image, |
| 568 | 582 |
path_dc.GetBackground().GetColour(), |
| 569 | 583 |
sonar_dc.GetBackground().GetColour(), |
| 570 |
state); |
|
| 584 |
state,teleop_out);
|
|
| 571 | 585 |
} |
| 572 | 586 |
|
| 573 | 587 |
for (unsigned int i = 0; i < ghost_scouts.size(); ++i) |
| scout/scoutsim/src/sim_frame.h | ||
|---|---|---|
| 148 | 148 |
short teleop_l_speed; |
| 149 | 149 |
short teleop_r_speed; |
| 150 | 150 |
ros::Publisher teleop_pub; |
| 151 |
std::string teleop_scoutname; |
|
| 151 | 152 |
int teleop_type; |
| 152 | 153 |
|
| 153 | 154 |
int teleop_fluid_speed; |
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