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Revision 9f547ef7

ID9f547ef719e5b32f52210cdb56bc7cae9eb16c7d
Parent 95bede66
Child 24145262, 0e6831f5

Added by Alex Zirbel over 7 years ago

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.

View differences:

scout/scoutsim/src/scout.h
52 52
#include <boost/shared_ptr.hpp>
53 53

  
54 54
#include <motors/set_motors.h>
55
#include <encoders/query_encoders.h>
55 56

  
56 57
#include <scoutsim/Pose.h>
57 58
#include <scoutsim/SetPen.h>
......
110 111
            float getSonar(float angle);
111 112
            bool setPenCallback(scoutsim::SetPen::Request&,
112 113
                                scoutsim::SetPen::Response&);
114
            bool query_encoders_callback(encoders::query_encoders::Request&,
115
                                         encoders::query_encoders::Response&);
113 116

  
114 117
            ros::NodeHandle node;
115 118

  
......
119 122
            Vector2 pos;
120 123
            float orient;
121 124

  
125
            /// @todo should these be an array or something?
126

  
122 127
            // Keep track of the last commanded speeds sent to the sim
123 128
            int motor_fl_speed;
124 129
            int motor_fr_speed;
125 130
            int motor_bl_speed;
126 131
            int motor_br_speed;
127 132

  
133
            // Keep track of encoder ticks for each motor
134
            unsigned int fl_ticks;
135
            unsigned int fr_ticks;
136
            unsigned int bl_ticks;
137
            unsigned int br_ticks;
138

  
128 139
            // Each scout has a unique id number, which is also displayed on its image.
129 140
            int scout_id;
130 141

  
131
            float lin_vel;
132
            float ang_vel;
133 142
            bool pen_on;
134 143
            wxPen pen;
135 144

  
......
137 146
            ros::Publisher pose_pub;
138 147
            ros::Publisher color_pub;
139 148
            ros::ServiceServer set_pen_srv;
149
            ros::ServiceServer query_encoders_srv;
140 150

  
141 151
            ros::WallTime last_command_time;
142 152

  

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