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update twist

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Your Name 2023-06-15 14:59:54 +02:00
parent 5d0513a073
commit b70b7124ed
5 changed files with 27 additions and 18 deletions
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4
.gitignore vendored
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@ -1,4 +1,6 @@
install/ install/
log/ log/
build/ build/
.vscode/ .vscode/
*__pycache__*

5
README.md Normal file
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@ -0,0 +1,5 @@
# DCAITI_WS
## Jetson IP Adresses
Onboard switch: 192.168.1.253
TIB switch: 192.168.13.142

8
src/dcaiti_control/description/real_robot_control.xacro
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@ -14,16 +14,16 @@
<!-- Note everything below here is the same as the Gazebo one --> <!-- Note everything below here is the same as the Gazebo one -->
<joint name="left_wheel_joint"> <joint name="left_wheel_joint">
<command_interface name="velocity"> <command_interface name="velocity">
<param name="min">-0.5</param> <param name="min">-0.005</param>
<param name="max">0.5</param> <param name="max">0.005</param>
</command_interface> </command_interface>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="position"/> <state_interface name="position"/>
</joint> </joint>
<joint name="right_wheel_joint"> <joint name="right_wheel_joint">
<command_interface name="velocity"> <command_interface name="velocity">
<param name="min">-0.5</param> <param name="min">-0.005</param>
<param name="max">0.5</param> <param name="max">0.005</param>
</command_interface> </command_interface>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="position"/> <state_interface name="position"/>

21
src/dcaitirobot/dcaitirobot/twist.py
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@ -7,10 +7,14 @@ from sensor_msgs.msg import Joy
import numpy as np import numpy as np
SCALE_LINEAR_VELOCITY = 0.5
SCALE_ANGULAR_VELOCITY = 0.4
PUBLISH_FREQUENCY_HZ = 10
def calc_speed_from_joy(x, y): def calc_speed_from_joy(x, y):
linear = -y linear = -y * SCALE_LINEAR_VELOCITY
angular = -x angular = x * SCALE_ANGULAR_VELOCITY
return linear, angular return linear, angular
@ -18,19 +22,22 @@ class TwistPublisher(Node):
def __init__(self): def __init__(self):
super().__init__('twist_publisher') super().__init__('twist_publisher')
self.publisher_ = self.create_publisher(Twist, 'cmd_vel', 1) self.linear = 0.0
self.angular = 0.0
self.publisher_ = self.create_publisher(Twist, '/diff_cont/cmd_vel_unstamped', 1)
self.create_subscription(Joy, "/joy", self.joy_callback, 1) self.create_subscription(Joy, "/joy", self.joy_callback, 1)
self.timer = self.create_timer(1/PUBLISH_FREQUENCY_HZ, self.timer_callback)
def joy_callback(self, joy_message): def joy_callback(self, joy_message):
x, y = joy_message.axes[:2] x, y = joy_message.axes[:2]
linear, angular = calc_speed_from_joy(x,y) self.linear, self.angular = calc_speed_from_joy(x,y)
def timer_callback(self):
msg = Twist() msg = Twist()
msg.linear.x = linear msg.linear.x = self.linear
msg.angular.z = angular msg.angular.z = self.angular
self.publisher_.publish(msg) self.publisher_.publish(msg)
self.get_logger().info('Publishing: "%s"' % msg) self.get_logger().info('Publishing: "%s"' % msg)

7
src/dcaitirobot/launch/remote_control_launch.py
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@ -12,10 +12,5 @@ def generate_launch_description():
package='dcaitirobot', package='dcaitirobot',
executable='twistcalc', executable='twistcalc',
name='twistcalc', name='twistcalc',
),
Node(
package='dcaitirobot',
executable='serial_comms',
name='serial',
) )
]) ])