Stm #5
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Stm must be written as STM |
MisterMap
suggested changes
Dec 22, 2018
eurobot_stm/scripts/STM_node.py
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| import itertools | ||
| from STM_protocol import STMprotocol | ||
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| ODOM_RATE = 40 # Hz |
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move this constant to config yaml file
eurobot_stm/scripts/STM_node.py
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| # Init ROS | ||
| rospy.init_node('stm_node', anonymous=True) | ||
| # ROS subscribers | ||
| rospy.Subscriber("stm_command", String, self.stm_command_callback) |
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Initialize subscriber in the end of init function
eurobot_stm/scripts/STM_node.py
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| super(STMnode, self).__init__(serial_port, baudrate) | ||
| self.mutex = Lock() | ||
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| self.laser_coords = (rospy.get_param('lidar_x') / 1000.0, rospy.get_param('lidar_y') / 1000.0, 0.41) |
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Change config file to make all constant in meters
eurobot_stm/scripts/STM_node.py
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| rospy.Timer(rospy.Duration(1. / ODOM_RATE), self.odom_callback) | ||
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| def stm_command_callback(self, data): |
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Why you remove cmd_id ?
eurobot_stm/scripts/STM_node.py
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| rospy.loginfo('Got response args: '+ str(values)) | ||
| return successfully, values | ||
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| def odom_callback(self, event): |
eurobot_stm/scripts/STM_node.py
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| successfully, values = self.send(0x0F, args=None) | ||
| if successfully: | ||
| self.send_odometry(values) | ||
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eurobot_stm/scripts/STM_node.py
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| t.header.stamp = rospy.Time.now() | ||
| t.header.frame_id = "secondary_robot_odom" | ||
| t.child_frame_id = "secondary_robot" | ||
| t.transform.translation.x = values[0] |
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Use function from core function to cvt_ros_transform2point
eurobot_stm/scripts/STM_node.py
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| if successfully: | ||
| self.send_odometry(values) | ||
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| def send_odometry(self, values): |
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rename to publish_odometry
eurobot_stm/scripts/STM_node.py
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| self.tf2_broad.sendTransform(t) | ||
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| t = geometry_msgs.msg.TransformStamped() |
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Make function publish_tf
eurobot_stm/scripts/STM_node.py
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| t = geometry_msgs.msg.TransformStamped() | ||
| t.header.stamp = rospy.Time.now() | ||
| t.header.frame_id = "secondary_robot" |
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Make this as params in config file
nickzherdev
reviewed
Dec 22, 2018
eurobot_stm/scripts/STM_node.py
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| import struct | ||
| import serial | ||
| import itertools | ||
| from STM_protocol import STMprotocol |
MisterMap
suggested changes
Dec 27, 2018
MisterMap
approved these changes
Mar 5, 2019
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Misha, please, pull my beautiful code again 😀😀😀