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Make naming more general (for multi-car demos) #3

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Make naming more general (for multi-car demos) #3

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4 changes: 2 additions & 2 deletions mushr_base/config/joy_teleop.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ teleop:
type: topic
is_default: true
message_type: ackermann_msgs/AckermannDriveStamped
topic_name: /mux/ackermann_cmd_mux/input/teleop
topic_name: mux/ackermann_cmd_mux/input/teleop
message_value:
-
target: drive.speed
Expand All @@ -22,7 +22,7 @@ teleop:
human_control:
type: topic
message_type: ackermann_msgs/AckermannDriveStamped
topic_name: /mux/ackermann_cmd_mux/input/teleop
topic_name: mux/ackermann_cmd_mux/input/teleop
deadman_buttons: [4]
axis_mappings:
-
Expand Down
4 changes: 3 additions & 1 deletion mushr_base/launch/includes/racecar_state.launch
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
<launch>
<arg name="force_in_bounds" default="false"/>
<arg name="tf_prefix" default="" />

<node pkg="mushr_base" type="racecar_state.py" name="racecar_state" output="screen">
<param name="tf_prefix" value="$(arg tf_prefix)" />
<param name="update_rate" value="20.0"/>
<param name="speed_offset" value="0.00"/>
<param name="speed_noise" value="0.0001"/>
Expand All @@ -16,6 +18,6 @@
<param name="theta_offset" value="0.0"/>
<param name="theta_fix_noise" value="0.000001"/>
<param name="force_in_bounds" value="$(arg force_in_bounds)" />
<param name="static_map" value="static_map"/>
<param name="static_map" value="/static_map"/>
</node>
</launch>
28 changes: 14 additions & 14 deletions mushr_base/src/racecar_state.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,25 +28,25 @@ class RacecarState:
def __init__(self):
# speed (rpm) = self.SPEED_TO_ERPM_OFFSET + self.SPEED_TO_ERPM_GAIN * speed (m/s)
self.SPEED_TO_ERPM_OFFSET = float(
rospy.get_param("/vesc/speed_to_erpm_offset", 0.0)
rospy.get_param("vesc/speed_to_erpm_offset", 0.0)
)
self.SPEED_TO_ERPM_GAIN = float(
rospy.get_param("/vesc/speed_to_erpm_gain", 4614.0)
rospy.get_param("vesc/speed_to_erpm_gain", 4614.0)
)

# servo angle = self.STEERING_TO_SERVO_OFFSET + self.STEERING_TO_SERVO_GAIN * steering_angle (rad)
self.STEERING_TO_SERVO_OFFSET = float(
rospy.get_param("/vesc/steering_angle_to_servo_offset", 0.5304)
rospy.get_param("vesc/steering_angle_to_servo_offset", 0.5304)
)
self.STEERING_TO_SERVO_GAIN = float(
rospy.get_param("/vesc/steering_angle_to_servo_gain", -1.2135)
rospy.get_param("vesc/steering_angle_to_servo_gain", -1.2135)
)

# Length of the car
self.CAR_LENGTH = float(rospy.get_param("/vesc/chassis_length", 0.33))
self.CAR_LENGTH = float(rospy.get_param("vesc/chassis_length", 0.33))

# Width of the car
self.CAR_WIDTH = float(rospy.get_param("/vesc/wheelbase", 0.25))
self.CAR_WIDTH = float(rospy.get_param("vesc/wheelbase", 0.25))

# The radius of the car wheel in meters
self.CAR_WHEEL_RADIUS = 0.0976 / 2.0
Expand Down Expand Up @@ -152,10 +152,10 @@ def __init__(self):
self.transformer = tf.TransformListener()

# Publishes joint values
self.state_pub = rospy.Publisher("/car_pose", PoseStamped, queue_size=1)
self.state_pub = rospy.Publisher("car_pose", PoseStamped, queue_size=1)

# Publishes joint values
self.cur_joints_pub = rospy.Publisher("/joint_states", JointState, queue_size=1)
self.cur_joints_pub = rospy.Publisher("joint_states", JointState, queue_size=1)

# Subscribes to the initial pose of the car
self.init_pose_sub = rospy.Subscriber(
Expand All @@ -164,12 +164,12 @@ def __init__(self):

# Subscribes to info about the bldc (particularly the speed in rpm)
self.speed_sub = rospy.Subscriber(
"/vesc/sensors/core", VescStateStamped, self.speed_cb, queue_size=1
"vesc/sensors/core", VescStateStamped, self.speed_cb, queue_size=1
)

# Subscribes to the position of the servo arm
self.servo_sub = rospy.Subscriber(
"/vesc/sensors/servo_position_command", Float64, self.servo_cb, queue_size=1
"vesc/sensors/servo_position_command", Float64, self.servo_cb, queue_size=1
)

# Timer to updates joints and tf
Expand Down Expand Up @@ -277,7 +277,7 @@ def timer_cb(self, event):
self.cur_map_to_odom_lock.acquire()
try:
tmp_trans, tmp_rot = self.transformer.lookupTransform(
"/odom", "/map", rospy.Time(0)
"odom", "/map", rospy.Time(0)
)
self.cur_map_to_odom_trans[0] = tmp_trans[0]
self.cur_map_to_odom_trans[1] = tmp_trans[1]
Expand All @@ -296,7 +296,7 @@ def timer_cb(self, event):
0, 0, self.cur_map_to_odom_rot
),
now,
"/odom",
"odom",
"/map",
)

Expand All @@ -307,7 +307,7 @@ def timer_cb(self, event):
0, 0, self.cur_map_to_odom_rot
),
now,
"/odom",
"odom",
"/map",
)
self.cur_map_to_odom_lock.release()
Expand Down Expand Up @@ -507,7 +507,7 @@ def timer_cb(self, event):

def get_map(self):
# Use the 'static_map' service (launched by MapServer.launch) to get the map
map_service_name = rospy.get_param("~static_map", "static_map")
map_service_name = rospy.get_param("~static_map", "/static_map")
rospy.wait_for_service(map_service_name)
map_msg = rospy.ServiceProxy(map_service_name, GetMap)().map
map_info = map_msg.info # Save info about map for later use
Expand Down