Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Publish stall state of the robot #42

Open
wants to merge 1 commit into
base: lunar-devel
Choose a base branch
from
Open

Publish stall state of the robot #42

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 11 additions & 5 deletions src/stageros.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <rosgraph_msgs/Clock.h>
#include <std_msgs/Int8.h>

#include <std_srvs/Empty.h>

Expand All @@ -61,6 +62,7 @@
#define BASE_SCAN "base_scan"
#define BASE_POSE_GROUND_TRUTH "base_pose_ground_truth"
#define CMD_VEL "cmd_vel"
#define STALLED "stalled"

// Our node
class StageNode
Expand Down Expand Up @@ -89,6 +91,7 @@ class StageNode
//ros publishers
ros::Publisher odom_pub; //one odom
ros::Publisher ground_truth_pub; //one ground truth
ros::Publisher stall_pub; // stall publisher

std::vector<ros::Publisher> image_pubs; //multiple images
std::vector<ros::Publisher> depth_pubs; //multiple depths
Expand Down Expand Up @@ -354,7 +357,8 @@ StageNode::SubscribeModels()
new_robot->odom_pub = n_.advertise<nav_msgs::Odometry>(mapName(ODOM, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
new_robot->ground_truth_pub = n_.advertise<nav_msgs::Odometry>(mapName(BASE_POSE_GROUND_TRUTH, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
new_robot->cmdvel_sub = n_.subscribe<geometry_msgs::Twist>(mapName(CMD_VEL, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::cmdvelReceived, this, r, _1));

new_robot->stall_pub = n_.advertise<std_msgs::Int8>(mapName(STALLED, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);

for (size_t s = 0; s < new_robot->lasermodels.size(); ++s)
{
if (new_robot->lasermodels.size() == 1)
Expand Down Expand Up @@ -503,13 +507,15 @@ StageNode::WorldCallback()
odom_msg.twist.twist.linear.y = v.y;
odom_msg.twist.twist.angular.z = v.a;

//@todo Publish stall on a separate topic when one becomes available
//this->odomMsgs[r].stall = this->positionmodels[r]->Stall();
//
odom_msg.header.frame_id = mapName("odom", r, static_cast<Stg::Model*>(robotmodel->positionmodel));
odom_msg.header.stamp = sim_time;

robotmodel->odom_pub.publish(odom_msg);

//publish current stall state
std_msgs::Int8 stall_msg;
stall_msg.data = robotmodel->positionmodel->Stalled();
robotmodel->stall_pub.publish(stall_msg);

// broadcast odometry transform
tf::Quaternion odomQ;
Expand Down