modelec/modelec-marcel-ROS
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ros do not like me and don't show me some message for no reason

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modelec
2024-12-06 20:00:42 +01:00
parent 7dcef2b7f0
commit ab78ff3f59
2 changed files with 8 additions and 12 deletions
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3
src/modelec/include/modelec/arm_controller.hpp
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@@ -1,6 +1,5 @@
#pragma once
#include <modelec_interface/msg/pca9685_servo.hpp>
#include <array>
#include <rclcpp/rclcpp.hpp>
#include <modelec_interface/msg/pca9685_servo.hpp>
@@ -35,7 +34,7 @@ namespace Modelec {
public:
ArmController();
private:
rclcpp::Publisher<modelec_interface::msg::PCA9685Servo>::SharedPtr publisher_;
rclcpp::Publisher<modelec_interface::msg::PCA9685Servo>::SharedPtr servo_spublisher_;
rclcpp::Subscription<modelec_interface::msg::ServoMode>::SharedPtr subscription_;
std::unordered_map<int, Pince> pince_pins = {

17
src/modelec/src/arm_controller.cpp
View File

@@ -3,7 +3,7 @@
namespace Modelec {
ArmController::ArmController() : Node("pince_controller") {
publisher_ = this->create_publisher<modelec_interface::msg::PCA9685Servo>("servo_control", 10);
this->servo_spublisher_ = this->create_publisher<modelec_interface::msg::PCA9685Servo>("servo_control", 10);
client_ = this->create_client<modelec_interface::srv::NewServoMotor>("add_servo");
// ensure the server is up
@@ -43,18 +43,15 @@ namespace Modelec {
void ArmController::ControlPince(const Mode::SharedPtr msg) {
auto pince = pince_pins[msg->pin];
if (msg->mode == pince.mode) {
RCLCPP_INFO(this->get_logger(), "Pince %d already in mode %d, no action required", msg->pin, msg->mode);
return;
}
RCLCPP_INFO(this->get_logger(), "Control pince %d to mode %d", msg->pin, msg->mode);
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = pince.pin;
message.pin = msg->pin;
message.angle = pince.angles[msg->mode];
publisher_->publish(message);
servo_spublisher_->publish(message);
RCLCPP_INFO(this->get_logger(), "Pince %d set to mode %d", msg->pin, msg->mode);
pince_pins[msg->pin].mode = msg->mode;
}
@@ -68,11 +65,11 @@ namespace Modelec {
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = pince.second.pin;
message.angle = pince.second.angles[msg->mode];
publisher_->publish(message);
servo_spublisher_->publish(message);
}
}
/*
int direction = -1;
if (arm.mode == Mode::ARM_BOTTOM && msg->mode == Mode::ARM_TOP) {
direction = 1;
@@ -83,7 +80,7 @@ namespace Modelec {
} else if (arm.mode == Mode::ARM_TOP && msg->mode == Mode::ARM_MIDDLE) {
direction = -1;
}
/*
int startAngle = arm.pins[ARM_1_PIN][arm.mode];
for (int angle = startAngle; angle <= arm.pins[ARM_1_PIN][msg->mode]; angle += 2 * direction) {
auto message = modelec_interface::msg::PCA9685Servo();