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RoboJackets · May 30, 2024 · 907f271 · 907f271
1 parent fd93703
commit 907f271
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Showing 6 changed files with 15 additions and 16 deletions.
diff --git a/urc_hw/include/urc_hw/hardware_interfaces/rover_drivetrain.hpp b/urc_hw/include/urc_hw/hardware_interfaces/rover_drivetrain.hpp
@@ -74,7 +74,7 @@ class RoverDrivetrain : public hardware_interface::SystemInterface
   std::string udp_port;
 
   // nanopb
-  uint8_t buffer[DrivetrainRequest_size];
+  uint8_t buffer[TeensyMessage_size];
   size_t message_length;
 };
 

diff --git a/urc_hw/src/hardware_interfaces/rover_drivetrain.cpp b/urc_hw/src/hardware_interfaces/rover_drivetrain.cpp
@@ -113,8 +113,8 @@ hardware_interface::return_type RoverDrivetrain::read(
   const rclcpp::Duration &)
 {
 
-  // RCLCPP_INFO(rclcpp::get_logger("test"),
-  //   "%.5f, %.5f", velocity_rps_commands[0], velocity_rps_commands[1]);
+  RCLCPP_INFO(rclcpp::get_logger("test"),
+    "%.5f, %.5f", velocity_rps_commands[0], velocity_rps_commands[1]);
 
   return hardware_interface::return_type::OK;
 }
@@ -128,19 +128,18 @@ hardware_interface::return_type RoverDrivetrain::write(
   }
 
   TeensyMessage message = TeensyMessage_init_zero;
-  DrivetrainRequest drivetrainRequest = DrivetrainRequest_init_zero;
+  // DrivetrainRequest drivetrainRequest = DrivetrainRequest_init_zero;
   pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
 
-  drivetrainRequest.m1Setpoint = velocity_rps_commands[0] * ENCODER_CPR * -1;
-  drivetrainRequest.m2Setpoint = velocity_rps_commands[0] * ENCODER_CPR * -1;
-  drivetrainRequest.m3Setpoint = velocity_rps_commands[0] * ENCODER_CPR * -1;
+  message.payload.driveEncodersMessage.m1Setpoint = velocity_rps_commands[0] * ENCODER_CPR * -1;
+  message.payload.driveEncodersMessage.m2Setpoint = velocity_rps_commands[0] * ENCODER_CPR * -1;
+  message.payload.driveEncodersMessage.m3Setpoint = velocity_rps_commands[0] * ENCODER_CPR * -1;
 
-  drivetrainRequest.m4Setpoint = velocity_rps_commands[1] * ENCODER_CPR * -1;
-  drivetrainRequest.m5Setpoint = velocity_rps_commands[1] * ENCODER_CPR * -1;
-  drivetrainRequest.m6Setpoint = velocity_rps_commands[1] * ENCODER_CPR * -1;
+  message.payload.driveEncodersMessage.m4Setpoint = velocity_rps_commands[1] * ENCODER_CPR * -1;
+  message.payload.driveEncodersMessage.m5Setpoint = velocity_rps_commands[1] * ENCODER_CPR * -1;
+  message.payload.driveEncodersMessage.m6Setpoint = velocity_rps_commands[1] * ENCODER_CPR * -1;
 
   message.messageID = 0;
-  message.payload.drivetrainRequest = drivetrainRequest;
 
   bool status = pb_encode(&stream, TeensyMessage_fields, &message);
   message_length = stream.bytes_written;

diff --git a/urc_hw/src/hardware_interfaces/status_light.cpp b/urc_hw/src/hardware_interfaces/status_light.cpp
@@ -130,7 +130,7 @@ hardware_interface::return_type StatusLight::write(const rclcpp::Time &, const r
   statusMessage.greenBlink = (signals[0] == 2 && signals[1] == 1);
 
   message.messageID = 1;
-  message.payload.newStatusLightCommand = statusMessage;
+  message.payload.statusLightCommand = statusMessage;
 
   bool status = pb_encode(&stream, TeensyMessage_fields, &message);
   message_length = stream.bytes_written;

diff --git a/urc_imu/src/libimu_driver/driver.py b/urc_imu/src/libimu_driver/driver.py
@@ -20,7 +20,7 @@ def add_sentence(self, imu_string, frame_id, timestamp=None):
                                    "Sentence was: %s" % imu_string)
             return False
 
-        self.get_logger().info("Sentence received: %s" % imu_string)
+        # self.get_logger().info("Sentence received: %s" % imu_string)
         things = re.findall(r"-?[0-9]?[0-9]?[0-9]\.[0-9][0-9]", str(imu_string))
         current_imu = Imu()
         current_yaw = Int32()

diff --git a/urc_nanopb/proto/urc.proto b/urc_nanopb/proto/urc.proto
@@ -31,8 +31,8 @@ message NewStatusLightCommand {
 message TeensyMessage {
     required int32 messageID = 1;
     oneof payload {
-        DrivetrainRequest drivetrainRequest = 2;
-        NewStatusLightCommand newStatusLightCommand = 3;
+        DrivetrainRequest driveEncodersMessage = 2;
+        NewStatusLightCommand statusLightCommand = 3;
     }
 }
 

diff --git a/urc_tf/src/world_frame.cpp b/urc_tf/src/world_frame.cpp
@@ -45,7 +45,7 @@ void WorldFrameBroadcaster::GPSCallback(
   const sensor_msgs::msg::NavSatFix & msg)
 {
   if (!baseStationSet) {
-    RCLCPP_ERROR(this->get_logger(), "Base Station Not Set!");
+    // RCLCPP_ERROR(this->get_logger(), "Base Station Not Set!");
     return;
   }
   geometry_msgs::msg::TransformStamped t;