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MobileRobots / ros-arnl

Provides ROS interface to basic ARNL features. Requires ARNL and ArnlBase to be installed separately.
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Publish bumpers data (if available) #25

Open reed-adept opened 7 years ago

reed-adept commented 7 years ago

Copy and paste from rosaria is fine, unless someone is inspired to do some more heavy duty refactoring (if so please discuss on user list)

RobertBlakeAnderson commented 7 years ago

We were just discussing adding this to our fork the other day. I'd like to do it a little differently than rosaria. Rosaria publishes the bumper state on every call to the publish() function. To save bandwidth, I'd like to only publish when an event occurs. The Kobuki API provides an example of this: http://docs.ros.org/hydro/api/kobuki_msgs/html/msg/BumperEvent.html

reed-adept commented 7 years ago

Sounds good. I guess you can just save the bitmask and publish it (and save) if it changes, there's no event driven trigger or callback for that in ARIA. (It just provides the bumpers state every cycle (100ms) as a bitmask) [Aria also has the ArRangeDevice point cloud interface for it as well, creating a point whenever a triggered bumper is seen, not sure if anyone would find that useful?]

RobertBlakeAnderson commented 7 years ago

Added bumper publishing to PR #19 .

reed-adept commented 7 years ago

Merge request #19 includes battery information. It has now been merged into master. Anyone interested can take a look and let us know if this will be ok.