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SubC-Partner / uavcan_ros_bridge

🟢 Bridge for communication between ROS and the uavcan CAN-bus protocol
BSD 3-Clause "New" or "Revised" License
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Parametrisize VESC can ID's #1

Open zerodamage opened 1 year ago

zerodamage commented 1 year ago

The VESC CAN'ids could be a ROS parameter here:

https://github.com/SubC-Partner/uavcan_ros_bridge/blob/16257c8cab1151528036a4c232c1e8363c7297c0/uavcan_ros_bridge/src/ros_to_uavcan_bridge.cpp#L54-L62

jbrsc commented 1 year ago

@zerodamage Here exists a problem, each of ros_to_uav:: invokes a different RPM.CPP instance. These do not communicate, and after each successful run, they overwrite each others parameters. Meaning for id 106 an array of [1000,0,0,0,0,0,0,0,0,0] is returned while at 110 an array of [0,0,0,0,1000,0,0,0,0,0] thereby affecting each other. (instead of running inside the same script)

Thereyby it might be necessary to only have 1 single ros_to_uav::conversionserver, which should include or pass an entire array of thruster inputs to the server?

zerodamage commented 1 year ago

Exactly, the change can be made in two ways, subscribe to all thrusters inside UAVCAN and collect the array (dirty) or change the thruster_manager so it also published the array directly (neat)

Best Regards/Venlig Hilsen Christian Mai

From: jbrsc @.> Sent: Friday, October 20, 2023 1:28:47 PM To: SubC-Partner/uavcan_ros_bridge @.> Cc: Christian Mai @.>; Mention @.> Subject: Re: [SubC-Partner/uavcan_ros_bridge] Parametrisize VESC can ID's (Issue #1)

@zerodamagehttps://github.com/zerodamage Here exists a problem, each of ros_to_uav:: invokes a different RPM.CPP instance. These do not communicate, and after each successful run, they overwrite each others parameters. Meaning for id 106 an array of [1000,0,0,0,0,0,0,0,0,0] is returned while at 110 an array of [0,0,0,0,1000,0,0,0,0,0] thereby affecting each other. (instead of running inside the same script)

Thereyby it might be necessary to only have 1 single ros_to_uav::conversionserver, which should include or pass an entire array of thruster inputs to the server?

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