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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 12 months ago

zerodamage commented 12 months 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 11 months 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 11 months 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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