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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
3 stars 2 forks source link

Split the published output of the icreate driver into multiple messages #1

Closed sbrodeur closed 7 years ago

sbrodeur commented 8 years ago

The irobot_create/SensorPacket message currently contains all information about the state of the robot. It would be better to use standard message types when possible. Note that odometry and motor-related messages are already implemented.

Contact-related: custom

bool wheeldropCaster bool wheeldropLeft bool wheeldropRight bool bumpLeft bool bumpRight bool wall bool cliffLeft bool cliffFrontLeft bool cliffFrontRight bool cliffRight bool virtualWall

Odometry-related:

int32 distance int32 angle http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html

Battery-related:

uint8 chargingState uint16 voltage int16 current int8 batteryTemperature uint16 batteryCharge uint16 batteryCapacity bool homeBase bool internalCharger http://docs.ros.org/api/sensor_msgs/html/msg/BatteryState.html

IR Range-related:

uint16 wallSignal uint16 cliffLeftSignal uint16 cliffFrontLeftSignal uint16 cliffFrontRightSignal uint16 cliffRightSignal http://docs.ros.org/api/sensor_msgs/html/msg/Range.html

Motor-related:

int16 requestedRightVelocity int16 requestedLeftVelocity

sgcarrier commented 8 years ago

Separation done. Couldn't use standard msg Range for the IR sensor as surface reflectivity has much impact on values so distance in m is very hard to establish. Furthermore, investigation should be done on the battery. When in low voltage, it will not charge correctly. I suspect the robot is always in Active mode and thus cannot charge even in standby. Perhaps a review of driver.py with proper mode selection in mind should be done.

sbrodeur commented 8 years ago

Excellent! Only one thing: I think we should use BatteryState directly instead of the new message BatteryIrobot. We don't need to publish the battery temperature, and home base or internal charging flags can be expressed by the power_supply_status variable (i.e. set to POWER_SUPPLY_STATUS_CHARGING). Can you make the changes and recommit?

sbrodeur commented 8 years ago

For the charging issue, maybe it is related to switching between active and passive modes: https://github.com/sbrodeur/ros-icreate-bbb/blob/master/src/irobot_create/bin/driver.py#L122

sgcarrier commented 8 years ago

Done. I will investigate the mode switching further. Commented it for now. I didn't add any special cases for when its docked or not concerning the POWER_SUPPLY_STATUS. I assume the irobot serial messages recieved for charging state indicate if its being charged ( regardless if its from the dock or the cable).

sgcarrier commented 8 years ago

Removed sensorPacket from driver.py and behaviours.py. commented out for now all behaviours related to docking.