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Added support for publishing raw wheel encoder ticks #11

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Added support for publishing raw wheel encoder ticks #11

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9 changes: 9 additions & 0 deletions include/husky_base/husky_hardware.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@
#include "ros/ros.h"
#include "sensor_msgs/JointState.h"
#include "husky_msgs/HuskyStatus.h"
#include "husky_msgs/HuskyWheelTick.h"

#include <string>

namespace husky_base
Expand All @@ -54,6 +56,7 @@ namespace husky_base
HuskyHardware(ros::NodeHandle nh, ros::NodeHandle private_nh);

void updateJointsFromHardware();
void updateWheelTicksFromHardware();

void writeCommandsToHardware();

Expand Down Expand Up @@ -86,11 +89,17 @@ namespace husky_base
ros::Publisher diagnostic_publisher_;
husky_msgs::HuskyStatus husky_status_msg_;
diagnostic_updater::Updater diagnostic_updater_;

HuskyHardwareDiagnosticTask<clearpath::DataSystemStatus> system_status_task_;
HuskyHardwareDiagnosticTask<clearpath::DataPowerSystem> power_status_task_;
HuskyHardwareDiagnosticTask<clearpath::DataSafetySystemStatus> safety_status_task_;
HuskySoftwareDiagnosticTask software_status_task_;

//Wheel tick support
ros::Publisher wheel_publisher_;
husky_msgs::HuskyWheelTick husky_wheel_msg_;
void initializeWheelTicks();

// ROS Parameters
double wheel_diameter_, max_accel_, max_speed_;

Expand Down
2 changes: 2 additions & 0 deletions src/husky_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@ void controlLoop(const ros::TimerEvent &event, husky_base::HuskyHardware &husky,
{
husky.reportLoopFrequency(event);
husky.updateJointsFromHardware();
husky.updateWheelTicksFromHardware();

cm.update(event.current_real, event.current_real - event.last_real);
husky.writeCommandsToHardware();
}
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31 changes: 31 additions & 0 deletions src/husky_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ namespace husky_base
connect(port);
resetTravelOffset();
initializeDiagnostics();
initializeWheelTicks();
registerControlInterfaces();
}

Expand Down Expand Up @@ -128,6 +129,10 @@ namespace husky_base
diagnostic_publisher_ = nh_.advertise<husky_msgs::HuskyStatus>("status", 10);
}

void HuskyHardware::initializeWheelTicks()
{
wheel_publisher_ = nh_.advertise<husky_msgs::HuskyWheelTick>("wheel_tick", 10);
}

/**
* Register interfaces with the RobotHW interface manager, allowing ros_control operation
Expand Down Expand Up @@ -160,11 +165,37 @@ namespace husky_base
diagnostic_publisher_.publish(husky_status_msg_);
}

/*Update the wheel ticks and publish */
void HuskyHardware::updateWheelTicksFromHardware()
{
Msg<clearpath::DataEncodersRaw>::Ptr enc = Msg<clearpath::DataEncodersRaw>::getUpdate();

int index = 0;
if (enc)
{
husky_wheel_msg_.name.clear();
husky_wheel_msg_.tickCount.clear();

//ROS_INFO("Found %d encoders", enc->getCount());
husky_wheel_msg_.name.push_back("left");
husky_wheel_msg_.tickCount.push_back(enc->getTicks(index));

index++;
husky_wheel_msg_.name.push_back("right");
husky_wheel_msg_.tickCount.push_back(enc->getTicks(index));

husky_wheel_msg_.header.stamp = ros::Time::now();
wheel_publisher_.publish(husky_wheel_msg_);
}
}

/**
* Pull latest speed and travel measurements from MCU, and store in joint structure for ros_control
*/
void HuskyHardware::updateJointsFromHardware()
{


Msg<clearpath::DataEncoders>::Ptr enc = Msg<clearpath::DataEncoders>::getUpdate();
if (enc)
{
Expand Down