Difference between revisions of "Migrate Phidgets to catkin"
From wikidb
(→Set Up Phidgets Catkin Package) |
(→Set Up Phidgets Catkin Package) |
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* [[Phidgets CMakeLists]] | * [[Phidgets CMakeLists]] | ||
* No modifications to <tt>package.xml</tt>. | * No modifications to <tt>package.xml</tt>. | ||
+ | |||
+ | = Execute = | ||
+ | |||
+ | * [[Phidgets Motor Controller Test]] provides test background. | ||
+ | |||
+ | rosrun phidgets_cat motor_control_hc | ||
+ | |||
+ | = Modifications to the motor controller = | ||
+ | |||
+ | diff src/motor_control_hc.cpp.org src/motor_control_hc.cpp | ||
+ | 389c389,390 | ||
+ | < std::string odometry_topic = "odom"; | ||
+ | --- | ||
+ | > //std::string odometry_topic = "odom"; | ||
+ | > std::string odometry_topic = "disable"; |
Revision as of 10:46, 12 April 2016
Contents
Background
motor_control_hc listens to odom and cmd_vel messages. Configuring this feedback system is intuitive and the control does not read param values properly. The most straight forward means to debug the controller was to port it to catkin. This page documents how that was done. Other Phidgets components should be similar.
Reference
Set Up Phidgets Catkin Package
cd ~/catkin_ws_indigo/src catkin_create_pkg phidgets_cat std_msgs rospy roscpp cd .. catkin_make cd src/phidgets_cat/ cp ~/ros_packages/phidgets/src/motor_control_hc.cpp src cp ~/ros_packages/phidgets/msg_gen/cpp/include/phidgets/motor_params.h include/phidgets_cat emacs CMakeLists.txt& emacs package.xml& cd .. catkin_make
- Phidgets CMakeLists
- No modifications to package.xml.
Execute
- Phidgets Motor Controller Test provides test background.
rosrun phidgets_cat motor_control_hc
Modifications to the motor controller
diff src/motor_control_hc.cpp.org src/motor_control_hc.cpp 389c389,390 < std::string odometry_topic = "odom"; --- > //std::string odometry_topic = "odom"; > std::string odometry_topic = "disable";