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Modify namespace for operation cmd topic: staro_drive -> drive #406

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Apr 5, 2015
Merged

Modify namespace for operation cmd topic: staro_drive -> drive #406

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12 changes: 6 additions & 6 deletions jsk_2015_06_hrp_drc/drc_task_common/euslisp/vehicle/robot-driving-controller.l
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Original file line number Diff line number Diff line change
Expand Up @@ -58,22 +58,22 @@
)

;; subscriber for operator command
(ros::subscribe "/staro_drive/operation/accel_cmd"
(ros::subscribe "/drive/operation/accel_cmd"
std_msgs::Float64
#'send self :accel-callback)
(ros::subscribe "/staro_drive/operation/brake_cmd"
(ros::subscribe "/drive/operation/brake_cmd"
std_msgs::Float64
#'send self :brake-callback)
(ros::subscribe "/staro_drive/operation/grasp_cmd"
(ros::subscribe "/drive/operation/grasp_cmd"
std_msgs::String
#'send self :grasp-callback)
(ros::subscribe "/staro_drive/operation/handle_cmd"
(ros::subscribe "/drive/operation/handle_cmd"
std_msgs::Float64
#'send self :handle-callback)
(ros::subscribe "/rfsensor"
geometry_msgs::WrenchStamped
#'send self :rfsensor-callback)
(ros::advertise "/staro_drive/pedal_state" std_msgs::Bool 1)
(ros::advertise "/drive/pedal_state" std_msgs::Bool 1)
)

;; handle command
Expand Down Expand Up @@ -182,7 +182,7 @@
)
(let ((pub-msg (instance std_msgs::Bool :init)))
(send pub-msg :data accel-flag)
(ros::publish "/staro_drive/pedal_state" pub-msg)
(ros::publish "/drive/pedal_state" pub-msg)
)
)
(:brake-callback
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6 changes: 3 additions & 3 deletions jsk_2015_06_hrp_drc/drc_task_common/launch/fc/vehicle/handle_operation_interface.launch
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Expand Up @@ -8,8 +8,8 @@

<node pkg="drc_task_common" type="DriveCmdInterrupter.py" name="drive_cmd_interrupter" output="screen"/>

<node pkg="topic_tools" type="throttle" name="handle_throttle" args="messages /staro_drive/operation/handle_cmd_raw 100 /staro_drive/operation/handle_cmd" />
<node pkg="topic_tools" type="throttle" name="accel_throttle" args="messages /staro_drive/operation/accel_cmd_raw 100 /staro_drive/operation/accel_cmd" />
<node pkg="topic_tools" type="throttle" name="brake_throttle" args="messages /staro_drive/operation/brake_cmd_raw 100 /staro_drive/operation/brake_cmd" />
<node pkg="topic_tools" type="throttle" name="handle_throttle" args="messages /drive/operation/handle_cmd_raw 100 /drive/operation/handle_cmd" />
<node pkg="topic_tools" type="throttle" name="accel_throttle" args="messages /drive/operation/accel_cmd_raw 100 /drive/operation/accel_cmd" />
<node pkg="topic_tools" type="throttle" name="brake_throttle" args="messages /drive/operation/brake_cmd_raw 100 /drive/operation/brake_cmd" />

</launch>
14 changes: 7 additions & 7 deletions jsk_2015_06_hrp_drc/drc_task_common/src/drc_task_common/DriveCmdInterrupter.py
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Expand Up @@ -19,15 +19,15 @@ def __init__(self, node_name = "command_selector", rate = 10.0):
rospy.Subscriber("/handle_controller/accel", Float64, self.accel_cmd_callback)
rospy.Subscriber("/handle_controller/brake", Float64, self.brake_cmd_callback)
rospy.Subscriber("/handle_controller/gear", Int8, self.recognition_flag_callback)
rospy.Subscriber("/staro_drive/grasp_cmd", String, self.grasp_cmd_callback)
rospy.Subscriber("/drive/grasp_cmd", String, self.grasp_cmd_callback)

# publisher
self.handle_publisher = rospy.Publisher("/staro_drive/operation/handle_cmd_raw", Float64)
self.accel_publisher = rospy.Publisher("/staro_drive/operation/accel_cmd_raw", Float64)
self.brake_publisher = rospy.Publisher("/staro_drive/operation/brake_cmd_raw", Float64)
self.grasp_publisher = rospy.Publisher("/staro_drive/operation/grasp_cmd", String)
self.operation_flag_handle_publisher = rospy.Publisher("/staro_drive/operation/flag/handle", Bool)
self.operation_flag_pedal_publisher = rospy.Publisher("/staro_drive/operation/flag/pedal", Bool)
self.handle_publisher = rospy.Publisher("/drive/operation/handle_cmd_raw", Float64)
self.accel_publisher = rospy.Publisher("/drive/operation/accel_cmd_raw", Float64)
self.brake_publisher = rospy.Publisher("/drive/operation/brake_cmd_raw", Float64)
self.grasp_publisher = rospy.Publisher("/drive/operation/grasp_cmd", String)
self.operation_flag_handle_publisher = rospy.Publisher("/drive/operation/flag/handle", Bool)
self.operation_flag_pedal_publisher = rospy.Publisher("/drive/operation/flag/pedal", Bool)

def set_operation_flag(self, pub, flag):
operation_flag = Bool()
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