Obbart/RoboGlue_ROS
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Modificate le funzioni startup e heartbeat

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aggiunti timestamp,
da aggiungere un modo per far emettere un messaggio di shutdown prima
che il nodo venga killato.
This commit is contained in:
Emanuele
2019-11-04 15:39:10 +01:00
parent e21d5a13e3
commit dd918d71af
6 changed files with 21 additions and 9 deletions
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4
roboglue_ros_ws.workspace.user
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.9.1, 2019-11-04T11:07:27. -->
<!-- Written by QtCreator 4.9.1, 2019-11-04T11:24:53. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
@@ -124,7 +124,7 @@
<value type="QString">ROS_PACKAGE_PATH=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src:/opt/ros/kinetic/share</value>
<value type="QString">ROS_ROOT=/opt/ros/kinetic/share/ros</value>
<value type="QString">ROS_VERSION=1</value>
<value type="QString">SHLVL=608</value>
<value type="QString">SHLVL=614</value>
<value type="QString">TERM=xterm</value>
<value type="QString">_=/usr/bin/env</value>
</valuelist>

5
src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
View File

@@ -35,8 +35,9 @@
<param name="joint_jump_tresh" type="double" value="45.0" />
<rosparam command="load" file="$(find roboglue_ros)/config/jointDefaults.yaml" />
<!-- ROS node loop parameters -->
<param name="startup_msg" type="string" value="STARTUP/"/>
<param name="shutdown_msg" type="string" value="SHUTDOWN/"/>
<param name="startup_msg" type="string" value="STARTUP"/>
<param name="shutdown_msg" type="string" value="SHUTDOWN"/>
<param name="heartbeat_msg" type="string" value="HB"/>
<param name="loop_rate" type="int" value="100" />
<param name="msg_buffer" type="int" value="100" />
</group>

4
src/roboglue_ros/src/roboglue_follower.cpp
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@@ -124,7 +124,9 @@ void interfaceCallback(const std_msgs::String::ConstPtr& msg, internalState *is)
void heartBeatCallback(const ros::TimerEvent& t, publisherMap* p){
try {
std_msgs::String hbMsg;
hbMsg.data = std::string("HB/"+ros::this_node::getName()+"//"+std::to_string(t.current_real.toSec()));
hbMsg.data = std::string("HB:"+
boost::replace_all_copy(ros::this_node::getName(), "/", "")+
":" + std::to_string(t.current_real.toSec()));
p->find("/roboglue_com/ros2com/interface")->second->publish(hbMsg);
} catch (std::exception &e) {
ROS_ERROR("Impossible to Send HeartBeat -> %s", e.what());

4
src/roboglue_ros/src/roboglue_recorder.cpp
View File

@@ -198,7 +198,9 @@ void interfaceCallback(const std_msgs::String::ConstPtr& msg, internalState *is)
void heartBeatCallback(const ros::TimerEvent& t, publisherMap* p){
try {
std_msgs::String hbMsg;
hbMsg.data = std::string("HB/"+ros::this_node::getName()+"//"+std::to_string(t.current_real.toSec()));
hbMsg.data = std::string("HB:"+
boost::replace_all_copy(ros::this_node::getName(), "/", "")+
":" + std::to_string(t.current_real.toSec()));
p->find("/roboglue_com/ros2com/interface")->second->publish(hbMsg);
} catch (std::exception &e) {
ROS_ERROR("Impossible to Send HeartBeat -> %s", e.what());

5
src/roboglue_ros/src/roboglue_relay.cpp
View File

@@ -83,7 +83,10 @@ void interfaceCallback(const std_msgs::String::ConstPtr msg, mqtt::async_client*
void heartBeatCallback(const ros::TimerEvent& t, publisherMap* p){
std_msgs::String hbMsg;
try {
hbMsg.data = std::string("HB/"+ros::this_node::getName()+"//"+std::to_string(t.current_real.toSec()));
std_msgs::String hbMsg;
hbMsg.data = std::string("HB:"+
boost::replace_all_copy(ros::this_node::getName(), "/", "")+
":" + std::to_string(t.current_real.toSec()));
p->find("/roboglue_com/ros2com/interface")->second->publish(hbMsg);
} catch (std::exception &e) {
ROS_ERROR("Impossible to Send HeartBeat -> %s", e.what());

8
src/roboglue_ros/src/roboglue_utils.cpp
View File

@@ -24,13 +24,17 @@ bool loadCommonParameters(ros::NodeHandle* nh, COMMON_parameters *p) {
}
void declareStartup(publisherMap* publishers, COMMON_parameters* common_par){
common_par->startupMsg.data = common_par->startupMsg.data + ros::this_node::getName();
common_par->startupMsg.data = common_par->startupMsg.data + ":" +
boost::replace_all_copy(ros::this_node::getName(), "/", "") +
":" + std::to_string(ros::Time::now().toSec());
ROS_DEBUG("StartupMessage: %s", common_par->startupMsg.data.c_str());
publishers->find(common_par->ros_topics.interfacePub)->second->publish(common_par->startupMsg);
}
void declareShutdown(publisherMap* publishers, COMMON_parameters* common_par){
common_par->shutdownMsg.data = common_par->shutdownMsg.data + ros::this_node::getName();
common_par->shutdownMsg.data = common_par->shutdownMsg.data + ":" +
boost::replace_all_copy(ros::this_node::getName(), "/", "") +
":" + std::to_string(ros::Time::now().toSec());
ROS_DEBUG("StartupMessage: %s", common_par->shutdownMsg.data.c_str());
publishers->find(common_par->ros_topics.interfacePub)->second->publish(common_par->shutdownMsg);
}