Robot driver wrapper update.

samyarsadat · Sep 9, 2024 · 9d0e0eb · 9d0e0eb
1 parent 67b0e26
commit 9d0e0eb
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Showing 5 changed files with 12 additions and 8 deletions.
diff --git a/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/package.xml b/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_robot_driver_wrapper</name>
-  <version>2024.8.25</version>
+  <version>2024.9.3</version>
   <description>The ROS Robot Project: ROS 2 wrapper for robot hardware driver.</description>
   <maintainer email="samyarsadat@gigawhat.net">Samyar Sadat Akhavi</maintainer>
   <license>GPL-3.0-only</license>

diff --git a/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/config.py b/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/config.py
@@ -16,15 +16,15 @@
 #  You should have received a copy of the GNU General Public License
 #  along with this program.  If not, see <https: www.gnu.org/licenses/>.
 
-PROGRAM_VERSION = "2024.8.25"
+PROGRAM_VERSION = "2024.9.3"
 from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, LivelinessPolicy
 import sys
 
 
 # ---- Program Info ----
 class ProgramInfoConfig:
     VERSION = PROGRAM_VERSION
-    VERSION_DATE = "2024/08/25 @ 09:05PM UTC"
+    VERSION_DATE = "2024/08/03 @ 15:32PM UTC"
 
 
 class ProgramConfig:

diff --git a/...ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/interface_callbacks.py b/...ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/interface_callbacks.py
@@ -132,7 +132,7 @@ def micro_switches_callback() -> None:
         msg.min_range = ros_robot_interface.micro_switches[i].get_trigger_distance()
         msg.radiation_type = Range.INFRARED   # Not actually infrared, just a normal micro switches.
         msg.field_of_view = 90.0
-        msg.range = (float("inf") if ros_robot_interface.micro_switches[i].get_latest_state() else float("-inf"))
+        msg.range = (float("-inf") if ros_robot_interface.micro_switches[i].get_latest_state() else float("inf"))
         msg.header.frame_id = RosFrameIds.MICRO_SW_SENS_BASE_FRAME_ID.format(get_ros_node().micro_switch_pubs[i].topic.split("/")[2])
         msg.header.stamp.sec, msg.header.stamp.nanosec = ros_robot_interface.micro_switches[i].get_last_timestamp()
         get_ros_node().micro_switch_pubs[i].publish(msg)

diff --git a/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/main.py b/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/main.py
@@ -35,14 +35,18 @@ def main():
     try:
         while True:
             if not wrapper_ros_thread.is_alive():
-                print("The driver wrapper thread has died. Terminating program.")
+                if is_ros_node_initialized():
+                    get_ros_node().get_logger().fatal("The driver wrapper thread has died. Terminating program.")
+                else:
+                    print("The driver wrapper thread has died. Terminating program.")
                 RosRobotDriverThread.stop_ros_thread(True)
                 sys.exit(1)
 
             if not RosRobotDriverThread.is_alive():
                 if is_ros_node_initialized():
                     get_ros_node().get_logger().fatal("The robot driver thread has died. Terminating program.")
-
+                else:
+                    print("The robot driver thread has died. Terminating program.")
                 stop_wrapper_ros_thread = True
                 wrapper_ros_thread.join()
                 sys.exit(1)

diff --git a/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/ros_main.py b/Source Code/ros_ws_robot/src/ros_robot_driver_wrapper/ros_robot_driver_wrapper/ros_main.py
@@ -80,11 +80,11 @@ def __init__(self, context: rclpy.Context):
             self.ultrasonic_sens_pubs.append(self.create_publisher(Range, f"range_sens/ultrasonic/{name}", qos_profile=RosConfig.QOS_RELIABLE, callback_group=self._reentrant_cb_group))
 
         for i in range(0, 4):
-            name = ros_robot_interface.front_cliff_sensors[i].get_id().split("_")[2:5]
+            name = ros_robot_interface.front_cliff_sensors[i].get_id().split("_")[2:4]
             self.cliff_sens_pubs.append(self.create_publisher(Range, f"range_sens/cliff/{'_'.join(name)}", qos_profile=RosConfig.QOS_RELIABLE, callback_group=self._reentrant_cb_group))
 
         for i in range(0, 4):
-            name = ros_robot_interface.back_cliff_sensors[i].get_id().split("_")[2:5]
+            name = ros_robot_interface.back_cliff_sensors[i].get_id().split("_")[2:4]
             self.cliff_sens_pubs.append(self.create_publisher(Range, f"range_sens/cliff/{'_'.join(name)}", qos_profile=RosConfig.QOS_RELIABLE, callback_group=self._reentrant_cb_group))
 
     @staticmethod