Multi-Robot Support #29
Conversation
There was a problem hiding this comment.
Overall, this looks good @JBVAkshaya! Thanks for submitting this! This will be really helpful for folks. I've left some comments for improvements, but the general structure looks good!
EDIT: Also, you should be able to run clang-format to address these issues. The devcontainer runs that automatically
There was a problem hiding this comment.
This seems like it's mostly a copy of sitl.launch.yaml. Why not just modify that file?
There was a problem hiding this comment.
For multi-robot purpose we have to instantiate gazebo world only once. The clock bridge has to be instantiated once as well. Hence, I had to break down to sitl.launch.yaml into two files. For multi-robot setup, the gazebo world is loaded separately (in blue_demos). I did not archive sitl.launch.yaml as others might be using this in current format. Their code will break.
There was a problem hiding this comment.
This file is basically the same as ardusub.launch.yaml. Is there anything different about this and the modified SITL launch file that can't be integrated into the main launch files?
There was a problem hiding this comment.
The param for sitl_multi.launch.yaml does not allow to set gazebo_world. Given we call sitl_mult.launch.yaml in ns_ardusub.launch.yaml I had to create a separate file.
| ekf_origin_pub_ = | ||
| this->create_publisher<geographic_msgs::msg::GeoPointStamped>("/mavros/global_position/set_gp_origin", qos); | ||
|
|
||
| std::string topic_name_ = "/mavros/global_position/set_gp_origin"; |
There was a problem hiding this comment.
the _ suffix is reserved for member variables-
| hardware_interface::return_type MavrosOdomSensor::read( | ||
| const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) | ||
| { | ||
| if (rclcpp::ok()) { |
There was a problem hiding this comment.
Why do we need to spin here?
There was a problem hiding this comment.
I am not exactly sure of the reason. But it does not work without spin. I got the solution from: https://github.com/PickNikRobotics/topic_based_ros2_control/blob/main/src/topic_based_system.cpp#L208
|
|
||
| override_rc_pub_ = | ||
| node_->create_publisher<mavros_msgs::msg::OverrideRCIn>("mavros/rc/override", rclcpp::SystemDefaultsQoS()); | ||
| std::string node_name_; |
There was a problem hiding this comment.
node_name_ is a bit confusing as the name here
| if (namespace_ != "") { | ||
| RCLCPP_INFO( // NOLINT | ||
| rclcpp::get_logger("ThrusterHardware"), "Setting parameters for namespace: %s", namespace_.c_str()); | ||
| node_name_ = namespace_ + "param/set_parameters"; |
There was a problem hiding this comment.
Should probably split this into two variables for readability
| std::vector<std::string> ThrusterHardware::split(const std::string & str, char delimiter) | ||
| { | ||
| std::vector<std::string> tokens; | ||
| std::stringstream ss(str); | ||
| std::string token; | ||
| while (std::getline(ss, token, delimiter)) { | ||
| tokens.push_back(token); | ||
| } | ||
| return tokens; | ||
| } | ||
|
|
||
| std::string ThrusterHardware::concatenate_strings(const std::vector<std::string> & vec) | ||
| { | ||
| std::string result; | ||
| for (size_t i = 0; i < vec.size(); ++i) { | ||
| result += vec[i]; | ||
| if (i != vec.size() - 1) { | ||
| result += "/"; | ||
| } | ||
| } | ||
| return result; | ||
| } | ||
|
|
There was a problem hiding this comment.
These don't need to be class functions. You can make these anonymous functions.
| return tokens; | ||
| } | ||
|
|
||
| std::string ThrusterHardware::concatenate_strings(const std::vector<std::string> & vec) |
There was a problem hiding this comment.
Is there anything in the STL that you can use for this? You might be able to use the views API
2 participants
Changes Made
Multi-Robot Support
Tested on iron