nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Improve axidraw logging

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-03-28 17:53:21 +03:00
parent 6d6f2aa393
commit 1c02d8dce2
2 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
README.md
View File

@@ -62,6 +62,7 @@ ros2 run robot_controller dummy_controller
AxidrawController draws on the axidraw robot. AxidrawController draws on the axidraw robot.
Find the serial device in "/dev/", it is usually named "/dev/ttyACMX" where X is usually 0. Find the serial device in "/dev/", it is usually named "/dev/ttyACMX" where X is usually 0.
Try a different serial port if the axidraw_controller continuously logs a message about failing to connect.
``` sh ``` sh
ros2 launch axidraw_controller axidraw_controller serial_port:=/dev/ttyACM0 ros2 launch axidraw_controller axidraw_controller serial_port:=/dev/ttyACM0
``` ```

3
src/axidraw_controller/src/py/axidraw_serial.py
View File

@@ -83,7 +83,8 @@ class AxidrawSerial(Node):
self.status_srv = self.create_service(Status, 'axidraw_status', self.get_status) self.status_srv = self.create_service(Status, 'axidraw_status', self.get_status)
while not self.init_serial(port): while not self.init_serial(port):
self.get_logger().error("Failed to connect to axidraw on port:{}".format(port)) self.get_logger().error("Failed to connect to axidraw on port:{}, retrying".format(port))
self.get_logger().info("Successfully connected to axidraw on port:{}".format(port))
self.move_sub = self.create_subscription(Point, 'axidraw_move', self.move_callback, qos_profile=QoSProfile(depth=1)) self.move_sub = self.create_subscription(Point, 'axidraw_move', self.move_callback, qos_profile=QoSProfile(depth=1))
self.penup_sub = self.create_subscription(Empty, 'axidraw_penup', self.penup_callback, qos_profile=QoSProfile(depth=1)) self.penup_sub = self.create_subscription(Empty, 'axidraw_penup', self.penup_callback, qos_profile=QoSProfile(depth=1))