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Fix build and node connection

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This commit is contained in:
Nicolas Hiillos
2023-01-09 17:09:02 +02:00
parent 6108816ca1
commit e8e076155a
2 changed files with 11 additions and 5 deletions
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5
src/axidraw_controller/CMakeLists.txt
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@@ -29,6 +29,11 @@ ament_target_dependencies(axidraw_controller
"robot_interfaces" "robot_interfaces"
) )
install(TARGETS
axidraw_controller
DESTINATION lib/${PROJECT_NAME})
install(PROGRAMS install(PROGRAMS
src/py/axidraw_serial.py src/py/axidraw_serial.py
DESTINATION lib/${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}

11
src/axidraw_controller/src/py/axidraw_serial.py
View File

@@ -8,6 +8,7 @@ from std_msgs.msg import Empty
import rclpy import rclpy
from rclpy.node import Node from rclpy.node import Node
from rclpy.qos import QoSProfile
#TODO delete this #TODO delete this
@@ -54,10 +55,10 @@ class AxidrawSerial(Node):
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:{}".format(port))
self.move_sub = self.create_subscription(Point, 'axidraw_move', move_callback) 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', penup_callback) self.penup_sub = self.create_subscription(Empty, 'axidraw_penup', self.penup_callback, qos_profile=QoSProfile(depth=1))
self.pendown_sub = self.create_subscription(Empty, 'axidraw_pendown', pendown_callback) self.pendown_sub = self.create_subscription(Empty, 'axidraw_pendown', self.pendown_callback, qos_profile=QoSProfile(depth=1))
self.path_sub = self.create_subscription(Points, 'axidraw_path', stroke_callback) self.path_sub = self.create_subscription(Points, 'axidraw_path', self.stroke_callback, qos_profile=QoSProfile(depth=1))
def get_status(self, request, response): def get_status(self, request, response):
response.status = status.get(request.resource, "Resource '{}' not found.".format(request.resource)) response.status = status.get(request.resource, "Resource '{}' not found.".format(request.resource))
@@ -93,7 +94,7 @@ class AxidrawSerial(Node):
self.ad.pendown() self.ad.pendown()
self.set_ready() self.set_ready()
def path_callback(self, msg): def stroke_callback(self, msg):
self.set_busy() self.set_busy()
self.get_logger().info("Received path: {}".format(msg)) self.get_logger().info("Received path: {}".format(msg))