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added namespace config to debug steer #81

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merged 1 commit into from
Apr 4, 2024
Merged

added namespace config to debug steer #81

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3 changes: 1 addition & 2 deletions rb_ws/src/buggy/launch/debug_steer.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
<!-- roslaunch buggy debug_steer.launch -->

<launch>
<node name="debug_steer" pkg="buggy" type="debug_steer.py" output="screen"/>

<node name="debug_steer" pkg="buggy" type="debug_steer.py" output="screen" args="--self_name NAND"/>
</launch>
11 changes: 8 additions & 3 deletions rb_ws/src/buggy/scripts/debug/debug_steer.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import argparse

import rospy
from std_msgs.msg import Float64
Expand All @@ -12,9 +13,9 @@ class DebugController():
Sends oscillating steering command for firmware debug
"""

def __init__(self) -> None:
def __init__(self, self_name) -> None:
self.steer_publisher = rospy.Publisher(
"SC/buggy/input/steering", Float64, queue_size=1)
self_name + "/buggy/input/steering", Float64, queue_size=1)
self.rate = 1000

def sin_steer(self, tick_count):
Expand Down Expand Up @@ -42,6 +43,10 @@ def loop(self):
rate.sleep()

if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--self_name", type=str, help="name of ego-buggy", required=True)
args, _ = parser.parse_known_args()

rospy.init_node("debug_steer")
d = DebugController()
d = DebugController(args.self_name)
d.loop()
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