L1.5/ros2aria
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implement robot state publishers (charge, etc) #2

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opened 2021-05-14 14:04:04 +02:00 by wkwolek · 1 comment
wkwolek commented 2021-05-14 14:04:04 +02:00
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  • /PIONIER6/RosAria/battery_recharge_state [std_msgs/Int8]
  • /PIONIER6/RosAria/battery_state_of_charge [std_msgs/Float32]
  • check what is the recharge state
  • figure out latching for recharge state
  • /PIONIER6/RosAria/robot_info [rosaria_msgs/RobotInfoMsg]
- [x] /PIONIER6/RosAria/battery_recharge_state [std_msgs/Int8] - [x] /PIONIER6/RosAria/battery_state_of_charge [std_msgs/Float32] - [ ] check what is the recharge state - [ ] figure out latching for recharge state - [x] /PIONIER6/RosAria/robot_info [rosaria_msgs/RobotInfoMsg]
wkwolek added this to the reimplement ros1 functionality project 2021-05-14 14:04:05 +02:00
wkwolek commented 2021-06-01 12:11:56 +02:00
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latching is not directly supported in ROS2, I think it can be emulated by modifying the QoS settings but I couldn't get that to work. I assume it's not that big of a problem if we publish this state continuously instead of once per change and latching, as we only actually publish it when there's a subscriber connected.

latching is not directly supported in ROS2, I think it can be emulated by modifying the QoS settings but I couldn't get that to work. I assume it's not that big of a problem if we publish this state continuously instead of once per change and latching, as we only actually publish it when there's a subscriber connected.
wkwolek referenced this issue from a commit 2021-06-17 13:54:40 +02:00
update comments, close #2
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Reference: L1.5/ros2aria#2
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