Updated param names for can yaml and config node

KITrobotics · Feb 3, 2019 · 6196314 · 6196314
1 parent 453ebc7
commit 6196314
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Showing 5 changed files with 9 additions and 7 deletions.
diff --git a/config/can_ati_config.yaml b/config/can_ati_config.yaml
@@ -1,4 +1,4 @@
-COMM:
+HWComm:
     type: 1                 # CAN_PEAK_USB
     path: /dev/pcan32
     baudrate: 0x0           # CANITFBAUD_250K

diff --git a/config/socket_can_ati.yaml b/config/socket_can_ati.yaml
@@ -1,6 +1,7 @@
-CAN:
+HWComm:
     type: 5           # CANITFTYPE_SOCKET_CAN
     path: can0
+    #baudrate: 0x04     # CANITFBAUD_250K - for socket not needed
 
 FTS:
     base_identifier: 0x20

diff --git a/launch/config.launch b/launch/config.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-  <rosparam command="load" ns="fts" file="$(find ati_force_torque)/config/can_ati_config.yaml"/>
+<!--   <rosparam command="load" ns="fts" file="$(find ati_force_torque)/config/can_ati_config.yaml"/> -->
+  <rosparam command="load" ns="fts" file="$(find ati_force_torque)/config/socket_can_ati_config.yaml"/>
 
   <node pkg="ati_force_torque" type="ati_force_torque_config" name="fts_config" ns="fts" cwd="node" respawn="false" output="screen">
   </node>

diff --git a/launch/driver_pluginlib.launch b/launch/driver_pluginlib.launch
@@ -11,7 +11,7 @@
         <remap from="robot_description" to="sensor_description" />
     </node>
 
-    <include ns="fts" file="$(find ati_force_torque)/launch/sensor_parameters_rs485.launch"/>
+    <include ns="fts" file="$(find ati_force_torque)/launch/sensor_parameters_can_socket.launch"/>
 
     <!-- start FTS Driver Node -->
     <node pkg="force_torque_sensor" type="force_torque_sensor_node" name="fts" ns="fts" cwd="node" respawn="false" output="screen">

diff --git a/src/force_torque_sensor_config.cpp b/src/force_torque_sensor_config.cpp
@@ -91,9 +91,9 @@ ForceTorqueConfig::ForceTorqueConfig()
   srvSever_Reset_ = nh_.advertiseService("Reset", &ForceTorqueConfig::srvCallback_Reset, this);
 
   // Read data from parameter server
-  nh_.param<int>("CAN/type", canType, -1);
-  nh_.param<std::string>("CAN/path", canPath, "");
-  nh_.param<int>("CAN/baudrate", canBaudrate, -1);
+  nh_.param<int>("HWComm/type", canType, -1);
+  nh_.param<std::string>("HWComm/path", canPath, "");
+  nh_.param<int>("HWComm/baudrate", canBaudrate, -1);
   nh_.param<int>("FTS/base_identifier", ftsBaseID, -1);
   nh_.param<int>("FTS/future_baudrate", ftsFutureBaudrate, 7);
   nh_.param<int>("FTS/future_base_id", ftsFutureBaseID, 0x20);