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Fixed broken LED #322

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merged 4 commits into from
Nov 3, 2021
Merged

Fixed broken LED #322

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0a169c1
Fixed broken LED
omichel Nov 3, 2021
511aa90
Fixed test
omichel Nov 3, 2021
46d93c5
Fixed test
omichel Nov 3, 2021
1acb0d7
Use Int32 instead of UInt32 to be closer to the Webots API, fixed test
omichel Nov 3, 2021
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6 changes: 3 additions & 3 deletions webots_ros2_driver/include/webots_ros2_driver/plugins/static/Ros2LED.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
#define ROS2_LED_HPP

#include <unordered_map>
#include <std_msgs/msg/color_rgba.hpp>
#include <std_msgs/msg/int32.hpp>
#include <webots/LED.hpp>
#include <webots_ros2_driver/utils/Utils.hpp>
#include <webots_ros2_driver/WebotsNode.hpp>
Expand All @@ -32,11 +32,11 @@ namespace webots_ros2_driver
void step() override;

private:
void onMessageReceived(const std_msgs::msg::ColorRGBA::SharedPtr message);
void onMessageReceived(const std_msgs::msg::Int32::SharedPtr message);

webots::LED *mLED;
webots_ros2_driver::WebotsNode *mNode;
rclcpp::Subscription<std_msgs::msg::ColorRGBA>::SharedPtr mSubscriber;
rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr mSubscriber;
};

}
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9 changes: 3 additions & 6 deletions webots_ros2_driver/src/plugins/static/Ros2LED.cpp
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Expand Up @@ -26,18 +26,15 @@ namespace webots_ros2_driver
assert(mLED != NULL);

const std::string topicName = parameters.count("topicName") ? parameters["topicName"] : "~/" + getFixedNameString(parameters["name"]);
mSubscriber = mNode->create_subscription<std_msgs::msg::ColorRGBA>(topicName, rclcpp::SensorDataQoS().reliable(), std::bind(&Ros2LED::onMessageReceived, this, std::placeholders::_1));
mSubscriber = mNode->create_subscription<std_msgs::msg::Int32>(topicName, rclcpp::SensorDataQoS().reliable(), std::bind(&Ros2LED::onMessageReceived, this, std::placeholders::_1));
}

void Ros2LED::step()
{
}

void Ros2LED::onMessageReceived(const std_msgs::msg::ColorRGBA::SharedPtr message)
void Ros2LED::onMessageReceived(const std_msgs::msg::Int32::SharedPtr message)
{
const int red = message->r * 255;
const int green = message->g * 255;
const int blue = message->b * 255;
mLED->set((red << 16) | (green << 8) | blue);
mLED->set(message->data);
}
}
4 changes: 2 additions & 2 deletions webots_ros2_tests/test/test_system_driver.py
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Expand Up @@ -25,7 +25,7 @@
import rclpy
from std_srvs.srv import Trigger
from sensor_msgs.msg import Range, Image, Imu, Illuminance
from std_msgs.msg import ColorRGBA, Float32
from std_msgs.msg import Int32, Float32
from geometry_msgs.msg import PointStamped
from launch import LaunchDescription
from launch_ros.actions import Node
Expand Down Expand Up @@ -119,7 +119,7 @@ def testPythonPluginService(self):
self.assertEqual(response.success, True)

def testLED(self):
publisher = self.__node.create_publisher(ColorRGBA, '/Pioneer_3_AT/led', 1)
publisher = self.__node.create_publisher(Int32, '/Pioneer_3_AT/led', 1)
check_start_time = time.time()
while publisher.get_subscription_count() == 0:
rclpy.spin_once(self.__node, timeout_sec=0.1)
Expand Down