bug fixed

toppers · Nov 14, 2024 · 6070df5 · 6070df5
1 parent 27ce362
commit 6070df5
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Showing 3 changed files with 132 additions and 28 deletions.
diff --git a/drone_api/libs/pdu_info.py b/drone_api/libs/pdu_info.py
@@ -7,8 +7,8 @@
 HAKO_AVATOR_CHANNEL_ID_CMD_MOVE    = 6
 HAKO_AVATOR_CHANNEL_ID_CMD_LAND    = 7
 HAKO_AVATOR_CHANNEL_ID_GAME_CTRL   = 8
-HAKO_AVATOR_CHANNEL_ID_CMD_CAMERA  = 9
-HAKO_AVATOR_CHANNEL_ID_BATTERY_STAT= 10
+HAKO_AVATOR_CHANNEL_ID_BATTERY_STAT= 0
+HAKO_AVATOR_CHANNEL_ID_CMD_CAMERA  = 10
 HAKO_AVATOR_CHANNEL_ID_CAMERA_DATA = 11
 HAKO_AVATOR_CHANNEL_ID_CMD_CAMERA_MOVE  = 12
 HAKO_AVATOR_CHANNEL_ID_CAMERA_INFO = 13

diff --git a/drone_api/sample/camera.py b/drone_api/sample/camera.py
@@ -41,7 +41,7 @@ def main():
         print(f"Usage: {sys.argv[0]} <config_path>")
         return 1
 
-    client = hakosim.MultirotorClient(sys.argv[1])
+    client = hakosim.MultirotorClient(sys.argv[1], "DroneTransporter")
     client.confirmConnection()
     client.enableApiControl(True)
     client.armDisarm(True)

diff --git a/drone_api/sample/custom.json b/drone_api/sample/custom.json
@@ -1,5 +1,43 @@
 {
   "robots": [
+    {
+      "name": "Baggage1",
+      "rpc_pdu_readers": [],
+      "rpc_pdu_writers": [],
+      "shm_pdu_readers": [],
+      "shm_pdu_writers": [
+        {
+          "type": "geometry_msgs/Twist",
+          "org_name": "pos",
+          "name": "Baggage1_pos",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
+          "channel_id": 0,
+          "pdu_size": 112,
+          "write_cycle": 1,
+          "method_type": "SHM"
+        }
+      ]
+    },
+    {
+      "name": "Baggage2",
+      "rpc_pdu_readers": [],
+      "rpc_pdu_writers": [],
+      "shm_pdu_readers": [],
+      "shm_pdu_writers": [
+        {
+          "type": "geometry_msgs/Twist",
+          "org_name": "pos",
+          "name": "Baggage2_pos",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
+          "channel_id": 0,
+          "pdu_size": 112,
+          "write_cycle": 1,
+          "method_type": "SHM"
+        }
+      ]
+    },
     {
       "name": "DroneTransporter",
       "rpc_pdu_readers": [],
@@ -12,7 +50,7 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReader",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReaderConverter",
           "channel_id": 0,
-          "pdu_size": 88,
+          "pdu_size": 112,
           "write_cycle": 1,
           "method_type": "SHM"
         },
@@ -23,7 +61,7 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReader",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReaderConverter",
           "channel_id": 1,
-          "pdu_size": 48,
+          "pdu_size": 72,
           "write_cycle": 1,
           "method_type": "SHM"
         },
@@ -34,7 +72,18 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
           "channel_id": 3,
-          "pdu_size": 56,
+          "pdu_size": 80,
+          "write_cycle": 1,
+          "method_type": "SHM"
+        },
+        {
+          "type": "hako_msgs/Disturbance",
+          "org_name": "drone_disturbance",
+          "name": "DroneTransporter_drone_disturbance",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReader",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReaderConverter",
+          "channel_id": 4,
+          "pdu_size": 88,
           "write_cycle": 1,
           "method_type": "SHM"
         },
@@ -45,7 +94,7 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
           "channel_id": 5,
-          "pdu_size": 32,
+          "pdu_size": 64,
           "write_cycle": 1,
           "method_type": "SHM"
         },
@@ -56,7 +105,7 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
           "channel_id": 6,
-          "pdu_size": 48,
+          "pdu_size": 80,
           "write_cycle": 1,
           "method_type": "SHM"
         },
@@ -67,18 +116,29 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
           "channel_id": 7,
-          "pdu_size": 32,
+          "pdu_size": 64,
           "write_cycle": 1,
           "method_type": "SHM"
         },
         {
-          "type": "hako_msgs/HakoCmdMagnetHolder",
-          "org_name": "hako_cmd_magnet_holder",
-          "name": "DroneTransporter_hako_cmd_magnet_holder",
+          "type": "hako_msgs/GameControllerOperation",
+          "org_name": "hako_cmd_game",
+          "name": "DroneTransporter_hako_cmd_game",
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
           "channel_id": 8,
-          "pdu_size": 16,
+          "pdu_size": 136,
+          "write_cycle": 1,
+          "method_type": "SHM"
+        },
+        {
+          "type": "hako_msgs/HakoBatteryStatus",
+          "org_name": "hako_battery",
+          "name": "DroneTransporter_hako_battery",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReader",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReaderConverter",
+          "channel_id": 9,
+          "pdu_size": 56,
           "write_cycle": 1,
           "method_type": "SHM"
         },
@@ -89,7 +149,29 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
           "channel_id": 10,
-          "pdu_size": 20,
+          "pdu_size": 44,
+          "write_cycle": 1,
+          "method_type": "SHM"
+        },
+        {
+          "type": "hako_msgs/HakoCmdCameraMove",
+          "org_name": "hako_cmd_camera_move",
+          "name": "DroneTransporter_hako_cmd_camera_move",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
+          "channel_id": 12,
+          "pdu_size": 64,
+          "write_cycle": 1,
+          "method_type": "SHM"
+        },
+        {
+          "type": "hako_msgs/HakoCmdMagnetHolder",
+          "org_name": "hako_cmd_magnet_holder",
+          "name": "DroneTransporter_hako_cmd_magnet_holder",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
+          "channel_id": 14,
+          "pdu_size": 40,
           "write_cycle": 1,
           "method_type": "SHM"
         }
@@ -102,18 +184,29 @@
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
           "channel_id": 2,
-          "pdu_size": 280,
+          "pdu_size": 304,
           "write_cycle": 1,
           "method_type": "SHM"
         },
         {
-          "type": "hako_msgs/Disturbance",
-          "org_name": "drone_disturbance",
-          "name": "DroneTransporter_drone_disturbance",
+          "type": "hako_msgs/HakoCameraData",
+          "org_name": "hako_camera_data",
+          "name": "DroneTransporter_hako_camera_data",
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
-          "channel_id": 4,
-          "pdu_size": 8,
+          "channel_id": 11,
+          "pdu_size": 102968,
+          "write_cycle": 1,
+          "method_type": "SHM"
+        },
+        {
+          "type": "hako_msgs/HakoCameraInfo",
+          "org_name": "hako_cmd_camera_info",
+          "name": "DroneTransporter_hako_cmd_camera_info",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
+          "channel_id": 13,
+          "pdu_size": 56,
           "write_cycle": 1,
           "method_type": "SHM"
         },
@@ -123,20 +216,31 @@
           "name": "DroneTransporter_hako_status_magnet_holder",
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
-          "channel_id": 9,
-          "pdu_size": 8,
+          "channel_id": 15,
+          "pdu_size": 32,
           "write_cycle": 1,
           "method_type": "SHM"
         },
         {
-          "type": "hako_msgs/HakoCameraData",
-          "org_name": "hako_camera_data",
-          "name": "DroneTransporter_hako_camera_data",
+          "type": "sensor_msgs/PointCloud2",
+          "org_name": "lidar_points",
+          "name": "DroneTransporter_lidar_points",
           "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
           "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
-          "channel_id": 11,
-          "pdu_size": 102668,
-          "write_cycle": 1,
+          "channel_id": 16,
+          "pdu_size": 177400,
+          "write_cycle": 5,
+          "method_type": "SHM"
+        },
+        {
+          "type": "geometry_msgs/Twist",
+          "org_name": "lidar_pos",
+          "name": "DroneTransporter_lidar_pos",
+          "class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter",
+          "conv_class_name": "Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter",
+          "channel_id": 17,
+          "pdu_size": 72,
+          "write_cycle": 5,
           "method_type": "SHM"
         }
       ]