Humble signal lights #4
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…_robot into humble-signal-lights
Wihmajster
requested changes
Jan 21, 2025
|
|
||
| <exec_depend>rclpy</exec_depend> | ||
| <exec_depend>std_msgs</exec_depend> | ||
| <exec_depend>can_msgs</exec_depend> |
There was a problem hiding this comment.
Use ros2_socketcan_msgs in ros2
| <exec_depend>rclpy</exec_depend> | ||
| <exec_depend>std_msgs</exec_depend> | ||
| <exec_depend>can_msgs</exec_depend> | ||
| <exec_depend>lamps_nodes_py</exec_depend> |
| pkg: "lamps_control" | ||
| exec: "sent_msgs" | ||
| name: "sent_msgs" | ||
| parameters: ["$(find canbus_modules)/config/lamps.yaml"] |
There was a problem hiding this comment.
Did you mean sirius_signal_lights_driver package instead of canbus_modules?
There was a problem hiding this comment.
What is the purpose of this file?
| import rclpy | ||
| from rclpy.node import Node | ||
| from std_msgs.msg import String | ||
| from can_msgs.msg import Frame |
There was a problem hiding this comment.
Use message from ros2_socketcan_msgs instead
Comment on lines
+68
to
+70
| rclpy.spin(sent_canbus_messages) | ||
| sent_canbus_messages.destroy_node() | ||
| rclpy.shutdown() |
There was a problem hiding this comment.
Suggested change
| rclpy.spin(sent_canbus_messages) | |
| sent_canbus_messages.destroy_node() | |
| rclpy.shutdown() | |
| try: | |
| rclpy.spin(sent_canbus_messages) | |
| except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException): | |
| pass | |
| rclpy.try_shutdown() | |
| sent_canbus_messages.destroy_node() |
Comment on lines
+28
to
+34
| self.my_device_id = self.get_parameter('device_id').value | ||
| self.my_command_id = self.get_parameter('command_id').value | ||
| self.my_green = str(self.get_parameter('green').value) | ||
| self.my_yellow= str(self.get_parameter('yellow').value) | ||
| self.my_blue = str(self.get_parameter('blue').value) | ||
| self.my_red = str(self.get_parameter('red').value) | ||
| self.my_beeper = str(self.get_parameter('beeper').value) |
There was a problem hiding this comment.
Why there is my_ prefix everywhere?
Suggested change
| self.my_device_id = self.get_parameter('device_id').value | |
| self.my_command_id = self.get_parameter('command_id').value | |
| self.my_green = str(self.get_parameter('green').value) | |
| self.my_yellow= str(self.get_parameter('yellow').value) | |
| self.my_blue = str(self.get_parameter('blue').value) | |
| self.my_red = str(self.get_parameter('red').value) | |
| self.my_beeper = str(self.get_parameter('beeper').value) | |
| self.device_id = self.get_parameter('device_id').value | |
| self.command_id = self.get_parameter('command_id').value | |
| self.green = str(self.get_parameter('green').value) | |
| self.yellow= str(self.get_parameter('yellow').value) | |
| self.blue = str(self.get_parameter('blue').value) | |
| self.red = str(self.get_parameter('red').value) | |
| self.beeper = str(self.get_parameter('beeper').value) |
|
|
||
|
|
||
|
|
||
| def publish_can_frame(self, data_to_msg, frame: Frame = None): |
There was a problem hiding this comment.
Suggested change
| def publish_can_frame(self, data_to_msg, frame: Frame = None): | |
| def publish_can_frame(self, data_to_msg): |
| ]) | ||
| self.my_data = 0 | ||
|
|
||
| self.send_topic = self.declare_parameter('send_topic', '/sent_canbus_messages').value |
There was a problem hiding this comment.
Don't parametrize topic names, they can be easily remapped
Suggested change
| self.send_topic = self.declare_parameter('send_topic', '/sent_canbus_messages').value |
Comment on lines
+60
to
+62
| self.my_data = [int(self.my_blue), int(self.my_yellow), int(self.my_red), int(self.my_beeper)] | ||
|
|
||
| self.publish_can_frame(self.my_data) |
There was a problem hiding this comment.
self.my_data is not used anywhere else, it can be a local variable
Suggested change
| self.my_data = [int(self.my_blue), int(self.my_yellow), int(self.my_red), int(self.my_beeper)] | |
| self.publish_can_frame(self.my_data) | |
| my_data = [int(self.my_blue), int(self.my_yellow), int(self.my_red), int(self.my_beeper)] | |
| self.publish_can_frame(my_data) |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.