Group motors #6
Group motors #6
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I think you may have to push again, I thought you made changes that aren't here. Might fix some of the problems.
Also, try building the code. It's a good way to avoid issues during the PR and can allow you to test your changes. If you are having trouble building/getting Intellisense to work, let me know and we can work through it.
| auto motor1{std::make_shared<Hardware::Motor>(1, "LeftBackMotor_1")}; | ||
| auto motor2{std::make_shared<Hardware::Motor>(2, "LeftMiddleMotor_2")}; | ||
| auto motor3{std::make_shared<Hardware::Motor>(3, "LeftFrontMotor_3")}; | ||
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| // motors 4 - 6 | ||
| auto motor4{std::make_shared<Hardware::Motor>(4, "RightBackMotor_4")}; | ||
| auto motor5{std::make_shared<Hardware::Motor>(5, "RightMiddleMotor_5")}; | ||
| auto motor6{std::make_shared<Hardware::Motor>(6, "RightFrontMotor_6")}; |
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The number can be dropped to avoid duplicating ID information.
| auto motor6{std::make_shared<Hardware::Motor>(6, "RightFrontMotor_6")}; | ||
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| // motor group 1 | ||
| auto motorGroup1{std::make_shared<Hardware::Group>("LeftGroupMotors")}; |
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For compatibility reasons, this group should be called left.
| motorGroup1->addControlGroup(motor3); | ||
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| // motor group 2 | ||
| auto motorGroup1{std::make_shared<Hardware::Group>("RightGroupMotors")}; |
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For compatibility reasons, this group should be called right.
| std::cout << "Motor setup complete!" << std::endl; | ||
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| // Setup ROS Interface | ||
| ros::init(argc, argv, "RosControlTest"); |
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The node name should change, since this would not be a test node.
| #include <vector> | ||
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| auto main(int32_t argc, char **argv) -> int32_t { | ||
| std::cout << "wrevolution ROS test start..." << std::endl; |
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This print can be removed.
| motorGroup1->addControlGroup(motor3); | ||
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| // motor group 2 | ||
| auto motorGroup1{std::make_shared<Hardware::Group>("RightGroupMotors")}; |
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There is already a motor group called motorGroup1, so this doesn't compile.
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| std::vector<std::unique_ptr<RosHandler::ControlGroupRosHandler>> controlGroupHandlers{}; | ||
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| controlGroupHandlers.reserve(testingGroups.size()); |
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I don't think testingGroups is declared, so this doesn't compile.
| ros::init(argc, argv, "RosControlTest"); | ||
| ros::NodeHandle node{}; | ||
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| std::vector<std::unique_ptr<RosHandler::ControlGroupRosHandler>> controlGroupHandlers{}; |
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There are only 2 groups of motors, so we probably don't need a dynamic list.
| for (const auto &controlGroup : testingGroups) { | ||
| controlGroupHandlers.push_back(std::make_unique<RosHandler::ControlGroupRosHandler>(node, controlGroup)); | ||
| } |
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This should probably be converted to 2 separate constructions.
| @@ -0,0 +1,58 @@ | |||
| #include "ControlGroup.h" | |||
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This file needs to move to its own folder with its own CMakeLists.txt to respect the structure of the project.
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