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ROS2: Add parameter for PACMod DBC version #87

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merged 2 commits into from
Sep 13, 2021
Merged

ROS2: Add parameter for PACMod DBC version #87

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bab2e0d
Add parameter for specifying the major version of the PACMod DBC in u…
icolwell-as Sep 8, 2021
2b11901
Satisfy code style CI, add verbose test results to CI
icolwell-as Sep 9, 2021
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2 changes: 1 addition & 1 deletion .circleci/config.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ commands:
source /opt/ros/*/setup.bash
cd ..
colcon test --packages-select $CIRCLE_PROJECT_REPONAME
colcon test-result
colcon test-result --verbose

jobs:
foxy:
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1 change: 1 addition & 0 deletions include/pacmod3/pacmod3_node.hpp
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Expand Up @@ -120,6 +120,7 @@ class PACMod3Node final

VehicleType vehicle_type_;
std::string frame_id_;
unsigned int dbc_major_version_;
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Pacmod3TxRosMsgHandler tx_handler_;
std::map<unsigned int, std::tuple<bool, bool, bool>> system_statuses;

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13 changes: 11 additions & 2 deletions src/pacmod3_node.cpp
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Expand Up @@ -45,6 +45,7 @@ PACMod3Node::PACMod3Node(rclcpp::NodeOptions options)
{
std::string vehicle_type_string = this->declare_parameter("vehicle_type", "POLARIS_GEM");
frame_id_ = this->declare_parameter("frame_id", "pacmod");
dbc_major_version_ = this->declare_parameter("dbc_major_version", 3);

if (vehicle_type_string == "INTERNATIONAL_PROSTAR_122") {
vehicle_type_ = VehicleType::INTERNATIONAL_PROSTAR_122;
Expand All @@ -70,8 +71,16 @@ PACMod3Node::PACMod3Node(rclcpp::NodeOptions options)
"An invalid vehicle type was entered. Defaulting to POLARIS_GEM.");
}

RCLCPP_INFO(this->get_logger(), "Got vehicle type: %s", vehicle_type_string.c_str());
RCLCPP_INFO(this->get_logger(), "Got frame id: %s", frame_id_.c_str());
RCLCPP_INFO(this->get_logger(), "vehicle_type: %s", vehicle_type_string.c_str());
RCLCPP_INFO(this->get_logger(), "frame_id: %s", frame_id_.c_str());
RCLCPP_INFO(this->get_logger(), "dbc_major_version: %d", dbc_major_version_);

if (dbc_major_version_ != 3) {
RCLCPP_ERROR(
this->get_logger(),
"This driver currently only supports PACMod DBC version 3");
rclcpp::shutdown();
}
}

PACMod3Node::~PACMod3Node()
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