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[pr2eus] Add key topic-name to :send-cmd-vel-raw #481

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merged 4 commits into from May 28, 2022
Merged

[pr2eus] Add key topic-name to :send-cmd-vel-raw #481

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f0f4e66
Add key :topic-name to send-cmd-vel-raw
nakane11 May 21, 2022
94b1beb
Use let instead of setq
nakane11 May 21, 2022
af9016f
Add :namespace key
nakane11 May 23, 2022
dd725e4
Merge branch 'master' into add-cmd-vel-topic-key
k-okada May 28, 2022
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14 changes: 10 additions & 4 deletions pr2eus/robot-interface.l
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Expand Up @@ -1592,17 +1592,23 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
(send self :move-to-wait :retry 1 :frame-id base-frame-id :no-wait nil)
))
(:send-cmd-vel-raw
(x y d) ;; [m] [m] [degree]
(x y d &key topic-name) ;; [m] [m] [degree]
(when (send self :simulation-modep)
(return-from :send-cmd-vel-raw t))
(unless (ros::get-topic-publisher (if namespace (format nil "~A/~A" namespace cmd-vel-topic) cmd-vel-topic))
(ros::advertise (if namespace (format nil "~A/~A" namespace cmd-vel-topic) cmd-vel-topic) geometry_msgs::Twist 1)
(let ((vel-topic
(if topic-name
(if namespace
(if (eq (char "/" 0) (char topic-name 0)) topic-name (format nil "~A/~A" namespace topic-name))
topic-name)
(if namespace (format nil "~A/~A" namespace cmd-vel-topic) cmd-vel-topic))))
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  (:send-cmd-vel-raw
   (x y d &key (topic-name cmd-vel-topic) ((:namespace ns) namespace)) ;; [m] [m] [degree]
    (if ns (setq topic-name (format nil "~A/~A" ns topic-name)))
    ;; ...

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Thank you for the helpful advice. It's simple and easy to understand.

(unless (ros::get-topic-publisher vel-topic)
(ros::advertise vel-topic geometry_msgs::Twist 1)
(unix:sleep 1))
(let ((msg (instance geometry_msgs::Twist :init)))
(send msg :linear :x x)
(send msg :linear :y y)
(send msg :angular :z d)
(ros::publish (if namespace (format nil "~A/~A" namespace cmd-vel-topic) cmd-vel-topic) msg)))
(ros::publish vel-topic msg))))
(:go-velocity
(x y d ;; [m/sec] [m/sec] [rad/sec]
&optional (msec 1000) ;; msec is total animation time [msec]
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