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Feature/pm 391 sm to unknown button #34

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Apr 10, 2020
Merged

Feature/pm 391 sm to unknown button #34

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913fca9
Added an unknown tag to the gait instruction message to set the state…
JorisWeeda Apr 6, 2020
3503b07
Merge branch 'develop' into feature/PM-391-sm-to-unknown-button
JorisWeeda Apr 10, 2020
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5 changes: 5 additions & 0 deletions march_rqt_input_device/src/march_rqt_input_device/input_device_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,3 +57,8 @@ def publish_error(self):
rospy.logdebug('Mock Input Device published error')
self.error_pub.publish(Error(std_msgs.msg.Header(stamp=rospy.Time.now()),
'Fake error thrown by the develop input device.', Error.FATAL))

def publish_sm_to_unknown(self):
rospy.logdebug('Mock Input Device published state machine to unknown')
self.instruction_gait_pub.publish(GaitInstruction(std_msgs.msg.Header(stamp=rospy.Time.now()),
GaitInstruction.UNKNOWN, ''))
5 changes: 4 additions & 1 deletion march_rqt_input_device/src/march_rqt_input_device/input_device_view.py
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Original file line number Diff line number Diff line change
Expand Up @@ -225,11 +225,14 @@ def __init__(self, context):
error_button = self.create_button('error', image_path='/error.png',
callback=lambda: self.controller.publish_error())

sm_to_unknown_button = self.create_button('force unknown',
callback=lambda: self.controller.publish_sm_to_unknown())

# The button layout.
# Position in the array determines position on screen.
march_button_layout = [

[home_sit, home_stand, gait_walk, gait_walk_small, gait_walk_large],
[home_sit, home_stand, gait_walk, gait_walk_small, gait_walk_large, sm_to_unknown_button],

[gait_sit, gait_stand, rocker_switch_increment, rocker_switch_decrement, stop_button, error_button],

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