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improved error handling to alert user that sci connection issues can … #41

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5cf674e
improved error handling to alert user that sci connection issues can …
OrBeProgrammed Mar 27, 2019
4df509a
update back_castor_joint to be expected rear_castor_joint to avoid jo…
OrBeProgrammed Mar 28, 2019
46d02ae
updated sci cable messaging to ensure environment variable is set to …
OrBeProgrammed Apr 7, 2019
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8 changes: 4 additions & 4 deletions create_node/nodes/turtlebot_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ def start(self):
self.robot.start(self.port, robot_types.ROBOT_TYPES[self.robot_type].baudrate)
break
except serial.serialutil.SerialException as ex:
msg = "Failed to open port %s. Error: %s Please make sure the Create cable is plugged into the computer. \n"%((self.port), ex.message)
msg = "Failed to open port %s. Error: %s Please make sure the Create cable is plugged into the computer. Ensure environment variable is set to TURTLEBOT_BASE=create for Create 1 base, TURTLEBOT_BASE=roomba for Create 2.\n"%((self.port), ex.message)
self._diagnostics.node_status(msg,"error")
if log_once:
log_once = False
Expand Down Expand Up @@ -237,7 +237,7 @@ def cmd_vel(self, msg):

def set_operation_mode(self,req):
if not self.robot.sci:
rospy.logwarn("Create : robot not connected yet, sci not available")
rospy.logwarn("Create : robot not connected yet, sci not available. Check if cable is connected. Incorrect TURTLEBOT_BASE environment variable causing the wrong baudrate to be used is another possible cause. Ensure environment variable is set to TURTLEBOT_BASE=create for Create 1 base, TURTLEBOT_BASE=roomba for Create 2.")
return SetTurtlebotModeResponse(False)

self.operate_mode = req.mode
Expand Down Expand Up @@ -309,7 +309,7 @@ def _set_digital_outputs(self, outputs):

def set_digital_outputs(self,req):
if not self.robot.sci:
raise Exception("Robot not connected, SCI not available")
raise Exception("Robot not connected, SCI not available. Incorrect TURTLEBOT_BASE environment variable causing the wrong baudrate to be used is another possible cause.")

outputs = [req.digital_out_0,req.digital_out_1, req.digital_out_2]
self._set_digital_outputs(outputs)
Expand All @@ -325,7 +325,7 @@ def spin(self):
# state
s = self.sensor_state
odom = Odometry(header=rospy.Header(frame_id=self.odom_frame), child_frame_id=self.base_frame)
js = JointState(name = ["left_wheel_joint", "right_wheel_joint", "front_castor_joint", "back_castor_joint"],
js = JointState(name = ["left_wheel_joint", "right_wheel_joint", "front_castor_joint", "rear_castor_joint"],
position=[0,0,0,0], velocity=[0,0,0,0], effort=[0,0,0,0])

r = rospy.Rate(self.update_rate)
Expand Down