tami/MYNT-EYE-S-SDK
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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

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TinyOh
2019-03-25 16:54:59 +08:00
parent c4233137e0 f25685153b
commit 8811036be0
11 changed files with 72 additions and 54 deletions
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6
wrappers/ros/src/mynt_eye_ros_wrapper/config/device/standard2.yaml
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@@ -105,4 +105,8 @@ standard210a/accel_low_filter: -1
# standard210a/gyro_low_filter range: [23,64]
standard210a/gyro_low_filter: -1
# standard210a/gyro_low_filter: 64
# standard210a/gyro_low_filter: 64
# standard210a/iic_address_setting range: [0,65535]
standard210a/iic_address_setting: -1
# standard210a/iic_address_setting: 0

2
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye_multiple.launch
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@@ -2,6 +2,4 @@
<launch>
<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_1.launch" />
<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_2.launch" />
<!-- <include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_3.launch" />
<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_4.launch" /> -->
</launch>

78
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@@ -250,7 +250,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
{Option::GYROSCOPE_RANGE, "standard210a/gyro_range"},
{Option::ACCELEROMETER_LOW_PASS_FILTER,
"standard210a/accel_low_filter"},
{Option::GYROSCOPE_LOW_PASS_FILTER, "standard210a/gyro_low_filter"}};
{Option::GYROSCOPE_LOW_PASS_FILTER, "standard210a/gyro_low_filter"}
{Option::IIC_ADDRESS_SETTING, "standard2/iic_address_setting"}};
}
// device options of standard2
@@ -1098,6 +1099,18 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
Context context;
auto &&devices = context.devices();
size_t n = devices.size();
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
NODELET_INFO_STREAM("MYNT EYE devices:");
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
NODELET_INFO_STREAM(" index: " << i << ", name: " <<
name << ", serial number: " << serial_number);
}
bool is_multiple = false;
private_nh_.getParam("is_multiple", is_multiple);
if (is_multiple) {
@@ -1106,62 +1119,31 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
NODELET_FATAL_COND(sn.empty(), "Must set serial_number "
"in mynteye_1.launch and mynteye_2.launch.");
size_t n = devices.size();
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
NODELET_INFO_STREAM("MYNT EYE devices:");
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
NODELET_INFO_STREAM(" index: " << i << ", name: " <<
name << ", serial number: " << serial_number);
}
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
NODELET_INFO_STREAM(" index: " << i << ", name: " <<
name << ", serial number: " << serial_number);
if (sn == serial_number)
return device;
#if 0
if (i == (n - 1)) {
/*
NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
" check the serial_number configuration. ");
*/
NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
" check the serial_number configuration. ");
return nullptr;
}
#endif
NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
" check the serial_number configuration. ");
}
}
size_t n = devices.size();
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
NODELET_INFO_STREAM("MYNT EYE devices:");
for (size_t i = 0; i < n; i++) {
auto &&device = devices[i];
auto &&name = device->GetInfo(Info::DEVICE_NAME);
NODELET_INFO_STREAM(" index: " << i << ", name: " << name);
}
if (n <= 1) {
NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0");
return devices[0];
} else {
while (true) {
size_t i;
NODELET_INFO_STREAM(
"There are " << n << " MYNT EYE devices, select index: ");
std::cin >> i;
if (i >= n) {
NODELET_WARN_STREAM("Index out of range :(");
continue;
if (n <= 1) {
NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0");
return devices[0];
} else {
while (true) {
size_t i;
NODELET_INFO_STREAM(
"There are " << n << " MYNT EYE devices, select index: ");
std::cin >> i;
if (i >= n) {
NODELET_WARN_STREAM("Index out of range :(");
continue;
}
return devices[i];
}
return devices[i];
}
}