remove call to velodyne_setup.sh and stop launching rplidar

JACart · Apr 25, 2021 · 68bfefe · 68bfefe
1 parent 3051b04
commit 68bfefe
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Showing 3 changed files with 14 additions and 16 deletions.
diff --git a/cart_endpoints/launch/hardware_interface.launch b/cart_endpoints/launch/hardware_interface.launch
@@ -16,16 +16,6 @@
         <node name="gps_node" pkg="cart_endpoints" type="gps_node.py" output="screen"/>
    </group> 
 
-   <group>
-      <node name="pointcloud_to_laserscan_node" pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" args="cloud_in:=/velodyne_points scan:=/pcd_to_scan" output="screen">
-        <param name="min_height" type="double" value="-1.0" />
-        <param name="max_height" type="double" value="0" />
-        <param name="range_min" type="double" value="0.8" />
-      </node>
-   </group>
-
-
-
     <group>
         <node name="motor_endpoint" pkg="cart_endpoints" type="motor_endpoint.py" output="screen"/>
     </group>
@@ -41,10 +31,13 @@
         <node name="pose_tracking" pkg="cart_endpoints" type="pose_tracking.py"/>
     </group>
     <group if="$(arg obstacle_detection)">
-      <remap from="/scan" to="/scan_rplidar"/>
-        <include file="$(find cart_endpoints)/launch/rplidar_a3.launch">
-
-	</include>
+
+      <node name="pointcloud_to_laserscan_node" pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" args="cloud_in:=/velodyne_points scan:=/pcd_to_scan" output="screen">
+        <param name="min_height" type="double" value="-1.0" />
+        <param name="max_height" type="double" value="0" />
+        <param name="range_min" type="double" value="0.8" />
+      </node>
+
         <node name="obstacle_detector" pkg="cart_endpoints" type="obstacle_detector.py" output="screen"/>
         <node name="collision_detector" pkg="cart_planning" type="collision_detector.py" output="screen"/>
     </group>

diff --git a/run.sh b/run.sh
@@ -18,8 +18,8 @@ done
 # Start everything 
 
 sudo modprobe -r uvcvideo
-echo "Configuring Velodyne..."
-./velodyne_setup.sh
+#echo "Configuring Velodyne..."
+#./velodyne_setup.sh
 echo "Setting up display"
 xinput map-to-output "G2Touch Multi-Touch by G2TSP" HDMI-0
 wait

diff --git a/velodyne_setup.sh b/velodyne_setup.sh
@@ -1,5 +1,8 @@
 #!/bin/bash
 
+# OBSOLETE!  Set up a static IP for the velodyne in 
+# the network manager
+
 echo "Running Velodyne Setup Script"
 
 echo "Shutting Down WiFi"
@@ -8,10 +11,12 @@ nmcli radio wifi off
 
 echo "Assigning IP to Port"
 
+#sudo ifconfig enx70886b866bd3 192.168.3.100
 sudo ifconfig enp0s31f6 192.168.3.100
 
 echo "Adding static route to LIDAR IP"
 
+#sudo route add 192.168.1.201 enx70886b866bd3
 sudo route add 192.168.1.201 enp0s31f6
 
 echo "Try running the velodyne manager now"