@gordonb, so how it goes with v2 chassis?
I hope you can find a minute to help me out with feedback loop architecture.
Here is my setup:
1. light_illuminance sensor, which is represented by following ROS topics:
2. binary actuator connected to LED lights. Which is represented by ROS topic
/actuators/light_actuator_1/cmd and I can manually turn lights On and Off by sending True or False with
rostopic pub command.
3. simple recipe with light_illuminance set to 1500 lux. I see that this recipe creates ROS topic
/environment_1/desired/light_illuminance and when I run
rostopic echo /environment_1/desired/light_illuminance I see
data: 1500 being constantly published.
4. light_pid controller with variable parameter set to
light_illuminance. This in turn creates following topics:
Now, what I don't get is how to connect a)
/environment_1/measured/light_illuminance output to PID's input
/light_illuminance , b)
environment_1/desired/light_illuminance output to PID's
/light_illuminance_desired input and how to c) translate
/light_illuminance_cmd with numerical output to actuator's input
/actuators/light_actuator_1/cmd, which expects boolean.
topic_connector.py software module, but looks like it is doing a global mapping from low-level
/sensors/* topics to
I hope you can point me to the source code or sample on how to wire PID with sensors and actuators.