Added unknown to bunker variant when value is out of range

westonrobot · Jan 9, 2025 · cd3d4a3 · cd3d4a3
1 parent 2dee079
commit cd3d4a3
Show file tree

Hide file tree

Showing 3 changed files with 20 additions and 12 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "ostream": "cpp"
+    }
+}
diff --git a/bunker_base/launch/bunker_base.launch.py b/bunker_base/launch/bunker_base.launch.py
@@ -21,7 +21,7 @@ def generate_launch_description():
                                                 description='Base link frame id')
     odom_topic_arg = DeclareLaunchArgument('odom_topic_name', default_value='odom',
                                            description='Odometry topic name')
-    bunker_variant_arg = DeclareLaunchArgument('bunker_variant_', default_value='1',
+    bunker_variant_arg = DeclareLaunchArgument('bunker_variant', default_value='0',
                                           description='Bunker robot')
     simulated_robot_arg = DeclareLaunchArgument('simulated_robot', default_value='false',
                                                    description='Whether running with simulator')
@@ -39,7 +39,7 @@ def generate_launch_description():
                 'odom_frame': launch.substitutions.LaunchConfiguration('odom_frame'),
                 'base_frame': launch.substitutions.LaunchConfiguration('base_frame'),
                 'odom_topic_name': launch.substitutions.LaunchConfiguration('odom_topic_name'),
-                'bunker_variant_': launch.substitutions.LaunchConfiguration('bunker_variant_'),
+                'bunker_variant': launch.substitutions.LaunchConfiguration('bunker_variant'),
                 'simulated_robot': launch.substitutions.LaunchConfiguration('simulated_robot'),
                 'control_rate': launch.substitutions.LaunchConfiguration('control_rate'),
         }])

diff --git a/bunker_base/src/bunker_base_ros.cpp b/bunker_base/src/bunker_base_ros.cpp
@@ -12,7 +12,6 @@
 #include "bunker_base/bunker_messenger.hpp"
 #include "ugv_sdk/utilities/protocol_detector.hpp"
 
-
 namespace westonrobot {
 
 BunkerBaseRos::BunkerBaseRos(std::string node_name)
@@ -24,35 +23,32 @@ BunkerBaseRos::BunkerBaseRos(std::string node_name)
   this->declare_parameter("odom_topic_name", "odom");
 
   this->declare_parameter("simulated_robot", false);
-  this->declare_parameter("bunker_variant_",
+  this->declare_parameter("bunker_variant",
                           static_cast<int>(BunkerRobot::Variant::kBunkerV2));
   this->declare_parameter("control_rate", 50);
 
   LoadParameters();
 }
 
-
-
 void BunkerBaseRos::LoadParameters() {
-
   this->get_parameter_or<std::string>("port_name", port_name_, "can0");
   this->get_parameter_or<std::string>("odom_frame", odom_frame_, "odom");
   this->get_parameter_or<std::string>("base_frame", base_frame_, "base_link");
   this->get_parameter_or<std::string>("odom_topic_name", odom_topic_name_,
                                       "odom");
   this->get_parameter_or<bool>("simulated_robot", simulated_robot_, false);
   this->get_parameter_or<int>(
-      "bunker_variant_", bunker_variant_,
+      "bunker_variant", bunker_variant_,
       static_cast<int>(BunkerRobot::Variant::kBunkerV2));
   this->get_parameter_or<int>("control_rate", sim_control_rate_, 50);
-  
+
   std::cout << "Loading parameters: " << std::endl;
   std::cout << "- port name: " << port_name_ << std::endl;
   std::cout << "- odom frame name: " << odom_frame_ << std::endl;
   std::cout << "- base frame name: " << base_frame_ << std::endl;
   std::cout << "- odom topic name: " << odom_topic_name_ << std::endl;
 
-  std::cout << "- bunker variant: " ;
+  std::cout << "- bunker variant: ";
 
   if (bunker_variant_ == static_cast<int>(BunkerRobot::Variant::kBunkerV1)) {
     std::cout << "Bunker V1" << std::endl;
@@ -62,9 +58,13 @@ void BunkerBaseRos::LoadParameters() {
   } else if (bunker_variant_ ==
              static_cast<int>(BunkerRobot::Variant::kBunkerPro)) {
     std::cout << "Bunker Pro" << std::endl;
-  } else {
+  } else if (bunker_variant_ ==
+             static_cast<int>(BunkerRobot::Variant::kBunkerMini)) {
     std::cout << "Bunker Mini" << std::endl;
   }
+  else{
+    std::cout << "Unknown" << std::endl;
+  }
 
   std::cout << "- simulated robot: " << std::boolalpha << simulated_robot_
             << std::endl;
@@ -81,8 +81,11 @@ bool BunkerBaseRos::Initialize() {
   } else if (bunker_variant_ ==
              static_cast<int>(BunkerRobot::Variant::kBunkerPro)) {
     std::cout << "Robot base: Bunker Pro" << std::endl;
-  } else {
+  } else if (bunker_variant_ ==
+             static_cast<int>(BunkerRobot::Variant::kBunkerMini)) {
     std::cout << "Robot base: Bunker Mini" << std::endl;
+  } else {
+    std::cout << "Unknown" << std::endl;
   }
 
   ProtocolDetector detector;