Using the /ir_opcode topic?

[slowrunner]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

Ubuntu 22.04 in Docker over Raspberry Pi 5 PiOS Bookworm

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.4

Which RMW is your robot running?

FastRTPS

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

Yes: 2.4GHz Home WiFi

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

Yes

What is the Adapter Board's USB/BLE Toggle currently switched to?

Bluetooth (default)

Describe your question.

SORRY FOR SO MANY UPDATES - NOW UNDERSTAND NOT A CREATE3 ISSUE - simply my misunderstanding.

How can I know when the virtual wall is no longer visible if the /ir_opcode topic is only published when the wall is visible?

Usecase:

• drive till virtual wall seen
• rotate until virtual wall no longer seen

I suppose since it is published at 5 Hz when visible,

• once seeing (self.last_ir_opcode_msg.opcode == IrOpcode.CODE_IR_VIRTUAL_WALL)
  • Start rotating slowly,
  • (check at least 10 times per second) Stop rotating when the time since self.last_ir_opcode_msg.header.time is greater than 0.3 seconds, (assumes new message might have come in at 0.2 plus or minus, but by 0.3 seconds is not going to come...)
  • prepare for the next time by setting a fake "last_ir_opcode_msg.opcode = 0"?
    ( makes the "see it?" test and initialization simpler )

Really? That is how to use the /ir_opcode topic?

[slowrunner]

Not easy, but I got it:

    def see_virtual_wall(self):
        see_it = False

        if (self.last_ir_opcode_msg.opcode == IrOpcode.CODE_IR_VIRTUAL_WALL):
          if ( ( self.get_clock().now() - Time.from_msg(self.last_ir_opcode_msg.header.stamp) ) < Duration(seconds=0.3)):
            see_it = True
          else:
            self.last_ir_opcode_msg.opcode = 0
        return see_it