ROS2 drive and arm motor bridges #65
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…2 into ajr/motor-controllers
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Other than any further architecture changes, seems good to go after tested on arm test rig (simulated joint C + joint B) |
| "--ros-args", | ||
| "--params-file", | ||
| "~/ros2_ws/src/mrover/config/esw.yaml" | ||
| ] |
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Is this config intended to be in this PR?
| # if(CMAKE_BUILD_TYPE STREQUAL "Debug" OR CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo") | ||
| # add_compile_definitions(DEBUG_BUILD) | ||
| # endif() | ||
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Is this intended to be commented?
| @@ -159,16 +163,14 @@ message(STATUS "Found service files: ${MROVER_SERVICE_FILE_PATHS}") | |||
| # Starter Project | |||
| message(STATUS "PROJ NAME: ${PROJECT_NAME}") | |||
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| set(MROVER_CMAKE_INCLUDES | |||
| set(MROVER_CMAKE_INCLUDE | |||
| starter_project/autonomy/AutonomyStarterProject.cmake | |||
| ) | |||
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| foreach (MROVER_CMAKE_INCLUDE ${MROVER_CMAKE_INCLUDES}) | |||
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If you are intending to change this variable to include just one item, do we need the foreach? additionally if it is just one item, why use the variable?
| ament_target_dependencies(starter_project_perception rclcpp std_msgs sensor_msgs) | ||
| # mrover_add_node(starter_project_perception ${CMAKE_CURRENT_LIST_DIR}/starter_project/autonomy/src/*.cpp) | ||
| # target_link_libraries(starter_project_perception ${OpenCV_LIBS}) | ||
| # ament_target_dependencies(starter_project_perception rclcpp std_msgs sensor_msgs) |
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I believe the starter project perception code does not build if this is commented out. Looking above I believe the intent is to do it in the AutonomyStarterProject.cmake file, but it is currently commented out. Also not sure if these changes are intended for this PR.
| @@ -6,6 +6,6 @@ | |||
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| superstructure: | |||
| ros__parameters: | |||
| input_topics: [ 'sim_cmd_vel', 'nav_cmd_vel' ] | |||
| input_topics: [ 'sim_cmd_vel', 'nav_cmd_vel', 'joystick_cmd_vel', 'controller_cmd_vel'] | |||
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What is controller_cmd_vel, I don't see any other references to it in the repo
| // Need to await configuration. Can NOT directly set mIsConfigured to true. | ||
| } | ||
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| auto BrushedController::adjust(Radians position) -> void { |
| } | ||
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| // TODO:(owen) ROS1 returned bool and now we don't anymore? idk | ||
| auto BrushedController::calibrateServiceCallback([[maybe_unused]] std_srvs::srv::Trigger::Request::SharedPtr const req, std_srvs::srv::Trigger::Response::SharedPtr res) -> void { |
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| launch_include_can = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(get_package_share_directory("mrover"), "launch/jetson_can.launch.py") |
| def generate_launch_description(): | ||
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| launch_include_base = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(os.path.join(get_package_share_directory("mrover"), "launch/base.launch.py")) |
| @@ -44,6 +44,7 @@ def __init__(self) -> None: | |||
| self.create_timer(1 / self.get_parameter("rate").value, self.timer_callback) | |||
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| def velocity_callback(self, topic: str, msg: Twist) -> None: | |||
| print("vel callback called") | |||
Summary
Closes #32 #57
What features did you add, bugs did you fix, etc?
Refactored drive and arm code to remove arm translator and implement the motors groups as individual hardware bridges instead of loaded from esw.yaml
Did you add documentation to the wiki?
No
How was this code tested?
Tested on the moteus test rig with fdcanusb, tested with the jetson and drive dev board. Still need to test brushed code
Did you test this in sim?
No
Did you test this on the rover?
No
Did you add unit tests?
No, tested on hardware