Merge branch 'mirte-master' of https://github.com/arendjan/mirte-ros-…

…packages into mirte-master
ArendJan · Feb 9, 2024 · 7011d85 · 7011d85
2 parents 0920c4c + bfb2155
commit 7011d85
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Showing 5 changed files with 100 additions and 23 deletions.
diff --git a/mirte_control/config/control_master.yaml b/mirte_control/config/control_master.yaml
@@ -16,7 +16,7 @@ mobile_base_controller:
   # Override URDF look-up for wheel separation since the parent link is not the base_link.
   wheel_separation_x: 0.638
   wheel_separation_y: 0.551
-  wheel_radius: 0.165
+  wheel_radius: 0.08
   # Odometry fused with IMU is published by robot_localization, so
   # no need to publish a TF based on encoders alone.
   enable_odom_tf: true
@@ -29,20 +29,20 @@ mobile_base_controller:
   # Whenever a min_* is unspecified, default to -max_*
   linear:
     x:
-      has_velocity_limits    : true
+      has_velocity_limits    : false
       max_velocity           : 1.1   # m/s
-      has_acceleration_limits: true
+      has_acceleration_limits: false
       max_acceleration       : 2.5   # m/s^2
     y:
-      has_velocity_limits    : true
+      has_velocity_limits    : false
       max_velocity           : 1.1   # m/s
-      has_acceleration_limits: true
+      has_acceleration_limits: false
       max_acceleration       : 2.5   # m/s^2
   angular:
     z:
-      has_velocity_limits    : true
+      has_velocity_limits    : false
       max_velocity           : 2.0   # rad/s
-      has_acceleration_limits: true
+      has_acceleration_limits: false
       max_acceleration       : 1.0   # rad/s^2
 
 # ekf_localization:

diff --git a/mirte_telemetrix/config/mirte_master_config.yaml b/mirte_telemetrix/config/mirte_master_config.yaml
@@ -12,23 +12,19 @@ modules:
     frequency: 1500
     motors:
       left_front:
-        pin_A: 8
-        pin_B: 9
+        pin_A: 0
+        pin_B: 1
       left_rear:
-        pin_A: 10
-        pin_B: 11
+        pin_A: 3
+        pin_B: 2
       right_front:
-        pin_A: 12
-        pin_B: 13
+        pin_A: 5
+        pin_B: 4
       right_rear:
-        pin_A: 14
-        pin_B: 15
-    servos:
-      servo1:
-        pin: 1
-  servo_controller:
-    device: mirte
-    type: Hiwonder_Servo
+        pin_A: 7
+        pin_B: 6
+
+  type: Hiwonder_Servo
     uart: 0
     rx_pin: 0
     tx_pin: 1
@@ -41,3 +37,55 @@ modules:
         id: 4
         min_angle: 800
         max_angle: 4000
+encoder:
+  left_front:
+    name: left_front
+    device: mirte
+    pins:
+      A: 21
+      B: 20
+  left_rear:
+    name: left_rear
+    device: mirte
+    pins:
+      A: 17
+      B: 16
+  right_front:
+    name: right_front
+    device: mirte
+    pins:
+      A: 18
+      B: 19
+  right_rear:
+    name: right_rear
+    device: mirte
+    pins:
+      A: 15
+      B: 14
+
+    # servos:
+    #   servo1:
+    #     pin: 1
+  # servo_controller:
+  #   device: mirte
+  #   type: Hiwonder_Servo
+  #   uart: 0
+  #   rx_pin: 0
+  #   tx_pin: 1
+  #   servos:
+  #     servoH1:
+  #       id: 3
+  #       min_angle: 9000
+  #       max_angle: 14000
+  #     servoH2:
+  #       id: 4
+  #       min_angle: 800
+  #       max_angle: 4000
+  # power_watcher:
+  #   device: mirte
+  #   type: INA226
+  #   connector: I2C1
+  #   id: 0x41
+  #   min_voltage: 11
+  #   max_current: 1
+  #   max_voltage: 15
diff --git a/mirte_teleop/config/ps3-holonomic.config.yaml b/mirte_teleop/config/ps3-holonomic.config.yaml
@@ -0,0 +1,12 @@
+axis_linear:
+  x: 1
+  y: 0
+scale_linear:
+  x: 2
+  y: 2
+axis_angular:
+  yaw: 3
+scale_angular:
+  yaw: 2
+enable_button: 0
+enable_turbo_button: 8
diff --git a/mirte_teleop/launch/teleop_holo_joy.launch b/mirte_teleop/launch/teleop_holo_joy.launch
@@ -0,0 +1,17 @@
+<launch>
+    <node name="joy"
+          pkg="joy"
+          type="joy_node" output="screen">
+        <param name="dev" value="/dev/input/js0"/>
+    </node>
+    <group ns="teleop_twist_joy">
+    <rosparam command="load" file="$(find mirte_teleop)/config/ps3-holonomic.config.yaml"/>
+</group>
+    <node name="teleop_twist_joy"
+          pkg="teleop_twist_joy"
+          type="teleop_node" output="screen">
+        <!-- <param name="scale_linear" value="2"/>
+        <param name="scale_angular" value="2"/> -->
+        <remap from="/cmd_vel" to="/mobile_base_controller/cmd_vel"/>
+    </node>
+</launch>
diff --git a/mirte_teleop/launch/teleopkey.launch b/mirte_teleop/launch/teleopkey.launch
@@ -4,8 +4,8 @@
     <node name="teleop_twist_keyboard"
           pkg="teleop_twist_keyboard"
           type="teleop_twist_keyboard.py" output="screen">
-        <param name="speed" value="0.04"/>
-        <param name="turn" value="0.55"/>
+        <param name="speed" value="2"/>
+        <param name="turn" value="2"/>
         <remap from="/cmd_vel" to="/mobile_base_controller/cmd_vel"/>
     </node>