Adjusted accelleration values and joystick scaling.

The back right drive is ignored since it makes the other drives crash.
clubcapra · Jan 1, 1970 · b0296b0 · b0296b0
1 parent 1955c02
commit b0296b0
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Showing 8 changed files with 28 additions and 24 deletions.
diff --git a/src/rove_bringup/config/joy_params.yaml b/src/rove_bringup/config/joy_params.yaml
@@ -2,12 +2,12 @@
   ros__parameters:
     autorepeat_rate: 20.0 # 0 (publish on change)
     coalesce_interval_ms: 50 # 1000ms / 20 (refresh rate in Hz) = 50
-    deadzone: 0.05
+    deadzone: 0.2
     sticky_buttons: false
 
 /joy_node:
   ros__parameters:
     autorepeat_rate: 20.0
     coalesce_interval_ms: 50
-    deadzone: 0.05
+    deadzone: 0.2
     sticky_buttons: false
diff --git a/src/rove_bringup/config/teleop_joy_params.yaml b/src/rove_bringup/config/teleop_joy_params.yaml
@@ -9,22 +9,22 @@
       y: -1 #not set
       z: -1 #not set
     enable_button: 0 #A
-    enable_turbo_button: -1 # not set
+    enable_turbo_button: 1 # not set
     require_enable_button: true
     scale_angular:
       pitch: 0.0
       roll: 0.0
-      yaw: 1.0
+      yaw: 1.5
     scale_angular_turbo:
       pitch: 0.0
       roll: 0.0
-      yaw: 1.0
+      yaw: 2.0
     scale_linear:
-      x: 1.0
+      x: 1.5
       y: 0.0
       z: 0.0
     scale_linear_turbo:
       x: 2.0
       y: 0.0
       z: 0.0
-    # publish_stamped_twist: true
+    # publish_stamped_twist: true
diff --git a/src/rove_bringup/config/vn_300.yaml b/src/rove_bringup/config/vn_300.yaml
@@ -5,7 +5,7 @@
 
 vectornav:
   ros__parameters:
-    port: "/dev/ttyUSB0" #  TODO: update this for rove
+    port: "/dev/ttyUSB1" #  TODO: update this for rove
     baud: 921600
     adjust_ros_timestamp: True
     reconnect_ms: 500

diff --git a/src/rove_bringup/launch/common.launch.py b/src/rove_bringup/launch/common.launch.py
@@ -113,7 +113,7 @@ def generate_launch_description():
             # robot_localization_node_global,
             #navsat_transform,
             twist_mux,
-            rviz,
+            #rviz,
             teleop,
-            autonomy,
+            #autonomy,
             ])
diff --git a/src/rove_bringup/launch/real.launch.py b/src/rove_bringup/launch/real.launch.py
@@ -2,7 +2,7 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, RegisterEventHandler, ExecuteProcess
+from launch.actions import IncludeLaunchDescription, RegisterEventHandler, ExecuteProcess, TimerAction
 
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import Command, PathJoinSubstitution, FindExecutable
@@ -135,12 +135,14 @@ def create_controller_node(node_name:str):
     )
 
     return LaunchDescription([
-            control_node,
             common,
-            gripper,
             joint_state_broadcaster_spawner,
             *delayed_controller_nodes,
-            vectornav,
-            velodyne,
-            zed,
+            control_node,
+            #TimerAction(period=20.0, actions=[
+                #gripper,
+                #vectornav,
+                #velodyne,
+                #zed,
+            #]),
             ])
diff --git a/src/rove_description/config/tracks_controllers.yaml b/src/rove_description/config/tracks_controllers.yaml
@@ -47,7 +47,7 @@ diff_drive_controller:
     open_loop: true
     enable_odom_tf: true
 
-    cmd_vel_timeout: 0.5
+    cmd_vel_timeout: 2.0
     # publish_limited_velocity: true
     # publish_cmd: true
     # velocity_rolling_window_size: 10
@@ -59,15 +59,16 @@ diff_drive_controller:
     linear.x.max_velocity: 5.0
     linear.x.min_velocity: -5.0
     linear.x.max_acceleration: 2.0
+    linear.x.min_acceleration: -2.0
     linear.x.max_jerk: 0.0
     linear.x.min_jerk: 0.0
 
     angular.z.has_velocity_limits: true
     angular.z.has_acceleration_limits: true
     angular.z.has_jerk_limits: false
-    angular.z.max_velocity: 1.0
-    angular.z.min_velocity: -1.0
-    angular.z.max_acceleration: 1.0
-    angular.z.min_acceleration: -1.0
+    angular.z.max_velocity: 2.0
+    angular.z.min_velocity: -2.0
+    angular.z.max_acceleration: 3.0
+    angular.z.min_acceleration: -3.0
     angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
+    angular.z.min_jerk: 0.0
diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
@@ -50,7 +50,8 @@
     <!-- <xacro:rove_ros2_control/> -->
      <!-- Put these at -1 to mock the motors if working without the motors -->
     <!-- <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/> -->
-    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/>
+    <!-- TODO Fix rr Odrive, it keeps crashing the rest of the drives. IT has been disabled for now. -->
+    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="-1"/>
 
 
     <!-- Insert ovis on top of rove -->

diff --git a/src/rove_launch_handler/scripts/launch_script.service b/src/rove_launch_handler/scripts/launch_script.service
@@ -4,7 +4,7 @@ After=network.target
 
 [Service]
 Environment="ROS_LOG_DIR=/var/log/ros2; ROS_DOMAIN_ID=96"
-ExecStart=/bin/bash -c 'source /media/SSD/stable/rove/install/setup.bash; ros2 launch rove_launch_handler launch_handler.launch.py;'
+ExecStart=/bin/bash -c 'source /media/SSD/stable/rove/install/setup.bash; ip link set can0 up type can bitrate 500000; ros2 launch rove_launch_handler launch_handler.launch.py;'
 RemainAfterExit=no
 Restart=on-failure
 RestartSec=2s