Add robot specific velocity presets

husarion · Dec 6, 2024 · 3ab1269 · 3ab1269
1 parent 1e784ba
commit 3ab1269
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Showing 3 changed files with 12 additions and 3 deletions.
diff --git a/compose.yaml b/compose.yaml
@@ -11,6 +11,6 @@ services:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
     volumes:
       - /dev:/dev
-      - ./config/crsf_teleop.yaml:/ros2_ws/install/husarion_ugv_crsf_teleop/share/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
+      - ./config/crsf_teleop_panther.yaml:/ros2_ws/install/husarion_ugv_crsf_teleop/share/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
     command: >
       ros2 launch husarion_ugv_crsf_teleop teleop.launch.py namespace:=panther
diff --git a/config/crsf_teleop.yaml → config/crsf_teleop_lynx.yaml b/config/crsf_teleop.yaml → config/crsf_teleop_lynx.yaml
@@ -5,5 +5,5 @@
       baud: 576000
       e_stop_republish: false
       enable_cmd_vel_silence_switch: false
-      linear_speed_presets: [0.5, 1.0, 2.0]
-      angular_speed_presets: [0.5, 1.0, 2.0]
+      linear_speed_presets: [0.5, 0.9, 1.5]
+      angular_speed_presets: [0.45, 0.9, 2.0]
diff --git a/config/crsf_teleop_panther.yaml b/config/crsf_teleop_panther.yaml
@@ -0,0 +1,9 @@
+/**:
+  crsf_teleop:
+    ros__parameters:
+      port: /dev/ttyUSBPAD
+      baud: 576000
+      e_stop_republish: false
+      enable_cmd_vel_silence_switch: false
+      linear_speed_presets: [0.4, 1.2, 2.0]
+      angular_speed_presets: [0.39, 0.78, 1.88]