From 3ab1269d31db1dae4a000c2e894cf8dd5b20bac8 Mon Sep 17 00:00:00 2001 From: Milosz Lagan Date: Fri, 6 Dec 2024 11:26:27 +0000 Subject: [PATCH] Add robot specific velocity presets --- compose.yaml | 2 +- config/{crsf_teleop.yaml => crsf_teleop_lynx.yaml} | 4 ++-- config/crsf_teleop_panther.yaml | 9 +++++++++ 3 files changed, 12 insertions(+), 3 deletions(-) rename config/{crsf_teleop.yaml => crsf_teleop_lynx.yaml} (64%) create mode 100644 config/crsf_teleop_panther.yaml diff --git a/compose.yaml b/compose.yaml index 1245f05..52b6086 100644 --- 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 b/config/crsf_teleop_lynx.yaml similarity index 64% rename from config/crsf_teleop.yaml rename to config/crsf_teleop_lynx.yaml index 5a21742..54b86dd 100644 --- a/config/crsf_teleop.yaml +++ b/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 new file mode 100644 index 0000000..dfa039d --- /dev/null +++ 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]