Add robot specific velocity presets (#3)

husarion · Dec 19, 2024 · b6d1727 · b6d1727
1 parent 1e784ba
commit b6d1727
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Showing 6 changed files with 34 additions and 11 deletions.
diff --git a/README.md b/README.md
@@ -4,11 +4,12 @@ This ROS 2 package allows you to control robots using a CRSF compatible remote c
 
 ## Launch Files
 
-- `teleop.launch.py`: Launches crsf_teleop_node node. Automatically respawns node if it exits. Node's namespace can be set using the `namespace` launch argument.
+- `teleop.launch.py`: Launches crsf_teleop_node node. Automatically respawns node if it exits. Node's namespace can be set using the `namespace` launch argument. Custom parameters file can be provided by setting the `params_file` launch argument.
 
 ## Configuration Files
 
-- [`crsf_teleop.yaml`](./config/crsf_teleop.yaml): Sets default parameter values for the crsf_teleop_node when `teleop.launch.py` is launched.
+- [`crsf_teleop_panther.yaml`](./husarion_ugv_crsf_teleop/config/crsf_teleop_panther.yaml): Sets default Panther robot parameter values for the crsf_teleop_node when `teleop.launch.py` is launched.
+- [`crsf_teleop_lynx.yaml`](./husarion_ugv_crsf_teleop/config/crsf_teleop_lynx.yaml): Sets default Lynx robot parameter values for the crsf_teleop_node when `teleop.launch.py` is launched.
 
 ## ROS Nodes
 

diff --git a/compose.yaml b/compose.yaml
@@ -9,8 +9,8 @@ services:
     environment:
       - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+      - ROBOT_MODEL_NAME=${ROBOT_MODEL_NAME:-panther}
     volumes:
       - /dev:/dev
-      - ./config/crsf_teleop.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 → ..._crsf_teleop/config/crsf_teleop_lynx.yaml b/config/crsf_teleop.yaml → ..._crsf_teleop/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/...n_ugv_crsf_teleop/config/crsf_teleop.yaml → ...sf_teleop/config/crsf_teleop_panther.yaml b/...n_ugv_crsf_teleop/config/crsf_teleop.yaml → ...sf_teleop/config/crsf_teleop_panther.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: [0.4, 1.2, 2.0]
+      angular_speed_presets: [0.39, 0.78, 1.88]
diff --git a/husarion_ugv_crsf_teleop/launch/teleop.launch.py b/husarion_ugv_crsf_teleop/launch/teleop.launch.py
@@ -20,6 +20,7 @@
     EnvironmentVariable,
     LaunchConfiguration,
     PathJoinSubstitution,
+    PythonExpression,
 )
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
@@ -28,6 +29,27 @@
 def generate_launch_description():
     husarion_ugv_crsf_teleop_dir = FindPackageShare("husarion_ugv_crsf_teleop")
 
+    robot_model = LaunchConfiguration("robot_model")
+    declare_robot_model_arg = DeclareLaunchArgument(
+        "robot_model",
+        default_value=EnvironmentVariable(name="ROBOT_MODEL_NAME", default_value="panther"),
+        description="Specify robot model.",
+        choices=["lynx", "panther"],
+    )
+
+    params_file = LaunchConfiguration("params_file")
+    declare_params_file_arg = DeclareLaunchArgument(
+        "params_file",
+        default_value=PathJoinSubstitution(
+            [
+                husarion_ugv_crsf_teleop_dir,
+                "config",
+                PythonExpression(["'crsf_teleop_", robot_model, ".yaml'"]),
+            ]
+        ),
+        description="Path to the ROS2 parameters file to use for the launched node.",
+    )
+
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
@@ -39,16 +61,16 @@ def generate_launch_description():
         package="husarion_ugv_crsf_teleop",
         executable="crsf_teleop_node",
         name="crsf_teleop",
-        parameters=[
-            PathJoinSubstitution([husarion_ugv_crsf_teleop_dir, "config", "crsf_teleop.yaml"]),
-        ],
+        parameters=[params_file],
         namespace=namespace,
         emulate_tty=True,
         respawn=True,
         respawn_delay=2,
     )
 
     actions = [
+        declare_robot_model_arg,
+        declare_params_file_arg,
         declare_namespace_arg,
         husarion_ugv_crsf_teleop_node,
     ]

diff --git a/husarion_ugv_crsf_teleop/setup.py b/husarion_ugv_crsf_teleop/setup.py
@@ -25,7 +25,7 @@
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
-        (os.path.join("share", package_name, "config"), ["config/crsf_teleop.yaml"]),
+        (os.path.join("share", package_name, "config"), glob(os.path.join("config", "*.yaml"))),
         (os.path.join("share", package_name), ["package.xml"]),
         (
             os.path.join("share", package_name, "launch"),