From efba53df7741bfec0a7675330ab83134a114876f Mon Sep 17 00:00:00 2001 From: "yushi minemura (kufusha)" <67675657+yushi-minemura@users.noreply.github.com> Date: Wed, 20 Nov 2024 12:53:44 +0900 Subject: [PATCH] add support for cabot3-kx (#90) * kufusha wip Signed-off-by: Daisuke Sato * bugfix Signed-off-by: Daisuke Sato * Revert "bugfix" This reverts commit f65fe8659f47525deecbaa648d3180b59a91b11f. * temporal fix of cabot rotation shim controller Signed-off-by: Daisuke Sato * update the default parameter values of TF speed control node Signed-off-by: Masayuki Murata * add a diagnostic config file for cabot3-k1 Signed-off-by: Masayuki Murata * update the ublox node config file for diagnostic Signed-off-by: Masayuki Murata * temporarily change version of dependency packages Signed-off-by: yushi-minemura <67675657+yushi-minemura@users.noreply.github.com> * use dev branches Signed-off-by: Daisuke Sato --------- Signed-off-by: Daisuke Sato Signed-off-by: Masayuki Murata Signed-off-by: yushi-minemura <67675657+yushi-minemura@users.noreply.github.com> Co-authored-by: Daisuke Sato Co-authored-by: Masayuki Murata --- cabot/config/cabot-control.yaml | 2 + cabot_ui/config/cabot3-k1_diagnostic.yaml | 142 ++++++++++++++++++ dependency.repos | 4 +- docker-compose-build.yaml | 6 - .../ublox/zed_f9p_rover.yaml | 2 + 5 files changed, 148 insertions(+), 8 deletions(-) create mode 100644 cabot_ui/config/cabot3-k1_diagnostic.yaml delete mode 100644 docker-compose-build.yaml diff --git a/cabot/config/cabot-control.yaml b/cabot/config/cabot-control.yaml index 0eab813d..66496e6c 100644 --- a/cabot/config/cabot-control.yaml +++ b/cabot/config/cabot-control.yaml @@ -68,6 +68,8 @@ cabot: tf_speed_control_node: # old name cabot_e_tf_speed: ros__parameters: limit_topic: /cabot/tf_speed + tf_decel_timeout: 0.3 + tf_timeout: 0.5 touch_speed_control_node: ros__parameters: diff --git a/cabot_ui/config/cabot3-k1_diagnostic.yaml b/cabot_ui/config/cabot3-k1_diagnostic.yaml new file mode 100644 index 00000000..cd70980a --- /dev/null +++ b/cabot_ui/config/cabot3-k1_diagnostic.yaml @@ -0,0 +1,142 @@ +cadiagnostic_aggregator: + ros__parameters: + pub_rate: 1.0 + path: CaBot + joy: + type: diagnostic_aggregator/DiscardAnalyzer + path: joy + startswith: + - "joy_node" + + discard: + type: diagnostic_aggregator/DiscardAnalyzer + path: discard + contains: + - "Push Button 5" + - "PeoplePredict" + - "realsense2_camera_manager_aligned_depth_to_color: Frequency Status" + + soft_cabot_ui: + type: diagnostic_aggregator/GenericAnalyzer + path: "Soft: UI Manager" + contains: + - "UI Manager" + remove_prefix: + - "cabot_ui cabot_ui_manager: " + + soft_localize: + type: diagnostic_aggregator/GenericAnalyzer + path: "Soft: Localize" + contains: + - "Localize Status" + remove_prefix: + - "multi_floor_manager: " + + soft_odometry: + type: diagnostic_aggregator/GenericAnalyzer + path: "Soft: Odometry" + contains: + - "ekf_node" + remove_prefix: + - "ekf_node: " + + soft_people: + type: diagnostic_aggregator/GenericAnalyzer + path: "Soft: People_and_Obstacle" + contains: + - "People" + - "Obstacle" + - "Queue" + remove_prefix: + - "camera detect_darknet_opencv_node: " + - "camera realsense2_camera_manager: " + - "predict_kf_people_py: " + - "track_sort_3d_people_py: " + - "detect_queue_people_py: " + - "track_obstacle: " + - "predict_obstacle: " + + soft_rs: + type: diagnostic_aggregator/AnalyzerGroup + path: "Camera" + analyzers: + front: + type: diagnostic_aggregator/GenericAnalyzer + path: "Front" + contains: + - "rs1" + remove_prefix: + - "detect_darknet_people_cpp: " + soft_rs2: + type: cabot_diagnostics/CabotAnalyzer + path: "Right" + contains: + - "rs2" + remove_prefix: + - "detect_darknet_people_cpp: " + treat_as_warning: true + soft_rs3: + type: cabot_diagnostics/CabotAnalyzer + path: "Left" + contains: + - "rs3" + remove_prefix: + - "detect_darknet_people_cpp: " + treat_as_warning: true + + soft_ros2: + type: diagnostic_aggregator/GenericAnalyzer + path: "Soft: Navigation2" + contains: + - "ROS2" + - "Nav2" + remove_prefix: + - "lifecycle_manager_navigation" + - "lifecycle_manager_local_navigation" + - "lifecycle_manager_localization" + + hard_wireless: + type: diagnostic_aggregator/GenericAnalyzer + path: "Hard: Wireless" + contains: + - "Beacon Scanner" + - "Beacon Converter" + # - "esp32_wifi_scan_converter: " + # - "rosserial_esp32: " + remove_prefix: + - "dbus_ibeacon_scanner: " + - "ble_scan_converter: " + # - "esp32_wifi_scan_converter: " + # - "rosserial_esp32: " + + # TODO + # hard_micon: + # type: diagnostic_aggregator/GenericAnalyzer + # path: "Hard: Micro Controller" + # contains: + # - "Rosserial Connection" + # - "Push Button 1" + # - "Push Button 2" + # - "Push Button 3" + # - "Push Button 4" + # - "Touch Sensor" + # - "cabot_serial: " + # remove_prefix: + # - "cabot_serial: " + + # TODO + # hard_odrive: + # type: diagnostic_aggregator/GenericAnalyzer + # path: "Hard: Odrive" + # contains: + # - "odrive" + # remove_prefix: + # - "cabot odriver_node: " + + hard_hesailidar: + type: diagnostic_aggregator/GenericAnalyzer + path: "Hard: HesaiLidar" + contains: + - "hesai" + remove_prefix: + - "hesai_lidar: " \ No newline at end of file diff --git a/dependency.repos b/dependency.repos index 6d407776..6f074d3d 100644 --- a/dependency.repos +++ b/dependency.repos @@ -44,9 +44,9 @@ repositories: cabot-common: type: git url: https://github.com/CMU-cabot/cabot-common - version: main + version: dev cabot-description: type: git url: https://github.com/CMU-cabot/cabot-description - version: main + version: dev diff --git a/docker-compose-build.yaml b/docker-compose-build.yaml deleted file mode 100644 index baace5bd..00000000 --- a/docker-compose-build.yaml +++ /dev/null @@ -1,6 +0,0 @@ -services: - navigation-production: - build: - context: ./docker/ros2 - additional_contexts: - cabot_src: ./ diff --git a/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml b/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml index d458f03f..632fc2af 100644 --- a/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml +++ b/mf_localization/configuration_files/ublox/zed_f9p_rover.yaml @@ -11,6 +11,8 @@ ublox: uart1: baudrate: 230400 + rate: 10.0 # Hz + # message publishers publish: all: false