From f6e4adeeb00862347880c98c77258591c3b7d637 Mon Sep 17 00:00:00 2001 From: Ashwin Varghese Kuruttukulam Date: Tue, 6 Jun 2023 21:07:40 -0700 Subject: [PATCH 1/4] shift submodules to NVIDIA-ISAAC-ROS --- .gitmodules | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.gitmodules b/.gitmodules index e41732c..159085c 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,12 +1,12 @@ [submodule "vesc"] path = vesc - url = https://github.com/f1tenth/vesc.git + url = git@github.com:NVIDIA-ISAAC-ROS/vesc.git branch = ros2 [submodule "ackermann_mux"] path = ackermann_mux - url = https://github.com/f1tenth/ackermann_mux.git + url = git@github.com:NVIDIA-ISAAC-ROS/ackermann_mux.git branch = foxy-devel [submodule "teleop_tools"] path = teleop_tools - url = https://github.com/f1tenth/teleop_tools.git + url = git@github.com:NVIDIA-ISAAC-ROS/teleop_tools.git branch = foxy-devel From bceb752be0c957dbb2f1698c6b45162dfd53f2b6 Mon Sep 17 00:00:00 2001 From: Ashwin Varghese Kuruttukulam Date: Wed, 7 Jun 2023 18:47:36 -0700 Subject: [PATCH 2/4] update submodule commit hash --- ackermann_mux | 2 +- teleop_tools | 2 +- vesc | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ackermann_mux b/ackermann_mux index 6fcf96f..b3c0b08 160000 --- a/ackermann_mux +++ b/ackermann_mux @@ -1 +1 @@ -Subproject commit 6fcf96ffeccfd2024fcdb2c420e9a884113372f9 +Subproject commit b3c0b083ac03aa8c648537d7e4d22608fcd3440c diff --git a/teleop_tools b/teleop_tools index d6fd091..4337558 160000 --- a/teleop_tools +++ b/teleop_tools @@ -1 +1 @@ -Subproject commit d6fd09179347dabb82edcafb04444fb2581c544e +Subproject commit 4337558fd38e0e1a5c08bdd3c7b4b1a9454a74a9 diff --git a/vesc b/vesc index 1952e79..153998d 160000 --- a/vesc +++ b/vesc @@ -1 +1 @@ -Subproject commit 1952e799110f5c4eed82c68a6172bfcafd9998ac +Subproject commit 153998df8545fe1781b975df88e411b4e71d4bfe From f3501205320d8eec88d37056adefc9ed7344b234 Mon Sep 17 00:00:00 2001 From: Ashwin Varghese Kuruttukulam Date: Wed, 7 Jun 2023 18:48:34 -0700 Subject: [PATCH 3/4] restructure launch/config files for ps4 joystick --- f1tenth_stack/config/joy_teleop.yaml | 53 +++++++++++++------------- f1tenth_stack/config/vesc.yaml | 2 +- f1tenth_stack/launch/bringup_launch.py | 26 ++++++------- 3 files changed, 40 insertions(+), 41 deletions(-) diff --git a/f1tenth_stack/config/joy_teleop.yaml b/f1tenth_stack/config/joy_teleop.yaml index 87e148e..cab330c 100755 --- a/f1tenth_stack/config/joy_teleop.yaml +++ b/f1tenth_stack/config/joy_teleop.yaml @@ -1,46 +1,45 @@ -joy: +joy_linux: ros__parameters: - device_name: /dev/input/joypad-f710 + dev: /dev/input/js0 deadzone: 0.01 autorepeat_rate: 20.0 - coalesce_interval: 0.01 joy_teleop: ros__parameters: - default: - type: topic - interface_type: ackermann_msgs/msg/AckermannDriveStamped - topic_name: teleop - axis_mappings: - drive-speed: - axis: 1 - scale: 0.0 - offset: 0.0 - drive-steering_angle: - axis: 2 - scale: 0.0 - offset: 0.0 + # default: + # type: topic + # interface_type: ackermann_msgs/msg/AckermannDriveStamped + # topic_name: teleop + # axis_mappings: + # drive-speed: + # axis: 1 + # scale: 0.0 + # offset: 0.0 + # drive-steering_angle: + # axis: 2 + # scale: 0.0 + # offset: 0.0 human_control: type: topic interface_type: ackermann_msgs/msg/AckermannDriveStamped - topic_name: teleop - deadman_buttons: [4] + topic_name: ackermann_cmd + deadman_buttons: [6] axis_mappings: drive-speed: axis: 1 scale: 5.0 offset: 0.0 drive-steering_angle: - axis: 2 + axis: 0 scale: 0.34 offset: 0.0 - autonomous_control: - type: topic - interface_type: std_msgs/msg/Int8 - topic_name: /dev/null - deadman_buttons: [5] - message_value: - data: - value: 0 \ No newline at end of file +# autonomous_control: +# type: topic +# interface_type: std_msgs/msg/Int8 +# topic_name: /dev/null +# deadman_buttons: [5] +# message_value: +# data: +# value: 0 \ No newline at end of file diff --git a/f1tenth_stack/config/vesc.yaml b/f1tenth_stack/config/vesc.yaml index 5531a64..e5f084f 100755 --- a/f1tenth_stack/config/vesc.yaml +++ b/f1tenth_stack/config/vesc.yaml @@ -9,7 +9,7 @@ steering_angle_to_servo_gain: -1.2135 steering_angle_to_servo_offset: 0.5304 - port: /dev/sensors/vesc + port: /dev/ttyACM0 duty_cycle_min: 0.0 duty_cycle_max: 0.0 current_min: 0.0 diff --git a/f1tenth_stack/launch/bringup_launch.py b/f1tenth_stack/launch/bringup_launch.py index 239b731..0ac2976 100755 --- a/f1tenth_stack/launch/bringup_launch.py +++ b/f1tenth_stack/launch/bringup_launch.py @@ -72,9 +72,9 @@ def generate_launch_description(): ld = LaunchDescription([joy_la, vesc_la, sensors_la, mux_la]) joy_node = Node( - package='joy', - executable='joy_node', - name='joy', + package='joy_linux', + executable='joy_linux_node', + name='joy_linux_node', parameters=[LaunchConfiguration('joy_config')] ) joy_teleop_node = Node( @@ -107,12 +107,12 @@ def generate_launch_description(): name='throttle_interpolator', parameters=[LaunchConfiguration('vesc_config')] ) - urg_node = Node( - package='urg_node', - executable='urg_node_driver', - name='urg_node', - parameters=[LaunchConfiguration('sensors_config')] - ) + # urg_node = Node( + # package='urg_node', + # executable='urg_node_driver', + # name='urg_node', + # parameters=[LaunchConfiguration('sensors_config')] + # ) ackermann_mux_node = Node( package='ackermann_mux', executable='ackermann_mux', @@ -131,11 +131,11 @@ def generate_launch_description(): ld.add_action(joy_node) ld.add_action(joy_teleop_node) ld.add_action(ackermann_to_vesc_node) - ld.add_action(vesc_to_odom_node) + # ld.add_action(vesc_to_odom_node) ld.add_action(vesc_driver_node) # ld.add_action(throttle_interpolator_node) - ld.add_action(urg_node) - ld.add_action(ackermann_mux_node) - ld.add_action(static_tf_node) + # ld.add_action(urg_node) + # ld.add_action(ackermann_mux_node) + # ld.add_action(static_tf_node) return ld \ No newline at end of file From 1641c17bdfee12e5f26659d8fb9e4023f65de1a9 Mon Sep 17 00:00:00 2001 From: Ashwin Varghese Kuruttukulam Date: Wed, 7 Jun 2023 19:07:07 -0700 Subject: [PATCH 4/4] changes joy parameter for easier ps4 control --- f1tenth_stack/config/joy_teleop.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/f1tenth_stack/config/joy_teleop.yaml b/f1tenth_stack/config/joy_teleop.yaml index cab330c..349cc4d 100755 --- a/f1tenth_stack/config/joy_teleop.yaml +++ b/f1tenth_stack/config/joy_teleop.yaml @@ -28,10 +28,10 @@ joy_teleop: axis_mappings: drive-speed: axis: 1 - scale: 5.0 + scale: 1.0 offset: 0.0 drive-steering_angle: - axis: 0 + axis: 3 scale: 0.34 offset: 0.0