Ros1 update docs #122
Merged
Ros1 update docs #122
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
rafal-gorecki
requested changes
May 31, 2023
README.md
Outdated
| Parameters stored in [**panther_default.yaml**](./panther_bringup/config/panther_default.yaml) are generic and are overwritten with your specific panther configuration on start. | ||
| Parameters stored in [**panther_default.yaml**](./panther_bringup/config/panther_default.yaml) are generic and are overwritten with your specific Panther configuration on start. | ||
|
|
||
| ### Changing wheels type | ||
|
|
||
| In order to change wheels used with your robot, add `wheel_type:=WH0X` to launch command as follows: |
There was a problem hiding this comment.
Suggested change
| In order to change wheels used with your robot, add `wheel_type:=WH0X` to launch command as follows: | |
| Changing the wheels requires changing the `wheel_type` parameter. To do this, you can use the following command by modifying the value of the wheel_type:=WH0X parameter |
panther_bringup/README.md
Outdated
| - `publish_robot_state` [*bool*, default=**true**]: whether to publish default Panther robot description. | ||
| - `robot_description` [*string*]: robot description in URDF format, by default parsed from **$(find panther_description)/urdf/panther.urdf.xacro**, with `wheel_config_path` specified by `wheel_config_file` launch argument and imu position parsed using `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y` evironmental variables. | ||
| - `shutdown_hosts_config_file` [*string*, default=**$(find panther_bringup)/config/shutdown_hosts.yaml**]: path to YAML file with description of hosts to shutdown. | ||
| - `test_animations` [*bool*, default=**false**]: if true then something but i forgot what at this point |
There was a problem hiding this comment.
I believe you will find out. ;)
If I undersed it right lights readme this param turns on test mode, which allow you to test new animations using services.
There was a problem hiding this comment.
completely forgot about this 🤣
panther_bringup/README.md
Outdated
| - `panther_common_config_file` [*string*, default=**$(find panther_bringup)/config/panther_common.yaml**]: path to yaml file with standard parameters used by the `driver_node`. | ||
| - `panther_version` [*float*, default=**1.0**]: robot version parsed using `PANTHER_ROBOT_VERSION` enironmental variable. | ||
| - `publish_robot_state` [*bool*, default=**true**]: whether to publish default Panther robot description. | ||
| - `robot_description` [*string*]: robot description in URDF format, by default parsed from **$(find panther_description)/urdf/panther.urdf.xacro**, with `wheel_config_path` specified by `wheel_config_file` launch argument and imu position parsed using `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y` evironmental variables. |
There was a problem hiding this comment.
Complicated, maybe creating a list of sub-arguments would be better.
Suggested change
| - `robot_description` [*string*]: robot description in URDF format, by default parsed from **$(find panther_description)/urdf/panther.urdf.xacro**, with `wheel_config_path` specified by `wheel_config_file` launch argument and imu position parsed using `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y` evironmental variables. | |
| - `robot_description` [*string*]: robot description in URDF format, parsed by default from **$(find panther_description)/urdf/panther.urdf.xacro**. Urdf itself contains its own arguments that are responsible for wheel selection and imu position. | |
| - `wheel_config_path` reads the value of the `wheel_config_file` parameter | |
| - changing the imu position is done by setting the environment variables `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y`. |
Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>
Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>
rafal-gorecki
approved these changes
Jun 1, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
bump::patch
This suppose to be just update of panther_bringup README, but I also added info in main README about providing custom robot description as it is kind of related to panther_bringup launch arguments. Plus small fix in driver docs.
Some of information (manager behavior tree) are ahead of time - they are supposed to be merged in close future, IMO there is no point in writing info and correcting it two weeks later.