Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Ros1 update docs #122

Merged
merged 6 commits into from
Jun 1, 2023
Merged

Ros1 update docs #122

merged 6 commits into from
Jun 1, 2023

Conversation

KmakD
Copy link
Contributor

@KmakD KmakD commented May 31, 2023

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.

@rafal-gorecki rafal-gorecki self-requested a review May 31, 2023 12:45
README.md Outdated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:
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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panther_bringup/README.md Outdated Show resolved Hide resolved
panther_bringup/README.md Outdated Show resolved Hide resolved
- `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
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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.

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

completely forgot about this 🤣

- `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.
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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`.

KmakD and others added 4 commits June 1, 2023 14:08
Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>
Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>
@KmakD KmakD requested a review from rafal-gorecki June 1, 2023 12:25
@rafal-gorecki rafal-gorecki merged commit 78f5c55 into ros1 Jun 1, 2023
@rafal-gorecki rafal-gorecki deleted the ros1-update-bringup-docs branch June 1, 2023 12:44
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

2 participants