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Added minimum velocity parameters to launch #221

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Added minimum velocity parameters to launch #221

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73e721c
Added min_acceleration parameters to launch
asasine Feb 13, 2024
a490498
Added min_velocity
asasine Feb 14, 2024
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6 changes: 5 additions & 1 deletion magni_bringup/config/default_robot.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
# Default Robot Configuration

# WARNING: Changing the content of this folder effects the working of magni_bringup/scripts/launch_core.py !!!
# Make sure you understand what you're doing before changing anything in here.
# Make sure you understand what you're doing before changing anything in here.


# ============================================= USER CHANGEABLE PARAMETERS =================================================
Expand Down Expand Up @@ -79,11 +79,15 @@ ubiquity_velocity_controller:
x:
has_velocity_limits : true
max_velocity : 1.0 # m/s
min_velocity : -1.0 # m/s
has_acceleration_limits: true
max_acceleration : 1.1 # m/s^2
min_acceleration : -1.1 # m/s^2
angular:
z:
has_velocity_limits : true
max_velocity : 2.0 # rad/s
min_velocity : -2.0 # rad/s
has_acceleration_limits: true
max_acceleration : 5.0 # rad/s^2
min_acceleration : -5.0 # rad/s^2
6 changes: 5 additions & 1 deletion magni_bringup/launch/core_launch.em
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="sonars_installed" default="@(sonars_installed)"/>
<arg name="oled_display" default="@(oled_display)"/>
<arg name="controller_board_version" default="@(controller_board_version)"/>

<include file="$(find magni_description)/launch/description.launch">
<arg name="camera_extrinsics_file" value="@(camera_extrinsics_file)"/>
<arg name="lidar_extrinsics_file" value="@(lidar_extrinsics_file)"/>
Expand Down Expand Up @@ -67,16 +67,20 @@
<param name="/ubiquity_velocity_controller/wheel_radius" value="@(wheel_radius)"/>
<param name="/ubiquity_velocity_controller/linear/x/has_velocity_limits" value="@(lin_has_velocity_limits)"/>
<param name="/ubiquity_velocity_controller/linear/x/max_velocity" value="@(lin_max_velocity)"/>
<param name="/ubiquity_velocity_controller/linear/x/min_velocity" value="@(lin_min_velocity)"/>
<param name="/ubiquity_velocity_controller/linear/x/has_acceleration_limits" value="@(lin_has_acceleration_limits)"/>
<param name="/ubiquity_velocity_controller/linear/x/max_acceleration" value="@(lin_max_acceleration)"/>
<param name="/ubiquity_velocity_controller/linear/x/min_acceleration" value="@(lin_min_acceleration)"/>

<rosparam param="/ubiquity_velocity_controller/pose_covariance_diagonal">@(pose_covariance_diagonal)</rosparam>
<rosparam param="/ubiquity_velocity_controller/twist_covariance_diagonal">@(twist_covariance_diagonal)</rosparam>

<param name="/ubiquity_velocity_controller/angular/z/has_velocity_limits" value="@(ang_has_velocity_limits)"/>
<param name="/ubiquity_velocity_controller/angular/z/max_velocity" value="@(ang_max_velocity)"/>
<param name="/ubiquity_velocity_controller/angular/z/min_velocity" value="@(ang_min_velocity)"/>
<param name="/ubiquity_velocity_controller/angular/z/has_acceleration_limits" value="@(ang_has_acceleration_limits)"/>
<param name="/ubiquity_velocity_controller/angular/z/max_acceleration" value="@(ang_max_acceleration)"/>
<param name="/ubiquity_velocity_controller/angular/z/min_acceleration" value="@(ang_min_acceleration)"/>

<!-- Launch the roscontrol controllers needed -->
<node name="controller_spawner" pkg="controller_manager" type="spawner"
Expand Down
20 changes: 12 additions & 8 deletions magni_bringup/scripts/launch_core.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ def get_config_replace_missing(conf_path, default_conf):
try:
y_conf = yaml.safe_load(conf_file)
except Exception as e:
print(clr.ERROR +
print(clr.ERROR +
+ "Error reading yaml file from "
+ conf_path
+ ", using default configuration"
Expand All @@ -96,12 +96,12 @@ def get_config_replace_missing(conf_path, default_conf):
# if any key missing in y_conf replace it individually from default_conf
dict_replace_missing(y_conf, default_conf)

# print(y_conf)
# print(y_conf)
return y_conf
except IOError:
print(clr.WARN
print(clr.WARN
+ "WARN "
+ conf_path
+ conf_path
+ " doesn't exist, using default configuration"
+ clr.ENDC)
return default_conf
Expand Down Expand Up @@ -135,7 +135,7 @@ def create_core_launch_file(
mot_cont = conf["ubiquity_motor"]
vel_cont = conf["ubiquity_velocity_controller"]
joint_pub = conf["ubiquity_joint_publisher"]

try:
with open(em_path) as em_launch_file:
em_launch = em_launch_file.read()
Expand Down Expand Up @@ -167,7 +167,7 @@ def create_core_launch_file(
"fw_max_speed_rev": str(mot_cont["fw_max_speed_rev"]),
"pid_moving_buffer_size": str(mot_cont["pid_moving_buffer_size"]),
"pid_velocity": str(mot_cont["pid_velocity"]),

"joint_controller_type": str(joint_pub["type"]),
"joint_controller_publish_rate": str(joint_pub["publish_rate"]),

Expand All @@ -187,13 +187,17 @@ def create_core_launch_file(
"wheel_radius_multiplier": str(vel_cont["wheel_radius_multiplier"]),
"lin_has_velocity_limits": str(vel_cont["linear"]["x"]["has_velocity_limits"]),
"lin_max_velocity": str(vel_cont["linear"]["x"]["max_velocity"]),
"lin_min_velocity": str(vel_cont["linear"]["x"]["min_velocity"]),
"lin_has_acceleration_limits": str(vel_cont["linear"]["x"]["has_acceleration_limits"]),
"lin_max_acceleration": str(vel_cont["linear"]["x"]["max_acceleration"]),
"lin_min_acceleration": str(vel_cont["linear"]["x"]["min_acceleration"]),

"ang_has_velocity_limits": str(vel_cont["angular"]["z"]["has_velocity_limits"]),
"ang_max_velocity": str(vel_cont["angular"]["z"]["max_velocity"]),
"ang_min_velocity": str(vel_cont["angular"]["z"]["min_velocity"]),
"ang_has_acceleration_limits": str(vel_cont["angular"]["z"]["has_acceleration_limits"]),
"ang_max_acceleration": str(vel_cont["angular"]["z"]["max_acceleration"]),
"ang_min_acceleration": str(vel_cont["angular"]["z"]["min_acceleration"]),
},
)
except FileNotFoundError:
Expand All @@ -211,7 +215,7 @@ def create_core_launch_file(


"""
If the first file exists, return it, otherwise return the second file.
If the first file exists, return it, otherwise return the second file.
If none of them exists returns empty string.

:param first_path: The path to the file you want to find
Expand Down Expand Up @@ -413,7 +417,7 @@ def main():
print(clr.OK
+ "Launch check OK"
+ clr.ENDC)


if __name__ == "__main__":
main()