sl-webui
28c934deff
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms). - Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget, wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose - Update all ROS2 package comments, config labels, launch args (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge) - Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version, "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel) - Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py binary frame layouts — pending ESP32 protocol spec from max - Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble rosbridge "Received a message without an op" incompatibility) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
53 lines
2.1 KiB
Python
53 lines
2.1 KiB
Python
"""stm32_cmd.launch.py — Launch the binary-framed ESP32 BALANCE command node (Issue #119).
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Usage:
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# Default (binary protocol, bidirectional):
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ros2 launch saltybot_bridge stm32_cmd.launch.py
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# Override serial port:
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ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM1
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# Custom velocity scales:
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ros2 launch saltybot_bridge stm32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description() -> LaunchDescription:
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pkg = get_package_share_directory("saltybot_bridge")
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params_file = os.path.join(pkg, "config", "stm32_cmd_params.yaml")
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return LaunchDescription([
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DeclareLaunchArgument("serial_port", default_value="/dev/ttyACM0"),
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DeclareLaunchArgument("baud_rate", default_value="921600"),
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DeclareLaunchArgument("speed_scale", default_value="1000.0"),
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DeclareLaunchArgument("steer_scale", default_value="-500.0"),
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DeclareLaunchArgument("watchdog_timeout", default_value="0.5"),
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DeclareLaunchArgument("heartbeat_period", default_value="0.2"),
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Node(
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package="saltybot_bridge",
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executable="stm32_cmd_node",
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name="stm32_cmd_node",
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output="screen",
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emulate_tty=True,
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parameters=[
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params_file,
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{
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"serial_port": LaunchConfiguration("serial_port"),
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"baud_rate": LaunchConfiguration("baud_rate"),
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"speed_scale": LaunchConfiguration("speed_scale"),
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"steer_scale": LaunchConfiguration("steer_scale"),
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"watchdog_timeout": LaunchConfiguration("watchdog_timeout"),
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"heartbeat_period": LaunchConfiguration("heartbeat_period"),
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},
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],
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),
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])
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