sl-jetson
da6a17cdcb
saltybot_gimbal ROS2 Python package for pan/tilt camera head control via JLINK binary protocol over serial to STM32 (Issue #547 C side). - gimbal_node.py: subscribes /saltybot/gimbal/cmd (Vector3: pan, tilt, speed), publishes /saltybot/gimbal/state (JSON), /saltybot/gimbal/cmd_echo - Services: /saltybot/gimbal/home (Trigger), /saltybot/gimbal/look_at (Trigger + /saltybot/gimbal/look_at_target PointStamped) - jlink_gimbal.py: JLINK codec matching jlink.h — CMD_GIMBAL_POS=0x0B, TLM_GIMBAL_STATE=0x84, CRC16-CCITT, deg*10 encoding, speed register - MotionAxis: trapezoidal velocity profile (configurable accel + speed) - Configurable limits: pan ±150°, tilt ±45° (gimbal_params.yaml) - Serial reconnect with configurable retry delay - 48 unit tests — all passing Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
30 lines
839 B
YAML
30 lines
839 B
YAML
gimbal_node:
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ros__parameters:
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# Serial port connecting to STM32 over JLINK protocol
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serial_port: "/dev/ttyTHS1"
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baud_rate: 921600
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# Soft angle limits (degrees, ± from center)
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pan_limit_deg: 150.0
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tilt_limit_deg: 45.0
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# Home position (degrees from center)
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home_pan_deg: 0.0
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home_tilt_deg: 0.0
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# Motion profile
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max_speed_deg_s: 90.0 # maximum pan/tilt speed (°/s)
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accel_deg_s2: 180.0 # trapezoidal acceleration (°/s²)
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# Update rates
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update_rate_hz: 20.0 # motion tick + JLINK TX rate
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state_publish_hz: 10.0 # /saltybot/gimbal/state publish rate
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# Serial reconnect
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reconnect_delay_s: 2.0
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# D435i camera parameters (for look_at 3D→pan/tilt projection)
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camera_focal_length_px: 600.0
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image_width_px: 848
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image_height_px: 480
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