sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
84 lines
3.2 KiB
Python
84 lines
3.2 KiB
Python
"""
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uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
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Launches serial_bridge_node configured for Jetson Orin UART port.
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Bridges ESP32-S3 BALANCE telemetry from inter-board UART into ROS2.
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Published topics (same as USB CDC bridge):
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/saltybot/imu sensor_msgs/Imu — pitch/roll/yaw as angular velocity
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/saltybot/balance_state std_msgs/String (JSON) — full PID diagnostics
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/diagnostics diagnostic_msgs/DiagnosticArray — system health
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Usage:
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ros2 launch saltybot_bridge uart_bridge.launch.py
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# Override UART port (Orin has THS0–THS3):
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ros2 launch saltybot_bridge uart_bridge.launch.py uart_port:=/dev/ttyTHS0
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# Override baud rate:
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ros2 launch saltybot_bridge uart_bridge.launch.py baud_rate:=115200
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Prerequisites:
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- Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
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- STM32 firmware transmitting JSON telemetry frames (50 Hz)
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- ROS2 environment sourced (source install/setup.bash)
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Note:
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/dev/ttyTHS1 is the native UART1 on Jetson Orin. Verify connectivity:
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$ cat /dev/ttyTHS1 | head -5
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{"p":123,"r":-45,"e":0,"ig":0,"m":0,"s":1,"y":0}
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...
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Troubleshooting:
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- "Permission denied" → run with sudo or add user to dialout group
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- No frames received → check Flight Controller baud rate, verify UART cable
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- Garbled output → check baud rate mismatch, check cable shield/termination
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"""
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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():
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return LaunchDescription([
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# ── Launch arguments ───────────────────────────────────────────────────
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DeclareLaunchArgument(
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"uart_port",
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default_value="/dev/ttyTHS1",
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description="Jetson Orin UART device (THS0–THS3)",
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),
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DeclareLaunchArgument(
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"baud_rate",
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default_value="921600",
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description="Serial baud rate (Flight Controller standard)",
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),
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DeclareLaunchArgument(
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"timeout",
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default_value="0.1",
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description="Serial read timeout in seconds",
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),
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DeclareLaunchArgument(
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"reconnect_delay",
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default_value="2.0",
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description="Delay before reconnect attempt on serial error (seconds)",
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),
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# ── Serial bridge node ─────────────────────────────────────────────────
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Node(
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package="saltybot_bridge",
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executable="serial_bridge_node",
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name="fc_uart_bridge",
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output="screen",
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parameters=[
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{
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"serial_port": LaunchConfiguration("uart_port"),
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"baud_rate": LaunchConfiguration("baud_rate"),
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"timeout": LaunchConfiguration("timeout"),
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"reconnect_delay": LaunchConfiguration("reconnect_delay"),
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},
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],
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),
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])
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