sl-jetson
a54b1c5613
Implements UART bridge verification between Flight Controller (STM32F722) and Jetson Orin. Changes: 1. jetson/scripts/uart_test.py (12.7 KB) - Opens /dev/ttyTHS1 at 921600 baud - Sends jlink binary test frames (PING, VERSION, ECHO) - Verifies CRC16-CCITT frame integrity - Logs transactions with timestamps - JSON result export and optional MQTT publishing 2. jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py - ROS2 launch file for serial_bridge_node on UART port - Configurable port (default /dev/ttyTHS1), baud rate (921600) - Bridges FC telemetry to /saltybot/imu, /saltybot/balance_state - Publishes diagnostics to /diagnostics Usage: Test: sudo python3 jetson/scripts/uart_test.py Launch: ros2 launch saltybot_bridge uart_bridge.launch.py Co-Authored-By: Claude Haiku 4.5 <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 Flight Controller (STM32F722) telemetry from /dev/ttyTHS1 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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