bb35ddd56d
- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side) - Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_* - Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py - Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem, decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node - Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py - Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived - Update can_bridge_params.yaml: mamba_can_id → balance_can_id - Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture - Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py - No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
74 lines
2.7 KiB
Python
74 lines
2.7 KiB
Python
"""
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saltybot_bridge launch file.
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Two deployment modes:
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1. Full bidirectional (recommended for Nav2):
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ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional
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Starts saltybot_cmd_node — owns serial port, handles both RX telemetry
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and TX /cmd_vel → ESP32-S3 commands + heartbeat.
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2. RX-only (telemetry monitor, no drive commands):
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ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
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Starts serial_bridge_node — telemetry RX only. Use when you want to
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observe telemetry without commanding the robot.
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Note: never run both nodes simultaneously on the same serial port.
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def _launch_nodes(context, *args, **kwargs):
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mode = LaunchConfiguration("mode").perform(context)
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port = LaunchConfiguration("serial_port").perform(context)
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baud = LaunchConfiguration("baud_rate").perform(context)
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spd_scale = LaunchConfiguration("speed_scale").perform(context)
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str_scale = LaunchConfiguration("steer_scale").perform(context)
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params = {
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"serial_port": port,
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"baud_rate": int(baud),
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"timeout": 0.05,
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"reconnect_delay": 2.0,
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}
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if mode == "rx_only":
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return [Node(
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package="saltybot_bridge",
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executable="serial_bridge_node",
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name="esp32_serial_bridge",
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output="screen",
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parameters=[params],
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)]
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# bidirectional (default)
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params.update({
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"heartbeat_period": 0.2,
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"speed_scale": float(spd_scale),
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"steer_scale": float(str_scale),
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})
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return [Node(
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package="saltybot_bridge",
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executable="saltybot_cmd_node",
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name="saltybot_cmd",
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output="screen",
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parameters=[params],
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)]
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def generate_launch_description():
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return LaunchDescription([
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DeclareLaunchArgument("mode", default_value="bidirectional",
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description="bidirectional | rx_only"),
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DeclareLaunchArgument("serial_port", default_value="/dev/ttyACM0",
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description="ESP32-S3 USB CDC device node"), DeclareLaunchArgument("baud_rate", default_value="921600"),
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DeclareLaunchArgument("speed_scale", default_value="1000.0",
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description="m/s → ESC units (linear.x scale)"),
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DeclareLaunchArgument("steer_scale", default_value="-500.0",
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description="rad/s → ESC units (angular.z scale, neg=flip)"),
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OpaqueFunction(function=_launch_nodes),
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])
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