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>
46 lines
1.6 KiB
Python
46 lines
1.6 KiB
Python
"""esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 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 esp32_cmd.launch.py
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# Override serial port:
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ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1
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# Custom velocity scales:
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ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0"""
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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", "esp32_cmd_params.yaml")
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return LaunchDescription([
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DeclareLaunchArgument("serial_port", default_value="/dev/esp32-io"),
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DeclareLaunchArgument("baud_rate", default_value="460800"),
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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="esp32_cmd_node",
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name="esp32_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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"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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