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>
82 lines
3.2 KiB
Python
82 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 (ESP32-S3) 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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- ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz) - 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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