sl-jetson
22aaeb02cf
STM32 firmware (C): - include/jetson_cmd.h: protocol constants (HB_TIMEOUT_MS=500, SPEED_MAX_DEG=4°), API for jetson_cmd_process/is_active/steer/sp_offset - src/jetson_cmd.c: main-loop parser for buffered C<spd>,<str> frames; setpoint offset = speed/1000 * 4°; steer clamped ±1000 - lib/USB_CDC/src/usbd_cdc_if.c: add H (heartbeat) and C (drive cmd) to CDC_Receive ISR — follows existing pattern: H updates jetson_hb_tick in ISR, C copied to jetson_cmd_buf for main-loop sscanf (avoids sscanf in IRQ) - src/main.c: integrate jetson_cmd — process buffered frame, apply setpoint offset around balance_update(), inject steer into motor_driver_update() only when heartbeat alive (fallback: steer=0, setpoint unchanged) ROS2 (Python): - saltybot_cmd_node.py: full bidirectional node — owns serial port, handles telemetry RX → topics AND /cmd_vel TX → C<spd>,<str>\n + H\n heartbeat 200ms timer; sends C0,0\n on shutdown; speed/steer_scale configurable - serial_bridge_node.py: add write_serial() helper for extensibility - launch/bridge.launch.py: mode arg (bidirectional|rx_only) selects node - config/bridge_params.yaml: heartbeat_period, speed_scale, steer_scale docs - test/test_cmd.py: 13 tests — zero, full fwd/rev, turn clamping, combined - setup.py: saltybot_cmd_node entry point All 21 tests pass (8 parse + 13 cmd). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
26 lines
1.4 KiB
YAML
26 lines
1.4 KiB
YAML
# saltybot_bridge parameters
|
|
# Used by both serial_bridge_node (RX-only) and saltybot_cmd_node (bidirectional)
|
|
|
|
# ── Serial ─────────────────────────────────────────────────────────────────────
|
|
# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied.
|
|
serial_port: /dev/ttyACM0
|
|
baud_rate: 921600
|
|
timeout: 0.05 # serial readline timeout (seconds)
|
|
reconnect_delay: 2.0 # seconds between reconnect attempts on serial disconnect
|
|
|
|
# ── saltybot_cmd_node (bidirectional) only ─────────────────────────────────────
|
|
|
|
# Heartbeat: H\n sent every heartbeat_period seconds.
|
|
# STM32 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
|
|
heartbeat_period: 0.2 # seconds (= 200ms)
|
|
|
|
# Twist → ESC command scaling
|
|
# speed = clamp(linear.x * speed_scale, -1000, 1000) [m/s → ESC units]
|
|
# steer = clamp(angular.z * steer_scale, -1000, 1000) [rad/s → ESC units]
|
|
#
|
|
# Tune speed_scale for max desired forward speed (1 m/s → 1000 ESC units at default).
|
|
# steer_scale is negative because ROS2 +angular.z = CCW but ESC positive steer
|
|
# may mean right-turn — verify on hardware and flip sign if needed.
|
|
speed_scale: 1000.0
|
|
steer_scale: -500.0
|