sl-jetson
da6a17cdcb
saltybot_gimbal ROS2 Python package for pan/tilt camera head control via JLINK binary protocol over serial to STM32 (Issue #547 C side). - gimbal_node.py: subscribes /saltybot/gimbal/cmd (Vector3: pan, tilt, speed), publishes /saltybot/gimbal/state (JSON), /saltybot/gimbal/cmd_echo - Services: /saltybot/gimbal/home (Trigger), /saltybot/gimbal/look_at (Trigger + /saltybot/gimbal/look_at_target PointStamped) - jlink_gimbal.py: JLINK codec matching jlink.h — CMD_GIMBAL_POS=0x0B, TLM_GIMBAL_STATE=0x84, CRC16-CCITT, deg*10 encoding, speed register - MotionAxis: trapezoidal velocity profile (configurable accel + speed) - Configurable limits: pan ±150°, tilt ±45° (gimbal_params.yaml) - Serial reconnect with configurable retry delay - 48 unit tests — all passing Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
51 lines
1.5 KiB
Python
51 lines
1.5 KiB
Python
"""gimbal.launch.py — Launch saltybot_gimbal node (Issue #548)."""
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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_gimbal")
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serial_port_arg = DeclareLaunchArgument(
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"serial_port",
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default_value="/dev/ttyTHS1",
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description="JLINK serial port to STM32",
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)
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pan_limit_arg = DeclareLaunchArgument(
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"pan_limit_deg",
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default_value="150.0",
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description="Pan soft limit ± degrees",
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)
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tilt_limit_arg = DeclareLaunchArgument(
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"tilt_limit_deg",
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default_value="45.0",
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description="Tilt soft limit ± degrees",
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)
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gimbal_node = Node(
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package="saltybot_gimbal",
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executable="gimbal_node",
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name="gimbal_node",
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output="screen",
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parameters=[
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os.path.join(pkg, "config", "gimbal_params.yaml"),
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{
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"serial_port": LaunchConfiguration("serial_port"),
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"pan_limit_deg": LaunchConfiguration("pan_limit_deg"),
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"tilt_limit_deg": LaunchConfiguration("tilt_limit_deg"),
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},
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],
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)
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return LaunchDescription([
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serial_port_arg,
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pan_limit_arg,
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tilt_limit_arg,
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gimbal_node,
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])
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