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| Original file line number | Diff line number | Diff line change |
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@@ -22,4 +22,4 @@ | |
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| - name: Install Moteus GUI | ||
| pip: | ||
| name: moteus_gui | ||
| name: moteus-gui | ||
6 changes: 6 additions & 0 deletions
6
ansible/roles/jetson_services/files/rules/99-usb-serial.rules
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| SUBSYSTEM=="tty", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", SYMLINK+="gps_%n" | ||
| SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0058", SYMLINK+="imu" | ||
| SUBSYSTEM=="video4linux", KERNEL=="video*", ATTRS{idVendor}=="1bcf", ATTRS{idProduct}=="0b12", ATTR{index}=="0", GROUP="video", SYMLINK+="arducam" | ||
| SUBSYSTEM=="video4linux", KERNEL=="video*", ATTRS{idVendor}=="2b03", ATTRS{idProduct}=="f582", ATTR{index}=="0", GROUP="video", SYMLINK+="zed" | ||
| SUBSYSTEM=="video4linux", KERNEL=="video*", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9601", ATTR{index}=="0", GROUP="video", SYMLINK+="mobcam" | ||
| SUBSYSTEM=="video4linux", KERNEL=="video*", ATTRS{idVendor}=="32e4", ATTRS{idProduct}=="9601", ATTR{index}=="0", GROUP="video", SYMLINK+="staticcam" |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,14 @@ | ||
| - name: USB Rules | ||
| become: true | ||
| synchronize: | ||
| src: files/rules/ | ||
| dest: /etc/udev/rules.d | ||
| recursive: true | ||
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| - name: udev Reload Rules | ||
| become: true | ||
| command: udevadm control --reload-rules | ||
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| - name: udev TTY Trigger | ||
| become: true | ||
| command: udevadm trigger --subsystem-match=tty |
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| Original file line number | Diff line number | Diff line change |
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@@ -63,6 +63,8 @@ teleop: | |
| multiplier: 0.6 | ||
| tilt: | ||
| multiplier: 1 | ||
| pan: | ||
| multiplier: 1 | ||
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| xbox_mappings: | ||
| left_x: 0 | ||
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Submodule manif
updated
34 files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,77 +1,67 @@ | ||
| <launch> | ||
| <rosparam command="load" file="$(find mrover)/config/esw.yaml" /> | ||
| <rosparam command="load" file="$(find mrover)/config/esw.yaml"/> | ||
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| <!-- Bridges between ROS and SocketCAN --> | ||
| <!-- <node name="can_driver_0" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can0" /> | ||
| </node> --> | ||
| <node name="can_driver_1" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can1" /> | ||
| </node> | ||
| <node name="can_driver_2" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can2" /> | ||
| </node> | ||
| <node name="can_driver_3" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can3" /> | ||
| </node> | ||
| <node name="can_driver_1" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can1"/> | ||
| </node> | ||
| <node name="can_driver_2" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can2"/> | ||
| </node> | ||
| <node name="can_driver_3" pkg="mrover" type="can_driver" | ||
| respawn="true" respawn_delay="2" | ||
| output="screen"> | ||
| <param name="interface" value="can3"/> | ||
| </node> | ||
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| <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0" | ||
| output="screen"> | ||
| <param name="device" value="/dev/video0" /> | ||
| <param name="port" value="8081" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_mobility" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/mobcam"/> | ||
| <param name="port" value="8083"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> | ||
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| <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_1" | ||
| output="screen"> | ||
| <param name="device" value="/dev/video2" /> | ||
| <param name="port" value="8082" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_static" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/staticcam"/> | ||
| <param name="port" value="8082"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> | ||
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| <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_2" | ||
| output="screen"> | ||
| <param name="device" value="/dev/video4" /> | ||
| <param name="port" value="8083" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
| <!-- <node pkg="nodelet" type="nodelet" name="streamer_nodelet_finger" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="dev_node" value="/dev/video4"/> | ||
| <param name="port" value="8083"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> --> | ||
|
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| <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_zed" | ||
| output="screen"> | ||
| <param name="image_topic" value="/camera/left/image" /> | ||
| <param name="port" value="8084" /> | ||
| <param name="width" value="1280" /> | ||
| <param name="height" value="720" /> | ||
| </node> | ||
|
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| <!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_3" | ||
| output="screen"> | ||
| <param name="device" value="/dev/video6" /> | ||
| <param name="port" value="8084" /> | ||
| <param name="width" value="640" /> | ||
| <param name="height" value="480" /> | ||
| </node> --> | ||
| <node pkg="nodelet" type="nodelet" name="streamer_nodelet_zed" | ||
| args="load mrover/GstWebsocketStreamerNodelet perception_nodelet_manager" | ||
| output="screen"> | ||
| <param name="image_topic" value="/camera/left/image"/> | ||
| <param name="port" value="8081"/> | ||
| <param name="width" value="1280"/> | ||
| <param name="height" value="720"/> | ||
| </node> | ||
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| <node name="drive_bridge" pkg="mrover" type="drive_bridge" output="screen" /> | ||
| <node name="drive_bridge" pkg="mrover" type="drive_bridge" output="screen"/> | ||
|
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| <!-- Interprets status from navigation and teleoperation to deliver the correct LED mode to | ||
| the bridge --> | ||
| <node name="led" pkg="mrover" type="led" output="screen" /> | ||
| <!-- This is the STM bridge, not working right now for unknown reasons --> | ||
| <!-- <node name="led_hw_bridge" pkg="mrover" type="led_hw_bridge" /> --> | ||
| <node name="arduino_led_hw_bridge" pkg="mrover" type="arduino_led_hw_bridge.py" | ||
| output="screen" /> | ||
| <!-- Interprets status from navigation and teleoperation to deliver the correct LED mode to | ||
| the bridge --> | ||
| <node name="led" pkg="mrover" type="led" output="screen"/> | ||
| <!-- This is the STM bridge, not working right now for unknown reasons --> | ||
| <!-- <node name="led_hw_bridge" pkg="mrover" type="led_hw_bridge" /> --> | ||
| <node name="arduino_led_hw_bridge" pkg="mrover" type="arduino_led_hw_bridge.py" | ||
| output="screen"/> | ||
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| <node name="mast_gimbal_bridge" pkg="mrover" type="mast_gimbal_bridge" output="screen" /> | ||
| <node name="mast_gimbal_bridge" pkg="mrover" type="mast_gimbal_bridge" output="screen"/> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
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| <launch> | ||
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| <rosparam command="load" file="$(find mrover)/config/esw.yaml" /> | ||
| <node pkg="mrover" type="basestation_gps_driver.py" name="basestation_gps_driver" | ||
| output="screen" /> | ||
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
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| <launch> | ||
| <arg name="use_both_gps" default="true" /> | ||
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| <rosparam command="load" file="$(find mrover)/config/esw.yaml" /> | ||
| <rosparam command="load" file="$(find mrover)/config/localization.yaml" /> | ||
| <rosparam command="load" file="$(find mrover)/config/ekf.yaml" /> | ||
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| <group ns="right_gps_driver"> | ||
| <node if="$arg use_both_gps" pkg="mrover" type="gps_driver.py" name="gps_driver" output="screen"/> | ||
| </group> | ||
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| <group ns="left_gps_driver"> | ||
| <node pkg="mrover" type="gps_driver.py" name="gps_driver" output="screen"/> | ||
| </group> | ||
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| <node pkg="mrover" type="gps_linearization.py" name="gps_linearization" output="screen"/> | ||
|
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| uint8 NO_RTK = 0 | ||
| uint8 FLOATING_RTK = 1 | ||
| uint8 RTK_FIX = 2 | ||
|
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| uint8 RTK_FIX_TYPE |
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