Merge remote-tracking branch 'origin/integration' into camera-id

CMakeLists.txt

@@ -167,8 +167,7 @@ mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
 mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
 mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
 mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
-mrover_add_esw_bridge_node(sa_hw_bridge src/esw/sa_hw_bridge/*.cpp)
-mrover_add_esw_bridge_node(sa_translator_bridge src/esw/sa_translator_bridge/*.cpp)
+mrover_add_esw_bridge_node(sa_bridge src/esw/sa_bridge/*.cpp)
 mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
 mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp)
 mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)

ansible/roles/jetson_build/tasks/main.yml

@@ -23,17 +23,17 @@
     state: latest
     name:
       - zstd # Required to unpack ZED installer
-      - cuda
+      - cuda-12-3
       - nvidia-jetpack
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/4.0/l4t35.4/jetsons
-    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run
+    url: https://download.stereolabs.com/zedsdk/4.1/l4t35.4/jetsons
+    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run -- silent
+  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run -- silent
   args:
     creates: /usr/local/zed

config/esw.yaml

@@ -24,22 +24,22 @@ can:
       bus: 3
       id: 0x10
     - name: "front_left"
-      bus: 0
+      bus: 2
       id: 0x12
     - name: "front_right"
-      bus: 0
+      bus: 2
       id: 0x11
     - name: "middle_left"
-      bus: 0
+      bus: 2
       id: 0x14
     - name: "middle_right"
-      bus: 0
+      bus: 2
       id: 0x13
     - name: "back_left"
-      bus: 0
+      bus: 2
       id: 0x16
     - name: "back_right"
-      bus: 0
+      bus: 2
       id: 0x15
     - name: "joint_a"
       bus: 1
@@ -96,29 +96,23 @@ can:
 brushless_motors:
   controllers:
     front_left:
-      velocity_multiplier: -1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -11.0
+      max_velocity: 11.0
     front_right:
-      velocity_multiplier: 1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -11.0
+      max_velocity: 11.0
     middle_left:
-      velocity_multiplier: -1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -11.0
+      max_velocity: 11.0
     middle_right:
-      velocity_multiplier: 1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -11.0
+      max_velocity: 11.0
     back_left:
-      velocity_multiplier: -1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -11.0
+      max_velocity: 11.0
     back_right:
-      velocity_multiplier: 1.0
-      min_velocity: -70.0
-      max_velocity: 70.0
+      min_velocity: -11.0
+      max_velocity: 11.0
     joint_a:
       # 1236.8475 rad/meter, or 196.850393476 rev/meter, and we want a max vel of 40 meter/s. 
       # gear ratio is currently at 0.005080 revolutions = 1 meter
@@ -159,9 +153,8 @@ brushless_motors:
       max_position: 10000.0
       max_torque: 20.0
     sa_z:
-      min_velocity: -100.0
-      max_velocity: 100.0
-      rad_to_meters_ratio: 157.48 #rad/m
+      min_velocity: -0.05
+      max_velocity: 0.05
       limit_0_present: false
       limit_1_present: false
       limit_0_enabled: true
@@ -174,7 +167,7 @@ brushless_motors:
       limit_1_used_for_readjustment: true
       limit_0_readjust_position: 0.0 # radians TODO
       limit_1_readjust_position: 0.0 # radians TODO
-      max_torque: 0.5
+      max_torque: 30.0
 
 brushed_motors:
   controllers:
@@ -219,11 +212,12 @@ brushed_motors:
     #   max_backward_pos: 0.0
     #   calibration_throttle: 5.0
     joint_b:
+      is_inverted: False
       gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: true
       limit_0_enabled: true
       limit_0_is_active_high: false
-      limit_0_limits_fwd: true
+      limit_0_limits_fwd: false
       limit_0_used_for_readjustment: false
       abs_present: true
       abs_is_fwd_polarity: true
@@ -306,8 +300,8 @@ brushed_motors:
     sa_y:
       gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
-      limit_0_present: false
-      limit_1_present: false
+      limit_0_present: true
+      limit_1_present: true
       limit_0_enabled: true
       limit_1_enabled: true
       limit_0_is_active_high: false
@@ -525,7 +519,7 @@ motors_group:
     - "mast_gimbal_z"
   cache:
     - "cache_motor"
-  sa_hw:
+  sa:
     - "sa_x"
     - "sa_y"
     - "sa_z"

config/moteus/joint_de_1.cfg

@@ -141,7 +141,7 @@ motor_position.sources.1.i2c_device 0
 motor_position.sources.1.incremental_index -1
 motor_position.sources.1.cpr 65536
 motor_position.sources.1.offset -52120.000000
-motor_position.sources.1.sign -1
+motor_position.sources.1.sign 1
 motor_position.sources.1.debug_override -1
 motor_position.sources.1.reference 1
 motor_position.sources.1.pll_filter_hz 100.000000