Erik may 16 changes for autonomy#124
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* First draft on talon drill control * feat: add headers to esp32 code * fix: switch to DHTesp lib to avoid crash * Final science cleanup --------- Co-authored-by: tomaswilliston <tomaswilliston@gmail.com>
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Pull request overview
This PR updates science/autonomy bringup across teleop, GPS, Nav2, ESP sensor I/O, panoramic capture, and mast control.
Changes:
- Migrates drill/elevator teleop from RoboClaw Float32 commands to Phoenix
MotorControl. - Adjusts GPS launch/config behavior and UBX serial handling.
- Adds/updates science ESP framing, panoramic camera setup, mast servo topic, and Nav2 planner/controller tuning.
Reviewed changes
Copilot reviewed 13 out of 13 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
src/Teleop-Control/joystick_control/src/drill.cpp |
Publishes Phoenix motor commands for drill/elevator. |
src/Teleop-Control/joystick_control/include/drill.hpp |
Updates drill publishers/includes for Phoenix messages. |
src/Teleop-Control/joystick_control/CMakeLists.txt |
Switches drill dependency from std_msgs to ros_phoenix. |
src/Teleop-Control/joystick_control/config/pxn.yaml |
Updates drill axis and removes RoboClaw config blocks. |
src/Teleop-Control/joystick_control/launch/rover_science.launch.py |
Launches Phoenix Talons for science teleop. |
src/Nav/navigation/params/nav2.yaml |
Tunes planner smoother/cost parameters. |
src/Nav/navigation/behavior_trees/bt_swerve_dynamic_replanning.xml |
Uses Transit planner/controller IDs. |
src/Nav/gps/launch/rover.launch.py |
Disables rover GPS config process. |
src/Nav/gps/launch/heading.launch.py |
Changes heading baud/output and disables config process. |
src/Nav/gps/launch/basestation.launch.py |
Fixes survey-in parameter names and disables config process. |
src/Nav/gps/gps/ubx_io_manager.py |
Opens serial with DTR/RTS disabled. |
src/Nav/gps/gps/heading_pub_node.py |
Uses relative heading topic and adds startup logs. |
src/Nav/gps/gps/gps_base_pub_node.py |
Enables NAV-SVIN message output explicitly. |
src/HW-Devices/science_sensors/science_sensors/science_esp_code/science_esp.ino |
Adds framed serial protocol, DHTesp usage, and PWM ramp changes. |
src/HW-Devices/science_sensors/science_sensors/esp_serial_bridge.py |
Adds framed ESP command/sensor packet handling. |
src/HW-Devices/science_sensors/science_sensors/panoramic.py |
Switches mast topic and starts Mast video source before capture. |
src/HW-Devices/gpio_controller/gpio_controller/mast_esp.py |
Updates mast servo minimum and logs PWM conversion. |
src/Bringup/launch/science.launch.py |
Adds a new science bringup launch file. |
Comments suppressed due to low confidence (1)
src/HW-Devices/science_sensors/science_sensors/panoramic.py:135
- The
/start_videoresponse is retrieved but never checked.VideoOut.srvreturns asuccessflag, so a failed camera switch will still proceed to capture frames, and the unusedresultassignment will also be flagged by the package's flake8 test.
result = future.result()
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| @@ -113,7 +115,7 @@ def start(self, request, response): | |||
| source.width = 100 | |||
| source.height = 100 | |||
| video_start_req.sources = [source] | |||
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| # ExecuteProcess( | ||
| # cmd=[ | ||
| # "python3", | ||
| # os.path.join( | ||
| # get_package_share_directory("gps"), "config", "fr_rover.py" | ||
| # ), | ||
| # ], | ||
| # condition=IfCondition(load_config), | ||
| # ), |
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| # ExecuteProcess( | ||
| # cmd=[ | ||
| # "python3", | ||
| # os.path.join( | ||
| # get_package_share_directory("gps"), "config", "fr_heading.py" | ||
| # ), | ||
| # ], | ||
| # condition=IfCondition(load_config), | ||
| # ), |
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| # ExecuteProcess( | ||
| # cmd=[ | ||
| # "python3", | ||
| # os.path.join( | ||
| # get_package_share_directory("gps"), | ||
| # "config", | ||
| # "fr_basestation.py", | ||
| # ), | ||
| # ], | ||
| # condition=IfCondition(load_config), | ||
| # ), |
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Not much. Fixed gps which is great. See the next PR for a good explanation of what i did with connnor.