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Here you'll learn how to easily change motor settings with no need to set up any programming environment. |
Beginning with firmware version 1.0.0 there's a much easier way to modify basic settings of the Rover with no need of building the firmware files. The firmware relies on a parameter file that is addressed by Core2-ROS during the operation.
{% page-ref page="../../basic-guides/connect-via-ssh.md" %}
{% page-ref page="../../basic-guides/connect-to-the-internet.md" %}
{% page-ref page="../../basic-guides/firmware-update.md" %}
Type in the terminal:
sudo apt update
sudo apt install --upgrade ros-melodic-leo-bringup
And wait until the install completes.
Type in the terminal:
nano /etc/ros/robot.launch
You'll access robot.launch file that drives the firmware settings.
Add new line in robot.launch file (before </launch>):
<param name="core2/motors/torque_limit" value="800.0"/>
This command will set new value to the motors torque limit. It will be 800 now.
Type Ctrl+O and Enter to save the modified configuration and Ctrl+X to exit the editor.
Restart the Rover for the modifications to work.
See the parameters section of Leo Firmware readme for a list of different modifications possible.
{% embed url="http://wiki.ros.org/leo\_fw" %}
Alter the launch file line you add to meet the parameter and value of your choice.
<param name="[name-from-the-list]" value="[value-of-the-parameter]"/>
{% hint style="info" %} Have fun playing with the parameters! And remember to share your experiments in the forum.
https://forum.fictionlab.pl/ {% endhint %}