Deploy 2026-05-28

docs/integrations/packs/vision-pack.mdx

@@ -367,12 +367,19 @@ network:
       link-local: []
 ```
 
-Apply the new configuration:
+Restart the Raspberry Pi to apply changes:
 
 ```bash
-sudo netplan apply && sudo systemctl restart hostapd dnsmasq
+sudo reboot now
 ```
 
+:::note
+
+This will disconnect you from the rover's WiFi network, so make sure to
+reconnect after the reboot.
+
+:::
+
 Now your Jetson should receive an IP address in the `10.0.0.x` range and be
 accessible from the rover network.
 

docs/leo-rover/documentation/getting-started.mdx

@@ -62,7 +62,7 @@ Rover's computer.
 For instructions on how to change WiFi network credentials, you can visit this
 page:
 
-<LinkButton docId="guides/ap-settings" />
+<LinkButton docId="guides/network-configuration" />
 
 Connect to the network.
 

docs/leo-rover/documentation/ros-api.mdx

@@ -206,7 +206,19 @@ image: /img/robots/leo/leo-rover-1.9.webp
 
 ## Parameters
 
-#### /camera
+:::info
+
+All of the default parameters for the standard nodes running on the system can
+be overridden in the `/etc/ros/parameter_overrides.yaml` file. Check the file
+for more details and examples.
+
+The parameters not marked as `read-only` can also be changed at runtime using
+command line tools such as `ros2 param set` or graphical tools like `rqt` with
+the `rqt_reconfigure` plugin (run `rqt -s rqt_reconfigure`).
+
+:::
+
+#### camera
 
 - `role` (type: `string`, read-only, default: `video`)
 
@@ -243,7 +255,7 @@ documented in [picamera2 documentation (Appendix C)].
 
 :::
 
-#### /camera/debayer
+#### camera/debayer
 
 - `.image_color.compressed.jpeg_quality` (type: `int`, default: `80`)
 
@@ -253,77 +265,132 @@ documented in [picamera2 documentation (Appendix C)].
 
   The quality of the JPEG compression for the monochrome image. Range: 0-100.
 
-#### /camera/rectify_mono
+#### camera/rectify_mono
 
 - `.image_rect_color.compressed.jpeg_quality` (type: `int`, default: `80`)
 
   The quality of the JPEG compression for the rectified color image. Range:
   0-100.
 
-#### /camera/rectify_color
+#### camera/rectify_color
 
 - `.image_rect.compressed.jpeg_quality` (type: `int`, default: `80`)
 
   The quality of the JPEG compression for the rectified monochrome image. Range:
   0-100.
 
-#### /firmware
+#### firmware
 
 :::info
 
-The parameters for `/firmware` node can be overridden by modifying the
-`/etc/ros/firmware_overrides.yaml` file.
+The parameters for the `firmware` node are not meant to be changed directly by
+users. Instead, set the corresponding parameters on the
+`firmware_parameter_bridge` node (it mirrors the firmware parameters and
+forwards updates to `firmware`).
 
 :::
 
-- `wheels/encoder_resolution` (type: `float`, default: `878.4`)
+- `wheels.encoder_resolution` (type: `float`, default: `878.4`)
 
   The resolution of the wheel encoder in counts per rotation.
 
-- `wheels/torque_constant` (type: `float`, default: `1.17647`)
+- `wheels.torque_constant` (type: `float`, default: `1.17647`)
 
   The torque (in newton-meters) produced by the wheel per 1 Ampere of winding
   current.
 
-- `wheels/pid/p` (type: `float`, default: `0.0`)
+- `wheels.pid.kp` (type: `float`, default: `2.64`)
 
-  The P constant of the PID regulator.
+  The proportional gain of the PID regulator.
 
-- `wheels/pid/i` (type: `float`, default: `0.005`)
+- `wheels.pid.ki` (type: `float`, default: `42.24`)
 
-  The I constant of the PID regulator.
+  The integral gain of the PID regulator.
 
-- `wheels/pid/d` (type: `float`, default: `0.0`)
+- `wheels.pid.kd` (type: `float`, default: `0.11`)
 
-  The D constant of the PID regulator.
+  The derivative gain of the PID regulator.
 
-- `wheels/pwm_duty_limit` (type: `float`, default: `100.0`)
+:::info
 
-  The limit of the PWM duty applied to the motor in percent.
+The PID loop controls the voltage applied to the wheels based on the difference
+between the target velocity and the actual velocity.
 
-- `controller/wheel_radius` (type: `float`, default: `0.0625`)
+The output voltage $U(t)$ at time $t$ is calculated as:
+
+$$
+U(t) = K_p \cdot e(t) + K_i \cdot \int e(t) \, dt + K_d \cdot \frac{de(t)}{dt}
+$$
+
+where:
+
+- $t$ is the time in seconds,
+- $e(t)$ is the velocity error at time $t$ (target velocity - actual velocity),
+- $K_p$ is the proportional gain (`wheels.pid.kp`),
+- $K_i$ is the integral gain (`wheels.pid.ki`),
+- $K_d$ is the derivative gain (`wheels.pid.kd`).
+
+For example, if the target velocity is 1.0 $\frac{m}{s}$ and the actual velocity
+is 0.8 $\frac{m}{s}$, the velocity error $e(t)$ is 0.2 $\frac{m}{s}$. \
+A $K_p$ of 10.0 would contribute 2.0 $V$ to the output voltage, a $K_i$ of 50.0
+would contribute 10.0 $V$ per second of sustained error.
+
+The firmware employs anti-windup measures to prevent the integral term from
+accumulating excessively when the output voltage is saturated at the maximum
+available/applied voltage (e.g. limited by battery voltage and/or
+`wheels.max_voltage`).
+
+:::
+
+- `wheels.max_voltage` (type: `float`, default: `26.0`)
+
+  Maximum voltage (in Volts) that can be applied to the wheels. If the battery
+  voltage is above this value, the controller will scale down the PWM duty cycle
+  to avoid applying voltage higher than this to the wheels.
+
+- `controller.wheel_radius` (type: `float`, default: `0.0625`)
 
   The radius of the wheel in meters.
 
-- `controller/wheel_separation` (type: `float`, default: `0.358`)
+- `controller.wheel_separation` (type: `float`, default: `0.358`)
 
   The distance (in meters) between the centers of the left and right wheels.
 
-- `controller/wheel_base` (type: `float`, default: `0.3052`)
+- `controller.wheel_base` (type: `float`, default: `0.3052`)
 
   The distance (in meters) between the centers of the rear and front wheels.
 
-- `controller/angular_velocity_multiplier` (type: `float`, default: `1.76`)
+- `controller.angular_velocity_multiplier` (type: `float`, default: `1.76`)
 
   The angular velocity in `cmd_vel` command is multiplied by this parameter and
   the calculated odometry has its angular velocity divided by this parameter.
 
-- `controller/input_timeout` (type: `int`, default: `500`)
+- `controller.input_timeout` (type: `int`, default: `500`)
 
   The timeout (in milliseconds) for the `cmd_vel` commands. The controller will
   be disabled if it does not receive a command within the specified time. If set
   to 0, the timeout is disabled.
 
+- `controller.linear_acceleration` (type: `float`, default: `0.5`)
+
+  The linear acceleration (in $\frac{m}{s^2}$) applied to the robot when
+  accelerating.
+
+- `controller.linear_deceleration` (type: `float`, default: `2.0`)
+
+  The linear deceleration (in $\frac{m}{s^2}$) applied to the robot when
+  decelerating (when the absolute linear velocity is decreasing).
+
+- `controller.angular_acceleration` (type: `float`, default: `1.0`)
+
+  The angular acceleration (in $\frac{rad}{s^2}$) applied to the robot when
+  accelerating.
+
+- `controller.angular_deceleration` (type: `float`, default: `4.0`)
+
+  The angular deceleration (in $\frac{rad}{s^2}$) applied to the robot when
+  decelerating (when the absolute angular velocity is decreasing).
+
 - `battery_min_voltage` (type: `float`, default: `10.0`)
 
   The voltage (in Volts) below which the battery is considered low. If the
@@ -336,7 +403,7 @@ The parameters for `/firmware` node can be overridden by modifying the
   strafing via `linear.y` commands and adjusting odometry calculations for
   mecanum wheel geometry.
 
-#### /firmware_message_converter
+#### firmware_message_converter
 
 - `robot_frame_id` (type: `string`, read-only, default: `base_footprint`)
 
@@ -388,7 +455,7 @@ The parameters for `/firmware` node can be overridden by modifying the
   readings. The size of the array must be 3, representing the variances for the
   x, y and z axes.
 
-#### /heading_controller
+#### heading_controller
 
 - `linear_hold_deadband` (type: `float`, default: `0.05`)
 
@@ -412,7 +479,7 @@ The parameters for `/firmware` node can be overridden by modifying the
   Maximum absolute `angular.z` command still treated as heading-hold mode. Above
   this value, no heading correction is applied.
 
-#### /imu_filter
+#### imu_filter
 
 - `gain_acc` (type: `float`, default: `0.01`)
 
@@ -449,7 +516,7 @@ The parameters for `/firmware` node can be overridden by modifying the
   of the covariance matrix of the IMU orientation readings. The value must be
   greater than 0.
 
-#### /odom_filter
+#### odom_filter
 
 - `publish_tf` (type: `bool`, default: `true`)
 

docs/leo-rover/documentation/specification.mdx

@@ -589,7 +589,7 @@ address in the `10.0.0.x` range and can communicate with the rover.
 
 You can learn how to change the access point settings in this guide:
 
-<LinkButton docId="guides/ap-settings" />
+<LinkButton docId="guides/network-configuration" />
 
 LeoOS also supports connecting to existing Wi-Fi networks using the internal
 Wi-Fi interface. This can be useful for connecting the rover to a network with

docs/leo-rover/guides/connect-to-rover-ap.mdx

@@ -41,4 +41,4 @@ computer.
 For instructions on how to change the WiFi network credentials, you can visit
 this page:
 
-<LinkButton docId="guides/ap-settings" />
+<LinkButton docId="guides/network-configuration" />

docs/leo-rover/guides/ap-settings.mdx → docs/leo-rover/guides/network-configuration.mdx

@@ -1,6 +1,6 @@
 ---
-title: How to Change Leo Rover Wi-Fi AP Settings (SSID, Password)
-sidebar_label: Configure the Access Point
+title: How to Change Leo Rover Network Settings (SSID, Password)
+sidebar_label: Network configuration
 sidebar_position: 10
 keywords:
   - Leo Rover
@@ -15,9 +15,55 @@ description: >-
 image: /img/robots/leo/guides/ap-settings/hostapd.webp
 ---
 
-# How to Configure the Wi-Fi Access Point
+# How to Configure the Leo Rover Network
 
-## Access the hostapd configuration file
+:::note
+
+In order to apply any of the below modifications, you will need to reboot the
+Raspberry Pi. To do so, use the power button or type:
+
+```bash
+reboot
+```
+
+:::
+
+## Switching the access point interfaces and wired connection modes
+
+We provide a script for the most common Wi-Fi access point changes. To use it,
+connect to your Leo Rover via SSH and run:
+
+```bash
+sudo leo-config
+```
+
+This will open an interactive menu. From there, you can configure the access
+point interfaces and wired connection mode or view the current settings.
+
+Access point interface options:
+
+- `wlan_int` - use the internal Wi-Fi interface to host the access point
+- `wlan_ext` - use an external Wi-Fi interface (USB dongle) to host the access
+  point (default)
+- `disabled` - turn off the access point
+
+Wired connection mode options:
+
+- `bridge` - bridge the wired interface with the wireless access point (default)
+- `dhcp_client` - use the wired interface as a DHCP client on an upstream
+  network
+
+:::tip
+
+To see all available options, type:
+
+```bash
+sudo leo-config --help
+```
+
+:::
+
+## Changing the access point settings
 
 First you have to connect to your Leo Rover via SSH:
 
@@ -40,8 +86,6 @@ The editor interface should appear.
   }}
 />
 
-## Modify the settings
-
 ### Change the SSID and password
 
 Modify the `ssid` and `wpa_passphrase` fields.
@@ -81,12 +125,3 @@ This can limit the number of available channels to use.
 
 Type **Ctrl+O** and **Enter** to save the modified configuration and **Ctrl+X**
 to exit the editor.
-
-## Restart the access point
-
-In order to apply the modifications, you need to restart the access point
-daemon. To do so, just type:
-
-```bash
-sudo systemctl restart hostapd
-```

src/data/features.tsx

@@ -20,7 +20,7 @@ const FEATURES: FeatureItem[] = [
       width: 2000,
       height: 1300,
       hyperlink: 'leo-rover',
-      style: { width: 'auto', height: 260, paddingBottom: 20, marginTop: 40 },
+      style: { width: 'auto', height: 260, marginTop: 40 },
     },
     text: (
       <span>
@@ -36,7 +36,7 @@ const FEATURES: FeatureItem[] = [
       width: 2000,
       height: 1500,
       hyperlink: 'raph-rover',
-      style: { width: 'auto', height: 300, paddingBottom: 20 },
+      style: { width: 'auto', height: 300 },
     },
     text: (
       <span>

src/pages/index.module.css

@@ -88,11 +88,17 @@
 
 .featureImage {
   padding: 10px;
+  object-fit: contain;
+  object-position: bottom;
+  padding-bottom: 20px;
 }
 
 @media screen and (max-width: 996px) {
   .featureContainer {
     margin-left: auto;
     margin-right: auto;
   }
+  .featureImage {
+    margin: 0 !important;
+  }
 }

static/_redirects

@@ -81,3 +81,6 @@
 # Removed archive redirects
 /leo-rover/archive/* /leo-rover/1.8/archive/:splat 301
 
+# Renamed network configuration tutorial
+/leo-rover/guides/ap-settings /leo-rover/guides/network-configuration 301
+