Trying to fix udevrules for vectornav

Changed velodyne orientation to offset it 180deg. This will probably have an impact in the simulation in gazebo. Adjusted the launch script to stop can bus on exit. Disabled odrive id 24 rr_track (rear right track). Disabled slam_3d to simplify testing.
clubcapra · Oct 30, 2024 · 18424f2 · 18424f2
1 parent 7c26e80
commit 18424f2
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Showing 6 changed files with 9 additions and 8 deletions.
diff --git a/src/rove_bringup/config/vn_300.yaml b/src/rove_bringup/config/vn_300.yaml
@@ -5,7 +5,7 @@
 
 vectornav:
   ros__parameters:
-    port: "/dev/ttyUSB1" #  TODO: update this for rove
+    port: "/dev/ttyUSB0" 
     baud: 921600
     adjust_ros_timestamp: True
     reconnect_ms: 500

diff --git a/src/rove_bringup/launch/common.launch.py b/src/rove_bringup/launch/common.launch.py
@@ -94,7 +94,7 @@ def generate_launch_description():
         launch_arguments={
             'use_sim_time': use_sim_time,
             "deskewing": "true",
-            "use_slam3d": "true",
+            "use_slam3d": "false",
         }.items(),
     )
 
@@ -111,9 +111,9 @@ def generate_launch_description():
             robot_state_publisher,
             robot_localization_node_local,
             # robot_localization_node_global,
-            #navsat_transform,
+            navsat_transform,
             twist_mux,
             #rviz,
             teleop,
-            #autonomy,
+            autonomy,
             ])
diff --git a/src/rove_bringup/launch/real.launch.py b/src/rove_bringup/launch/real.launch.py
@@ -141,8 +141,8 @@ def create_controller_node(node_name:str):
             control_node,
             #TimerAction(period=20.0, actions=[
                 #gripper,
-                #vectornav,
-                #velodyne,
+            # vectornav,
+            velodyne,
                 #zed,
             #]),
             ])
diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
@@ -51,7 +51,7 @@
      <!-- Put these at -1 to mock the motors if working without the motors -->
     <!-- <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/> -->
     <!-- TODO Fix rr Odrive, it keeps crashing the rest of the drives. IT has been disabled for now. -->
-    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/>
+    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="-1"/>
 
 
     <!-- Insert ovis on top of rove -->

diff --git a/src/rove_description/urdf/sensor.urdf.xacro b/src/rove_description/urdf/sensor.urdf.xacro
@@ -78,7 +78,7 @@
         </collision>
     </link>
     <xacro:velodyne_lidar name="velodyne" parent_link="base_link">
-        <origin xyz="0.0 0.0 0.4" rpy="0 0 0" />
+        <origin xyz="0.0 0.0 0.4" rpy="0 3.141592 0" />
     </xacro:velodyne_lidar>
 
     <gazebo reference="sensor_link">

diff --git a/src/rove_launch_handler/scripts/launch_script.service b/src/rove_launch_handler/scripts/launch_script.service
@@ -5,6 +5,7 @@ After=network.target
 [Service]
 Environment="ROS_LOG_DIR=/var/log/ros2; ROS_DOMAIN_ID=96"
 ExecStart=/bin/bash -c 'source /media/SSD/stable/rove/install/setup.bash; ip link set can0 up type can bitrate 500000; ros2 launch rove_launch_handler launch_handler.launch.py;'
+ExecStop=ip link set can0 down
 RemainAfterExit=no
 Restart=on-failure
 RestartSec=2s