Pre-comp dev merge

riptide_descriptions/config/talos.yaml

@@ -6,7 +6,11 @@ base_link: [-0.14, 0.03, -0.09]
 
 # Vehicle mass properties
 mass: 31.998
-com: [-0.159, 0.042, -0.056]
+# COM no IVC
+# com: [-0.151, 0.041, -0.044]
+
+# COM w/ IVC
+com: [-0.157, 0.040, -0.048]
 inertia: [0.72604692, 1.59322252, 1.65134701] # kg*m^2
 
 hull_volume: .11 #make this real
@@ -24,8 +28,8 @@ controller:
   drag_enable: [1, 1, 0, 0, 0, 0]
 
   feed_forward:
-    #base_wrench: [0.03, 0.01, -5.28, 0.57, 1.77, -0.020]
-    base_wrench: [-1.0, -1.0, 0.0, -0.95, 2.1, 0.0]
+    base_wrench: [-0.25, -0.1, -3.0, 0.0, 1.4, -0.005]
+    # base_wrench: [-1.0, -1.0, 0.0, 0.0, 0.0, 0.0]
 
     auto_tune:
       #positional error threshold to begin autotuning 
@@ -123,21 +127,22 @@ controller:
       #[x,y,z,r,p,y]
 
       #first order eta
-      eta_order_0: [1.8, 0.5, 10.0, 0.2, 0.2, 0.3]
+      eta_order_0: [0.8, 1.5, 5.0, 0.2, 0.2, 1.3]
 
       #second order eta
-      eta_order_1: [0.08, 0.08, 0.3, 0.0, 0.0, 0.0]
+      eta_order_1: [0.1, 0.04, 0.3, 0.0, 0.0, 0.2]
 
       #lambda
-      lambda: [0.25, 0.25, 1.0, 10.0, 10.0, 0.35]
+      lambda: [0.8, 0.2, 1.0, 10.0, 10.0, 0.35]
+
 
       #format: 'a, m' for each degree of freedom
       #where:
       #  a = gravity well saturation amplitude
       #  m = gravity well saturation error
       velocity_curve_params: [8.0, 0.8,  #x
                               8.0, 0.8,  #y
-                              10.0, 0.5,  #z
+                              8.0, 0.5,  #z
                               15.0, 1.0,  #r
                               15.0, 1.0,  #p
                               1.5, 0.3] #yaw
@@ -152,10 +157,14 @@ controller:
     #linear unit are newtons per meter, angular are newton meter per radian
 
     #the default gains for normal operation
-    p_gains: [3.0, 18.0, 200.0, 3.5, 2.0, 2.5]
-    i_gains: [0.0, 0.0, 0.0, 0.01, 1.0, 0.0]
-    d_gains: [5.0, 5.0, 90.0, 1.0, 0.05, 0.9]
-
+    p_gains: [3.0, 18.0, 200.0, 10.0, 8.0, 15.0]
+    i_gains: [0.0, 0.0, 0.0, 0.01, 0.005, 0.5]
+    d_gains: [5.0, 5.0, 90.0, 0.02, 0.1, 0.02]
+
+    #     #the default gains for normal operation
+    # p_gains: [3.0, 18.0, 200.0, 2.0, 3.5, 8.0]
+    # i_gains: [0.0, 0.0, 0.0, 0.0, 0.0, 2.0]
+    # d_gains: [5.0, 5.0, 90.0, 0.25, 0.25, 0.2]
     # the control value thresholds for each DOF -- body frame
     max_control_thresholds: [30, 30, 30, 15, 15, 15]
     reset_threshold: 0.5
@@ -289,27 +298,31 @@ poker:
   pose: [0.2286, 0.0127, -0.17145, 0, 0, 0]
 
 torpedoes: 
-  pose: [0.048, 0.17200625, -0.0954, 0.0, 0.0, 0.0] #real z: -0.1524, real y: 0.17700625
+  pose: [0.048, 0.18200625, -0.1524, 0.0, 0.0, 0.0] #real z: -0.1524, real y: 0.17700625
   baseline: 0.0365125
 
 droppers:
-  pose: [0.048, 0.17200625, -0.1501, 0.0, 0.0, 0.0]
+  pose: [0.0, 0.17200625, -0.1501, 0.0, 0.0, 0.0]
 
 hitch:
   pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
 
+claw:
+  pose: [0.19, 0.0655, -0.3712, 0.0, 0.0, 0.0]
+
 cameras: [
   {
     type: zed, 
     name: ffc,
-    baseline: 0.12, # m. Distance between cameras (manually measured) 
-    pose: [-0.0195, -0.0889, 0, 0, 0, 0]
+    baseline: 0.050, # m. Distance between cameras (manually measured) 
+    pose: [-0.0195, -0.0889, 0.02, -0.01, 0.05, 0]
   },
   {
     type: zed,
     name: dfc,
     baseline: 0.045,
-    pose: [-0.145, -0.080, -0.08, 1.5707, 1.5707, 0]
+    # pose: [-0.145, -0.080, -0.08, 1.5707, 1.5707, 0]
+    pose: [-0.24347, -0.065568, -0.15943, 1.5507, 1.5107, 0]
   }
 ]
 
@@ -359,4 +372,4 @@ thrusters: [
     type: 1,
     pose: [-0.134, 0.440, -0.244, 0.0, 0.0, 0.0]
   }
-]
+]

riptide_descriptions/urdf/robot_actuators.xacro

@@ -106,4 +106,12 @@
           parent="${namespace}/origin"
           pose="${config['hitch']['pose']}" />
   </xacro:if>
+
+  <xacro:if value="${'claw' in config}">
+    <xacro:generic_link_macro
+          namespace="${namespace}"
+          name="claw"
+          parent="${namespace}/origin"
+          pose="${config['claw']['pose']}" />
+  </xacro:if>
 </robot>

riptide_hardware/cfg/dfc_config.yaml

@@ -1,13 +1,16 @@
 /**:
   ros__parameters:
     general:
-      camera_name: "talos/dfc"
+      camera_model: zedxm
       serial_number: 51491740
-      grab_resolution: 'HD1200' # For zedx/zedxm use HD1200, for zed2i use HD2K
-      optional_opencv_calibration_file: "/home/ros/zed_cals/zed_dfc_calibration2.yaml"
+      camera_id: 1
+      camera_name: "talos/dfc"
+      grab_resolution: "HD1200" # For zedx/zedxm use HD1200, for zed2i use HD2K
+      optional_opencv_calibration_file: "/home/ros/zed_cals/dfc_charuco_test.yaml"
+      self_calib: false
       pub_resolution: "NATIVE" # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
-      pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
-      pub_frame_rate: 30.0
+      #pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
+      grab_frame_rate: 15
     pos_tracking:
       publish_tf: false
     debug:

riptide_hardware/cfg/ffc_config.yaml

@@ -1,13 +1,24 @@
 /**:
   ros__parameters:
     general:
+      camera_model: zedxm
+      serial_number: 55348591
+      camera_id: 0
       camera_name: "talos/ffc"
       pub_resolution: "NATIVE" # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
       pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
-      pub_frame_rate: 30.0
-      optional_opencv_calibration_file: "/home/ros/zed_cals/taloszedxffc_cal5.yaml"
+      # pub_frame_rate: 30.0
+      optional_opencv_calibration_file: "/home/ros/zed_cals/tirpak_ffc_charuco_2_tan.yaml"
       grab_resolution: 'HD1200'
+      grab_frame_rate: 15
       self_calib: false
+    sensors:
+      sensors_image_sync: true
+    # svo:
+    #   svo_path: "/home/ros/svos/prequal/prequal1.svo2"
+    depth:
+      depth_mode: "NEURAL_LIGHT" 
+      max_depth: 4.0
     pos_tracking:
       publish_tf: false
     debug:

riptide_hardware/cfg/talos_ekf.yaml

@@ -9,7 +9,7 @@
     publish_acceleration: true
 
     #make camera happy
-    # predict_to_current_time: true
+    predict_to_current_time: true
     # transform_time_offset: -0.1
 
 

riptide_hardware/launch/apriltag.launch.py

@@ -25,7 +25,7 @@ def generate_launch_description():
         namespace="apriltag",
         package='rclcpp_components',
         executable='component_container',
-        arguments=['--ros-args', '--log-level', 'error'],
+        arguments=['--ros-args', '--log-level', 'info'],
         composable_node_descriptions=[
             ComposableNode(
                 name='apriltag_36h11',

riptide_hardware/launch/diagnostics.launch.py

@@ -77,7 +77,7 @@ def generate_launch_description():
         electrical_monitor_node,
         firmware_monitor_node,
         voltage_monitor_node,
-        sensor_monitor_node,
+        # sensor_monitor_node,
         computer_monitor_node,
         aggregator
     ])

riptide_hardware/launch/hardware.launch.py

@@ -15,11 +15,6 @@
     "launch", "copro_agent.launch.py",
 )
 
-diagnostics_launch_file = os.path.join(
-    get_package_share_directory('riptide_hardware2'),
-    "launch", "diagnostics.launch.py"
-)
-
 dvl_launch_file = os.path.join(
     get_package_share_directory('riptide_hardware2'),
     "launch", "dvl.launch.py"
@@ -49,14 +44,8 @@ def generate_launch_description():
             PushRosNamespace(
                 LC("robot")
             ),
-            # IncludeLaunchDescription(
-            #     AnyLaunchDescriptionSource(copro_agent_launch_file),
-            #     launch_arguments=[
-            #         ('robot', LC('robot')),
-            #     ]
-            # ),
             IncludeLaunchDescription(
-                AnyLaunchDescriptionSource(diagnostics_launch_file),
+                AnyLaunchDescriptionSource(copro_agent_launch_file),
                 launch_arguments=[
                     ('robot', LC('robot')),
                 ]
@@ -110,13 +99,6 @@ def generate_launch_description():
                         "imu_pwr_cycle.yaml"
                     )
                 ]
-            ),
-            Node(
-                package='riptide_hardware2',
-                executable='pressure_monitor.py',
-                name='pressure_monitor',
-                output='screen',
-                parameters=[{"robot":LC('robot')}]
             )
         ], scoped=True)
     ])

riptide_hardware/launch/hardware_fake_dvl.launch.py

@@ -15,11 +15,6 @@
     "launch", "copro_agent.launch.py",
 )
 
-diagnostics_launch_file = os.path.join(
-    get_package_share_directory('riptide_hardware2'),
-    "launch", "diagnostics.launch.py"
-)
-
 imu_launch_file = os.path.join(
     get_package_share_directory('riptide_imu'),
     "launch", "imu.launch.py"
@@ -56,14 +51,8 @@ def generate_launch_description():
             #    name='zenoh_router',
             #    output='screen', 
             # ),
-            # IncludeLaunchDescription(
-            #     AnyLaunchDescriptionSource(copro_agent_launch_file),
-            #     launch_arguments=[
-            #         ('robot', LC('robot')),
-            #     ]
-            # ),
             IncludeLaunchDescription(
-                AnyLaunchDescriptionSource(diagnostics_launch_file),
+                AnyLaunchDescriptionSource(copro_agent_launch_file),
                 launch_arguments=[
                     ('robot', LC('robot')),
                 ]
@@ -112,13 +101,6 @@ def generate_launch_description():
                 executable='imu_power_cycle.py',
                 name='imu_power_cycle',
                 output='screen',
-            ),
-            Node(
-                package='riptide_hardware2',
-                executable='pressure_monitor.py',
-                name='pressure_monitor',
-                output='screen',
-                parameters=[{"robot":LC('robot')}]
-            )        
+            )    
         ], scoped=True)
     ])

riptide_hardware/launch/navigation.launch.py

@@ -87,7 +87,7 @@ def evaluate_xacro(context, *args, **kwargs):
         #
         try:
             if robot == "talos":
-                nodes.append(get_zed_description("ffc", "zedx", robot, context, debug))
+                nodes.append(get_zed_description("ffc", "zedxm", robot, context, debug))
                 nodes.append(get_zed_description("dfc", "zedxm", robot, context, debug))
 
             if robot == "liltank":