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@DominikN
DominikN committed Aug 12, 2024
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4 changes: 2 additions & 2 deletions panther_bringup/README.md
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Expand Up @@ -12,8 +12,8 @@ The package contains the default configuration and launch files necessary to sta

## Default Nodes Launched

- `battery_driver` [*[panther_battery/battery_node](https://github.com/husarion/panther_ros/panther_battery/src/main.cpp)*]: node responsible for monitoring and publishing the internal Battery state of the Husarion Panther robot. For more information, refer to [panther_battery](https://github.com/husarion/panther_ros/panther_battery/README.md).
- `ekf_filter` [*[robot_localization/ekf_node](https://github.com/cra-ros-pkg/robot_localization/blob/humble-devel/src/ekf_node.cpp)*]: Extended Kalman Filter node for more accurate odometry. For more information, refer to [robot_localization](https://github.com/cra-ros-pkg/robot_localization/tree/noetic-devel). The default configuration is stored in [ekf_config.yaml](https://github.com/husarion/panther_ros/panther_gazebo/config/ekf_config.yaml).
- `battery_driver` [*[panther_battery/battery_node](../panther_battery/src/main.cpp)*]: node responsible for monitoring and publishing the internal Battery state of the Husarion Panther robot. For more information, refer to [panther_battery](../panther_battery/README.md).
- `ekf_filter` [*[robot_localization/ekf_node](https://github.com/cra-ros-pkg/robot_localization/blob/humble-devel/src/ekf_node.cpp)*]: Extended Kalman Filter node for more accurate odometry. For more information, refer to [robot_localization](https://github.com/cra-ros-pkg/robot_localization/tree/noetic-devel). The default configuration is stored in [ekf_config.yaml](../panther_gazebo/config/ekf_config.yaml).
- `imu_container` [*[phidgets_spatial/phidgets::SpatialRosI](https://github.com/ros-drivers/phidgets_drivers/blob/humble/phidgets_spatial/src/spatial_ros_i.cpp)*, *[imu_filter_madgwick/ImuFilterMadgwickRos](https://github.com/CCNYRoboticsLab/imu_tools/blob/humble/imu_filter_madgwick/src/imu_filter_node.cpp)*]: container responsible for running Phidget Spatial IMU ROS driver, filtering and fusing the IMU data. It composes the `phidgets_spatial_node` and `imu_filter_node`.

## Bringup Launch Arguments
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6 changes: 3 additions & 3 deletions panther_gazebo/README.md
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Expand Up @@ -11,7 +11,7 @@ The package contains a launch file and source files used to run the robot simula

## Usage

The recommended method for launching the simulation is by utilizing the [simulation.launch.py](https://github.com/husarion/panther_ros/panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration. You can also launch more robots using `spawn.launch.py` ​​after the system has been started.
The recommended method for launching the simulation is by utilizing the [simulation.launch.py](../panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration. You can also launch more robots using `spawn.launch.py` ​​after the system has been started.

### Launch Arguments

Expand All @@ -35,7 +35,7 @@ The recommended method for launching the simulation is by utilizing the [simulat

### Changing Wheel Type

It is possible to change Panther wheels model in simulation. All you need to do is to point to new wheel and controller configuration files using `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default ones, i.e., [WH01_controller.yaml](https://github.com/husarion/panther_ros/panther_controller/config/WH01_controller.yaml) and [WH01.yaml](https://github.com/husarion/panther_ros/panther_description/config/WH01.yaml).
It is possible to change Panther wheels model in simulation. All you need to do is to point to new wheel and controller configuration files using `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default ones, i.e., [WH01_controller.yaml](../panther_controller/config/WH01_controller.yaml) and [WH01.yaml](../panther_description/config/WH01.yaml).

### Linear Battery Plugin

Expand Down Expand Up @@ -74,7 +74,7 @@ The NavSat sensors requires the spherical coordinates of the world origin to be

To obtain GPS data in Ignition, follow these steps:

- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/external_antenna.urdf.xacro) by adding the following lines to your [components.yaml](https://github.com/husarion/panther_ros/blob/ros2/panther_description/config/components.yaml) file inside the `components` list:
- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/external_antenna.urdf.xacro) by adding the following lines to your [components.yaml](../panther_description/config/components.yaml) file inside the `components` list:

```yaml
- type: ANT02
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14 changes: 7 additions & 7 deletions panther_hardware_interfaces/README.md
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Expand Up @@ -58,7 +58,7 @@ That said apart from the usual interface provided by the ros2_control, this plug

[//]: # (ROS_API_NODE_PARAMETERS_START)

Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](https://github.com/husarion/panther_ros/panther_description/urdf/panther_macro.urdf.xacro)).
Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](../panther_description/urdf/panther_macro.urdf.xacro)).

Physical properties

Expand All @@ -71,9 +71,9 @@ Physical properties
CAN settings

- `can_interface_name` [*string*, default: **panther_can**]: name of the CAN interface.
- `master_can_id` [*int*, default: **3**]: CAN ID of the master device (set as in [canopen_configuration.yaml](https://github.com/husarion/panther_ros/panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `front_driver_can_id` [*int*, default: **1**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](https://github.com/husarion/panther_ros/panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `rear_driver_can_id` [*int*, default: **2**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](https://github.com/husarion/panther_ros/panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `master_can_id` [*int*, default: **3**]: CAN ID of the master device (set as in [canopen_configuration.yaml](../panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `front_driver_can_id` [*int*, default: **1**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](../panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `rear_driver_can_id` [*int*, default: **2**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](../panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `sdo_operation_timeout_ms` [*int*, default: **100**]: timeout of the SDO operations, currently no SDO operation is required in RT operation, so this timeout can be set to a higher value.
- `pdo_motor_states_timeout_ms` [*int*, default: **15**]: depends on the frequency at which Roboteq is configured to send motor states (PDO 1 and 2) data. By default, there should be 10 **[ms]** between received data, if it takes more than `pdo_motor_states_timeout_ms`, a motor states read error is triggered. The default value is set to be expected period +50% margin.
- `pdo_driver_state_timeout_ms` [*int*, default: **75**]: depends on the frequency at which Roboteq is configured to send driver state (PDO 3 and 4) data. By default, there should be 50 **[ms]** between received data, if it takes more than `pdo_driver_state_timeout_ms`, a driver state read error is triggered. The default value is set to be expected period +50% margin.
Expand All @@ -98,15 +98,15 @@ CAN settings
[//]: # (ROS_API_NODE_DESCRIPTION_START)

This package doesn't contain any standalone nodes - `PantherImuSensor` is a plugin loaded by the resource manager.
To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](https://github.com/husarion/panther_ros/tree/ros2-devel/panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](https://github.com/husarion/panther_ros/tree/ros2-devel/panther_controller/) package).
To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](../panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](../panther_controller/) package).

[//]: # (ROS_API_NODE_DESCRIPTION_END)

#### Parameters

[//]: # (ROS_API_NODE_PARAMETERS_START)

Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](https://github.com/husarion/panther_ros/tree/ros2-devel/panther_description/urdf/panther_macro.urdf.xacro)).
Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](../panther_description/urdf/panther_macro.urdf.xacro)).

Physical properties

Expand Down Expand Up @@ -170,7 +170,7 @@ zeta = sqrt(3/4)* gyroMeasDrift = 0.00151

## Code structure

The code structure is described in more detail in a [separate file](https://github.com/husarion/panther_ros/panther_hardware_interfaces/CODE_STRUCTURE.md).
The code structure is described in more detail in a [separate file](../panther_hardware_interfaces/CODE_STRUCTURE.md).

## Generating CAN config

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18 changes: 9 additions & 9 deletions panther_lights/README.md
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Expand Up @@ -160,15 +160,15 @@ Default animations can be found in the table below:

| ID | NAME | PRIORITY | ANIMATION |
| :---: | ----------------- | :------: | --------------------------------------------------------------------------------------------------------------------- |
| 0 | E_STOP | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/E_STOP.webp" width="400"> |
| 1 | READY | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/READY.webp" width="400"> |
| 2 | ERROR | 1 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/ERROR.webp" width="400"> |
| 3 | MANUAL_ACTION | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/MANUAL_ACTION.webp" width="400"> |
| 4 | AUTONOMOUS_ACTION | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
| 5 | GOAL_ACHIEVED | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/GOAL_ACHIEVED.webp" width="400"> |
| 6 | LOW_BATTERY | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/LOW_BATTERY.webp" width="400"> |
| 7 | CRITICAL_BATTERY | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CRITICAL_BATTERY.webp" width="400"> |
| 9 | CHARGING_BATTERY | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CHARGING_BATTERY.webp" width="400"> |
| 0 | E_STOP | 3 | <img src="../panther_lights/.docs/E_STOP.webp" width="400"> |
| 1 | READY | 3 | <img src="../panther_lights/.docs/READY.webp" width="400"> |
| 2 | ERROR | 1 | <img src="../panther_lights/.docs/ERROR.webp" width="400"> |
| 3 | MANUAL_ACTION | 3 | <img src="../panther_lights/.docs/MANUAL_ACTION.webp" width="400"> |
| 4 | AUTONOMOUS_ACTION | 3 | <img src="../panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
| 5 | GOAL_ACHIEVED | 2 | <img src="../panther_lights/.docs/GOAL_ACHIEVED.webp" width="400"> |
| 6 | LOW_BATTERY | 2 | <img src="../panther_lights/.docs/LOW_BATTERY.webp" width="400"> |
| 7 | CRITICAL_BATTERY | 2 | <img src="../panther_lights/.docs/CRITICAL_BATTERY.webp" width="400"> |
| 9 | CHARGING_BATTERY | 3 | <img src="../panther_lights/.docs/CHARGING_BATTERY.webp" width="400"> |

### Animation Types

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