diff --git a/panther_bringup/README.md b/panther_bringup/README.md index dcc85e4ef..bf00cd2a0 100644 --- a/panther_bringup/README.md +++ b/panther_bringup/README.md @@ -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 diff --git a/panther_gazebo/README.md b/panther_gazebo/README.md index 1c7783994..6dbd08db3 100644 --- a/panther_gazebo/README.md +++ b/panther_gazebo/README.md @@ -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 @@ -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 @@ -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 diff --git a/panther_hardware_interfaces/README.md b/panther_hardware_interfaces/README.md index caea92ad0..a67595f96 100644 --- a/panther_hardware_interfaces/README.md +++ b/panther_hardware_interfaces/README.md @@ -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 @@ -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. @@ -98,7 +98,7 @@ 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) @@ -106,7 +106,7 @@ To use this hardware interface you have to add it to your URDF (you can check ho [//]: # (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 @@ -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 diff --git a/panther_lights/README.md b/panther_lights/README.md index 0d40da71b..16107d599 100644 --- a/panther_lights/README.md +++ b/panther_lights/README.md @@ -160,15 +160,15 @@ Default animations can be found in the table below: | ID | NAME | PRIORITY | ANIMATION | | :---: | ----------------- | :------: | --------------------------------------------------------------------------------------------------------------------- | -| 0 | E_STOP | 3 | | -| 1 | READY | 3 | | -| 2 | ERROR | 1 | | -| 3 | MANUAL_ACTION | 3 | | -| 4 | AUTONOMOUS_ACTION | 3 | | -| 5 | GOAL_ACHIEVED | 2 | | -| 6 | LOW_BATTERY | 2 | | -| 7 | CRITICAL_BATTERY | 2 | | -| 9 | CHARGING_BATTERY | 3 | | +| 0 | E_STOP | 3 | | +| 1 | READY | 3 | | +| 2 | ERROR | 1 | | +| 3 | MANUAL_ACTION | 3 | | +| 4 | AUTONOMOUS_ACTION | 3 | | +| 5 | GOAL_ACHIEVED | 2 | | +| 6 | LOW_BATTERY | 2 | | +| 7 | CRITICAL_BATTERY | 2 | | +| 9 | CHARGING_BATTERY | 3 | | ### Animation Types