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JuliusSustarevas · Dec 18, 2021 · 68bee43 · 68bee43
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commit 68bee43
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Showing 4 changed files with 36 additions and 11 deletions.
diff --git a/as_bringup/config/udev/99-as.rules b/as_bringup/config/udev/99-as.rules
@@ -14,7 +14,8 @@
 
 # joystick
 KERNEL=="js*", ATTRS{name}=="Google LLC Stadia Controller rev. A" ,   ATTRS{uniq}=="9B120YCAC6G6L8", SYMLINK+="STADIA_GREEN", MODE:="0666"
-#KERNEL=="js*", ATTRS{name}=="Google LLC Stadia Controller rev. A" ,   ATTRS{uniq}=="9B120YCAC6G6L8", SYMLINK+="STADIA_GREEN", MODE:="0666"
+KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", SYMLINK+="LOGITECH_AS", MODE:="0666"
+
 
 #MOTORS
 KERNEL=="ttyACM*", KERNELS=="*.1", ATTRS{product}=="ChibiOS/RT Virtual COM Port" , SYMLINK+="FL_MOTOR", MODE:="0666"

diff --git a/as_bringup/launch/as1.launch b/as_bringup/launch/as1.launch
@@ -2,15 +2,18 @@
     <!-- ###Launch args### -->       
     <arg name="base_controller" default="as_base_holonomic_controller" doc="as_base_differential_controller  or  as_base_holonomic_controller" />
     <arg name="xarm_controller" default="xarm_joint_velocity_controller" doc="xarm_joint_position_controller or xarm_position_trajectory_controller or xarm_velocity_trajectory_controller or xarm_joint_velocity_controller. Note gazebo should be not paused for velocity controller" />
-
+    <arg name="xarm_on" default="false" doc="Turn on/off xarm" />
+    <arg name="base_on" default="true" doc="Turn on/off base" />   
     <!-- ###Stack and Control### -->
     <include file="$(find as_bringup)/launch/as_stack.launch">
-        <arg name="sim" value="true" />
-        <arg name="base_on" value="true" />
-        <arg name="xarm_on" value="true" />
-        <arg name="rviz" value="$(arg rviz)" />
+        <arg name="sim" value="false" />
+        <arg name="base_on" value="$(arg base_on)" />
+        <arg name="xarm_on" value="$(arg xarm_on)" />
+        <arg name="rviz" value="false" />
         <arg name="base_controller" value="$(arg base_controller)" />
         <arg name="xarm_controller" value="$(arg xarm_controller)" />
+        <arg name="joy_type" value="LOGITECH_AS" />
+
     </include>
 
     <!-- ###Sensors### -->
@@ -19,14 +22,27 @@
         <param name="ip_address" value=""/>
         <param name="serial_port" value="/dev/L_HOKUYO"/>
         <param name="serial_baud" value="115200"/>
-        <param name="frame_id" value="hokuyo_l"/>
+        <param name="frame_id" value="left_hokuyo_link"/>
         <param name="calibrate_time" value="true"/>
         <param name="publish_intensity" value="false"/>
         <param name="publish_multiecho" value="false"/>
-        <param name="angle_min" value="-1.5707963"/>
-        <param name="angle_max" value="1.5707963"/>
+        <!-- Setting to 120 deg cuz robot self -->
+        <param name="angle_min" value="-1.0471975512"/>
+        <param name="angle_max" value="1.0471975512"/>
       </node>
     <!-- HokuyoR -->
+    <node name="hokuo_R" pkg="urg_node" type="urg_node" output="screen">
+        <param name="ip_address" value=""/>
+        <param name="serial_port" value="/dev/R_HOKUYO"/>
+        <param name="serial_baud" value="115200"/>
+        <param name="frame_id" value="right_hokuyo_link"/>
+        <param name="calibrate_time" value="true"/>
+        <param name="publish_intensity" value="false"/>
+        <param name="publish_multiecho" value="false"/>
+        <!-- Setting to 120 deg cuz robot self -->
+        <param name="angle_min" value="-1.0471975512"/>
+        <param name="angle_max" value="1.0471975512"/>
+      </node>
 
     <!-- ###Slam_toolbox### -->
 

diff --git a/as_bringup/launch/as2.launch b/as_bringup/launch/as2.launch
@@ -1,6 +1,9 @@
 <launch>
     <!-- ###Launch args### -->       
 
+
+    <!-- ###Correction Control### -->
+    <!-- TODO -->
 
     <!-- ###Sensors### -->
     <!-- IMU Ext -->
@@ -16,6 +19,7 @@
       <arg name="device_frame"       default="base_imu" />
     </include>     
     <!-- Realsense -->    
+    <!-- https://github.com/IntelRealSense/realsense-ros/issues/2194 -->
     <include file="$(find realsense2_camera)/launch/rs_camera.launch" >
       <arg name="device_type"         default="l515"/>
       <arg name="json_file_path"      default="$(find as_sensors)/config/l515_short_distance.json"/>

diff --git a/as_bringup/launch/as_stack.launch b/as_bringup/launch/as_stack.launch
@@ -3,7 +3,8 @@
     <arg name="sim" default="false" doc="Switch between gazebo/hw stacks" />
     <arg name="rviz" default="false" doc="Turn off rviz, but optionally allow for sim modes" />
     <arg name="xarm_on" default="true" doc="Turn on/off xarm" />
-    <arg name="base_on" default="true" doc="Turn on/off base" />    
+    <arg name="base_on" default="true" doc="Turn on/off base" />
+    <arg name="joy_type" default="LOGITECH_AS" doc="Joystick STADIA_GREEN or LOGITECH_AS" />    
     <!-- select controllers -->    
     <arg name="base_controller" default="as_base_holonomic_controller" doc="as_base_differential_controller  or  as_base_holonomic_controller" />
     <arg name="xarm_controller" default="xarm_joint_velocity_controller" doc="xarm_position_trajectory_controller or xarm_joint_velocity_controller or xarm_joint_position_controller or xarm_velocity_trajectory_controller" />
@@ -30,7 +31,10 @@
 
     <!-- UI -->
     <group ns="ui">
-        <include file="$(find as_ui)/launch/load_joy_stack.launch"/>                   
+        <include file="$(find as_ui)/launch/load_joy_stack.launch"> 
+            <arg name="joy_type" value="$(arg joy_type)" />                       
+        </include>
+
         <node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find as_description)/rviz/as.rviz" />
     </group>