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hilary-luoroni-kreinin
hilary-luo
authored and
roni-kreinin
committed
Initial Warthog addition
1 parent c869050 commit 194ad27

25 files changed

+951
-1
lines changed

‎clearpath_control/config/twist_mux.yaml

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,9 +7,13 @@ twist_mux:
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topics.interactive_marker.topic: twist_marker_server/cmd_vel
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topics.interactive_marker.timeout: 0.5
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topics.interactive_marker.priority: 8
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topics.rc.topic: rc_teleop/cmd_vel
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topics.rc.timeout: 0.5
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topics.rc.priority: 12
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topics.external.topic: cmd_vel
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topics.external.timeout: 0.5
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topics.external.priority: 1
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locks.e_stop.topic: platform/emergency_stop
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locks.e_stop.timeout: 0.0
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locks.e_stop.priority: 255
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locks.e_stop.priority: 255
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‎clearpath_control/config/w200/control.yaml

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controller_manager:
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ros__parameters:
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update_rate: 50 # Hz
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use_sim_time: False
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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platform_velocity_controller:
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type: diff_drive_controller/DiffDriveController
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platform_velocity_controller:
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ros__parameters:
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use_sim_time: False
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left_wheel_names: [ "front_left_wheel_joint", "rear_left_wheel_joint" ]
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right_wheel_names: [ "front_right_wheel_joint", "rear_right_wheel_joint" ]
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wheel_separation: 1.08
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wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
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wheel_radius: 0.098 # TODO: Update this
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wheel_separation_multiplier: 1.0
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 50.0
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odom_frame_id: odom
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base_frame_id: base_link
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pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
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twist_covariance_diagonal: [0.001, 0.001, 0.001, 1000000.0, 1000000.0, 0.03]
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open_loop: false
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enable_odom_tf: false
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cmd_vel_timeout: 0.25
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#publish_limited_velocity: true
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use_stamped_vel: false
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#velocity_rolling_window_size: 10
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# Preserve turning radius when limiting speed/acceleration/jerk
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preserve_turning_radius: true
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# Publish limited velocity
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publish_cmd: true
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# Publish wheel data
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publish_wheel_data: true
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear.x.has_velocity_limits: true
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linear.x.has_acceleration_limits: true
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linear.x.has_jerk_limits: false
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linear.x.max_velocity: 5.0
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linear.x.min_velocity: -5.0
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linear.x.max_acceleration: 50.0
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linear.x.min_acceleration: -50.0
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linear.x.max_jerk: 0.0
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linear.x.min_jerk: 0.0
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angular.z.has_velocity_limits: true
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angular.z.has_acceleration_limits: true
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angular.z.has_jerk_limits: false
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angular.z.max_velocity: 4.0
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angular.z.min_velocity: -4.0
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angular.z.max_acceleration: 40.0
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angular.z.min_acceleration: -40.0
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angular.z.max_jerk: 0.0
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angular.z.min_jerk: 0.0

‎clearpath_control/config/w200/localization.yaml

Lines changed: 19 additions & 0 deletions
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ekf_node:
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ros__parameters:
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odom_frame: odom
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base_link_frame: base_link
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world_frame: odom
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publish_tf: true
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two_d_mode: true
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use_sim_time: false
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frequency: 50.0
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odom0: platform/odom
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odom0_config: [false, false, false,
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false, false, false,
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true, true, false,
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false, false, true,
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false, false, false]
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odom0_differential: false
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odom0_queue_size: 10

‎clearpath_control/config/w200/teleop_interactive_markers.yaml

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twist_server_node:
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ros__parameters:
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use_sim_time: False
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link_name: base_link
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robot: j100
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linear_scale: 1.0
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max_positive_linear_velocity: 1.0
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max_negative_linear_velocity: -1.0

‎clearpath_control/config/w200/teleop_logitech.yaml

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# Teleop configuration for Logitech F710 Gamepad using the x-pad configuration.
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# Left thumb-stick up/down for velocity, left/right for twist
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# LB for enable
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# RB for enable-turbo
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#
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# (LB) (RB)
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# (LT) (RT)
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# _=====_ D( .)X _=====_
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# / _____ \ / _____ \
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# +.-'_____'-.---------------------------.-'_____'-.+
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# / | | '. .' | | \
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# / ___| /|\ |___ \ (back)(Lgtc)(strt) / ___| (Y) |___ \
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# / | | | ; __ __ ; | | |
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# | | <--- ---> | | (__) . (__) | | (X) (B)| |
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# | |___ | ___| ; MODE VIBE ; |___ ____| /
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# |\ | \|/ | / _ ___ _ \ | (A) | /|
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# | \ |_____| .','" "', |___| ,'" "', '. |_____| .' |
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# | '-.______.-' / \ANALOG/ \ '-._____.-' |
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# | | LJ |------| RJ | |
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# | /\ / \ /\ |
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# | / '.___.' '.___.' \ |
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# | / \ |
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# \ / \ /
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# \________/ \_________/
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#
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# BUTTON Value
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# LB 4
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# RB 5
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# A 0
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# B 1
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# X 2
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# Y 3
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#
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# AXIS Value
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# Left Horiz. 0
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# Left Vert. 1
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# Right Horiz. 3
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# Right Vert. 4
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# Left Trigger 2
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# Right Trigger 5
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# D-pad Horiz. 6
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# D-pad Vert. 7
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joy_teleop/teleop_twist_joy_node:
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ros__parameters:
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use_sim_time: False
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axis_linear:
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x: 1
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scale_linear:
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x: 0.5
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scale_linear_turbo:
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x: 1.0
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axis_angular:
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yaw: 0
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scale_angular:
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yaw: 2.4
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scale_angular_turbo:
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yaw: 2.4
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enable_button: 4
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enable_turbo_button: 5
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joy_teleop/joy_node:
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ros__parameters:
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use_sim_time: False
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deadzone: 0.1
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autorepeat_rate: 20.0
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dev: /dev/input/f710

‎clearpath_control/config/w200/teleop_ps4.yaml

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# Teleop configuration for PS4 joystick using the x-pad configuration.
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# Left thumb-stick up/down for velocity, left/right for twist
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# Left shoulder button for enable
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# Right shoulder button for enable-turbo
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#
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# L1 R1
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# L2 R2
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# _=====_ _=====_
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# / _____ \ / _____ \
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# +.-'_____'-.------------------------------.-'_____'-.+
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# / | | '. S O N Y .' | _ | \
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# / ___| /|\ |___ \ / ___| /_\ |___ \ (Y)
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# / | | | ; ; | _ _ ||
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# | | <--- ---> | | | ||_| (_)|| (X) (B)
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# | |___ | ___| ; ; |___ ___||
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# |\ | \|/ | / _ ____ _ \ | (X) | /| (A)
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# | \ |_____| .','" "', (_PS_) ,'" "', '. |_____| .' |
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# | '-.______.-' / \ / \ '-._____.-' |
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# | | LJ |--------| RJ | |
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# | /\ / \ /\ |
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# | / '.___.' '.___.' \ |
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# | / \ |
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# \ / \ /
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# \________/ \_________/
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#
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# ^ x
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# |
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# |
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# y <-----+ Accelerometer axes
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# \
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# \
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# > z (out)
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#
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# BUTTON Value
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# L1 4
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# L2 6
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# R1 5
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# R2 7
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# A 1
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# B 2
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# X 0
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# Y 3
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#
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# AXIS Value
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# Left Horiz. 0
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# Left Vert. 1
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# Right Horiz. 2
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# Right Vert. 5
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# L2 3
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# R2 4
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# D-pad Horiz. 9
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# D-pad Vert. 10
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# Accel x 7
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# Accel y 6
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# Accel z 8
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joy_teleop/teleop_twist_joy_node:
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ros__parameters:
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use_sim_time: False
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axis_linear:
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x: 1
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scale_linear:
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x: 0.5
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scale_linear_turbo:
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x: 1.0
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axis_angular:
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yaw: 0
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scale_angular:
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yaw: 2.4
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scale_angular_turbo:
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yaw: 2.4
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enable_button: 4
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enable_turbo_button: 5
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joy_teleop/joy_node:
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ros__parameters:
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use_sim_time: False
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deadzone: 0.1
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autorepeat_rate: 20.0
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dev: /dev/input/ps4

‎clearpath_platform_description/meshes/w200/arm-mount-plate.stl

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‎clearpath_platform_description/meshes/w200/bulkhead-collision.stl

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‎clearpath_platform_description/meshes/w200/bulkhead.stl

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‎clearpath_platform_description/meshes/w200/chassis-collision.stl

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