Ros1 update docs #122
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Ros1 update docs #122
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rafal-gorecki
requested changes
May 31, 2023
README.md
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| Parameters stored in [**panther_default.yaml**](./panther_bringup/config/panther_default.yaml) are generic and are overwritten with your specific panther configuration on start. | ||
| Parameters stored in [**panther_default.yaml**](./panther_bringup/config/panther_default.yaml) are generic and are overwritten with your specific Panther configuration on start. | ||
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| ### Changing wheels type | ||
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| In order to change wheels used with your robot, add `wheel_type:=WH0X` to launch command as follows: |
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| In order to change wheels used with your robot, add `wheel_type:=WH0X` to launch command as follows: | |
| Changing the wheels requires changing the `wheel_type` parameter. To do this, you can use the following command by modifying the value of the wheel_type:=WH0X parameter |
panther_bringup/README.md
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| - `publish_robot_state` [*bool*, default=**true**]: whether to publish default Panther robot description. | ||
| - `robot_description` [*string*]: robot description in URDF format, by default parsed from **$(find panther_description)/urdf/panther.urdf.xacro**, with `wheel_config_path` specified by `wheel_config_file` launch argument and imu position parsed using `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y` evironmental variables. | ||
| - `shutdown_hosts_config_file` [*string*, default=**$(find panther_bringup)/config/shutdown_hosts.yaml**]: path to YAML file with description of hosts to shutdown. | ||
| - `test_animations` [*bool*, default=**false**]: if true then something but i forgot what at this point |
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I believe you will find out. ;)
If I undersed it right lights readme this param turns on test mode, which allow you to test new animations using services.
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completely forgot about this 🤣
panther_bringup/README.md
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| - `panther_common_config_file` [*string*, default=**$(find panther_bringup)/config/panther_common.yaml**]: path to yaml file with standard parameters used by the `driver_node`. | ||
| - `panther_version` [*float*, default=**1.0**]: robot version parsed using `PANTHER_ROBOT_VERSION` enironmental variable. | ||
| - `publish_robot_state` [*bool*, default=**true**]: whether to publish default Panther robot description. | ||
| - `robot_description` [*string*]: robot description in URDF format, by default parsed from **$(find panther_description)/urdf/panther.urdf.xacro**, with `wheel_config_path` specified by `wheel_config_file` launch argument and imu position parsed using `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y` evironmental variables. |
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Complicated, maybe creating a list of sub-arguments would be better.
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| - `robot_description` [*string*]: robot description in URDF format, by default parsed from **$(find panther_description)/urdf/panther.urdf.xacro**, with `wheel_config_path` specified by `wheel_config_file` launch argument and imu position parsed using `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y` evironmental variables. | |
| - `robot_description` [*string*]: robot description in URDF format, parsed by default from **$(find panther_description)/urdf/panther.urdf.xacro**. Urdf itself contains its own arguments that are responsible for wheel selection and imu position. | |
| - `wheel_config_path` reads the value of the `wheel_config_file` parameter | |
| - changing the imu position is done by setting the environment variables `PANTHER_IMU_LOCALIZATION_X/Y/Z` and `PANTHER_IMU_ORIENTATION_R/P/Y`. |
Co-authored-by: rafal-gorecki <[email protected]>
Co-authored-by: rafal-gorecki <[email protected]>
rafal-gorecki
approved these changes
Jun 1, 2023
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bump::patch
This suppose to be just update of panther_bringup README, but I also added info in main README about providing custom robot description as it is kind of related to panther_bringup launch arguments. Plus small fix in driver docs.
Some of information (manager behavior tree) are ahead of time - they are supposed to be merged in close future, IMO there is no point in writing info and correcting it two weeks later.