Merge steering-hero

rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml

@@ -0,0 +1,285 @@
+rmcs_executor:
+ ros__parameters:
+ update_rate: 1000.0
+ components:
+ - rmcs_core::hardware::SteeringHero -> hero_hardware
+
+ - rmcs_core::referee::Status -> referee_status
+ - rmcs_core::referee::command::Interaction -> referee_interaction
+ # - rmcs_core::referee::command::interaction::Ui -> referee_ui
+ # - rmcs_core::referee::app::ui::Hero -> referee_ui_hero
+ - rmcs_core::referee::Command -> referee_command
+
+ - rmcs_core::controller::gimbal::HeroGimbalController -> gimbal_controller
+ - rmcs_core::controller::gimbal::DualYawController -> dual_yaw_controller
+ - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller
+ - rmcs_core::controller::pid::PidController -> pitch_velocity_pid_controller
+
+ # - rmcs_core::controller::gimbal::PlayerViewer -> gimbal_player_viewer_controller
+ # - rmcs_core::controller::pid::ErrorPidController -> viewer_angle_pid_controller
+
+ - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
+ - rmcs_core::controller::shooting::HeatController -> heat_controller
+ - rmcs_core::controller::shooting::PutterController -> bullet_feeder_controller
+ - rmcs_core::controller::pid::PidController -> first_left_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> first_right_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> second_left_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> second_right_friction_velocity_pid_controller
+ - rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder
+
+ - rmcs_core::controller::chassis::ChassisController -> chassis_controller
+ - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
+ - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller
+ - rmcs_core::controller::chassis::ChassisClimberController -> climber_controller
+
+ # - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer
+ # - rmcs_auto_aim::AutoAimController -> auto_aim_controller
+
+ - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
+
+hero_hardware:
+ ros__parameters:
+ board_serial_top_board: "D4-2BCA-2E47-76CD-23BC-0B78-684B"
+ board_serial_bottom_board_one: "D4-7973-19A9-EA40-4A3E-306F-10F9"
+ board_serial_bottom_board_two: "D4-3674-7174-8768-879E-E44A-3931"
+ bottom_yaw_motor_zero_point: 52508
+ pitch_motor_zero_point: 40651 #35701
+ top_yaw_motor_zero_point: 58744
+ viewer_motor_zero_point: 3030
+ external_imu_port: /dev/ttyUSB0
+ bullet_feeder_motor_zero_point: 15111
+ left_front_zero_point: 4516
+ right_front_zero_point: 7190
+ left_back_zero_point: 3841
+ right_back_zero_point: 5159
+ # left_front_zero_point: 3473
+ # left_back_zero_point: 6124
+ # right_back_zero_point: 6157
+ # right_front_zero_point: 2723
+
+value_broadcaster:
+ ros__parameters:
+ forward_list:
+ - /gimbal/putter/velocity
+ - /gimbal/first_left_friction/velocity
+ - /gimbal/first_second_friction/velocity
+ - /gimbal/second_left_friction/velocity
+ - /gimbal/second_right_friction/velocity
+ - /gimbal/first_left_friction/control_torque
+ - /gimbal/first_second_friction/control_torque
+ - /gimbal/second_left_friction/control_torque
+ - /gimbal/second_right_friction/control_torque
+ # - /chassis/left_front_steering/angle
+ # - /chassis/left_back_steering/angle
+ # - /chassis/right_back_steering/angle
+ # - /chassis/right_front_steering/angle 
+ # - /chassis/left_front_steering/control_torque
+ # - /chassis/left_back_steering/control_torque
+ # - /chassis/right_back_steering/control_torque
+ # - /chassis/right_front_steering/control_torque 
+ # - /gimbal/pitch/control_torque
+ # - /gimbal/pitch/velocity
+ # - /gimbal/pitch/control_velocity
+ # - /gimbal/pitch/control_angle_error
+ # - /gimbal/bullet_feeder/phase_zero
+ # - /gimbal/bullet_feeder/alignment_error
+ # - /chassis/climber/left_back_motor/torque
+ # - /chassis/climber/right_back_motor/torque
+ # - /chassis/climber/left_back_motor/velocity
+ # - /chassis/climber/right_back_motor/velocity
+ # - /chassis/climber/right_back_motor/control_torque
+ # - /chassis/climber/left_back_motor/control_torque
+
+climber_controller:
+ ros__parameters:
+ front_climber_velocity: 60.0
+ back_climber_velocity: 20.0
+ auto_climb_dash_velocity: 3.0
+ auto_climb_support_retract_velocity: 30.0
+ sync_coefficient: 0.3
+ climb_timeout_limit: 1000
+ first_stair_approach_pitch: 0.485
+ second_stair_approach_pitch: 0.35
+ back_climber_burst_velocity: 15.0 
+ back_climber_burst_duration: 300 
+ front_kp: 1.0
+ front_ki: 0.0
+ front_kd: 0.5
+ back_kp: 1.0
+ back_ki: 0.0
+ back_kd: 0.0
+
+gimbal_controller:
+ ros__parameters:
+ upper_limit: -0.6266
+ lower_limit: 0.4629
+
+dual_yaw_controller:
+ ros__parameters:
+ top_yaw_angle_kp: 10.0
+ top_yaw_angle_ki: 0.0
+ top_yaw_angle_kd: 0.0
+ top_yaw_velocity_kp: 50.0
+ top_yaw_velocity_ki: 0.004
+ top_yaw_velocity_kd: 0.0
+ bottom_yaw_angle_kp: 5.0
+ bottom_yaw_angle_ki: 0.0
+ bottom_yaw_angle_kd: 0.0
+ bottom_yaw_velocity_kp: 10.0
+ bottom_yaw_velocity_ki: 0.0
+ bottom_yaw_velocity_kd: 50.0
+
+# dual_yaw_controller:
+# ros__parameters:
+# top_yaw_angle_kp: 24.5
+# top_yaw_angle_ki: 0.0
+# top_yaw_angle_kd: 0.0
+# top_yaw_velocity_kp: 77.4
+# top_yaw_velocity_ki: 0.004
+# top_yaw_velocity_kd: 1.0
+# bottom_yaw_angle_kp: 8.6
+# bottom_yaw_angle_ki: 0.0
+# bottom_yaw_angle_kd: 0.0
+# bottom_yaw_velocity_kp: 25.85
+# bottom_yaw_velocity_ki: 0.0
+# bottom_yaw_velocity_kd: 50.0
+
+pitch_angle_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/pitch/control_angle_error
+ control: /gimbal/pitch/control_velocity
+ kp: 30.0 #28.00
+ ki: 0.0
+ kd: 0.6 #0.6
+
+pitch_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/pitch/velocity_imu
+ setpoint: /gimbal/pitch/control_velocity
+ control: /gimbal/pitch/control_torque
+ kp: 15.0 #45.00
+ ki: 0.00
+ kd: 2.0 #1.00
+
+gimbal_player_viewer_controller:
+ ros__parameters:
+ upper_limit: 0.0101
+ lower_limit: 0.6191
+
+viewer_angle_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/player_viewer/control_angle_error
+ control: /gimbal/player_viewer/control_velocity
+ kp: 17.00
+ ki: 0.00
+ kd: 2.00
+
+friction_wheel_controller:
+ ros__parameters:
+ friction_wheels:
+ - /gimbal/first_left_friction
+ - /gimbal/first_right_friction
+ - /gimbal/second_left_friction
+ - /gimbal/second_right_friction
+ friction_velocities:
+ - 375.00
+ - 375.00
+ - 520.00
+ - 520.00
+ friction_soft_start_stop_time: 1.0
+
+heat_controller:
+ ros__parameters:
+ heat_per_shot: 100000
+ reserved_heat: 0
+
+shooting_recorder:
+ ros__parameters:
+ friction_wheel_count: 4
+ aim_velocity: 11.8
+ log_mode: 1 # 1: trigger, 2: timing
+
+first_left_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/first_left_friction/velocity
+ setpoint: /gimbal/first_left_friction/control_velocity
+ control: /gimbal/first_left_friction/control_torque
+ kp: 0.0016
+ ki: 0.00
+ kd: 0.001
+
+first_right_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/first_right_friction/velocity
+ setpoint: /gimbal/first_right_friction/control_velocity
+ control: /gimbal/first_right_friction/control_torque
+ kp: 0.0016
+ ki: 0.00
+ kd: 0.001
+
+second_left_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/second_left_friction/velocity
+ setpoint: /gimbal/second_left_friction/control_velocity
+ control: /gimbal/second_left_friction/control_torque
+ kp: 0.001
+ ki: 0.00
+ kd: 0.001
+
+second_right_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/second_right_friction/velocity
+ setpoint: /gimbal/second_right_friction/control_velocity
+ control: /gimbal/second_right_friction/control_torque
+ kp: 0.001
+ ki: 0.00
+ kd: 0.00
+
+steering_wheel_controller:
+ ros__parameters:
+ mess: 22.0
+ moment_of_inertia: 1.08
+ vehicle_radius: 0.28284271247462
+ wheel_radius: 0.055
+ friction_coefficient: 0.6
+ k1: 2.958580e+00
+ k2: 3.082190e-03
+ no_load_power: 11.37
+
+auto_aim_controller:
+ ros__parameters:
+ # capture
+ use_video: false # If true, use video stream instead of camera.
+ video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi"
+ exposure_time: 1
+ invert_image: false
+ # identifier
+ armor_model_path: "/models/mlp.onnx"
+ # pnp
+ fx: 1.722231837421459e+03
+ fy: 1.724876404292754e+03
+ cx: 7.013056440882832e+02
+ cy: 5.645821718351237e+02
+ k1: -0.064232403853946
+ k2: -0.087667493884102
+ k3: 0.792381808294582
+ # tracker
+ armor_predict_duration: 500
+ # controller
+ gimbal_predict_duration: 100
+ yaw_error: 0.
+ pitch_error: 0.
+ shoot_velocity: 28.0
+ predict_sec: 0.095
+ # etc
+ buff_predict_duration: 200
+ buff_model_path: "/models/buff_nocolor_v6.onnx"
+ omni_exposure: 1000.0
+ record_fps: 120
+ debug: false # Setup in actual using.Debug mode is used when referee is not ready
+ debug_color: 0 # 0 For blue while 1 for red. mine
+ debug_robot_id: 4
+ debug_buff_mode: false
+ record: false
+ raw_img_pub: false # Set false in actual use
+ image_viewer_type: 2

rmcs_ws/src/rmcs_bringup/config/test.yaml

@@ -0,0 +1,58 @@
+rmcs_executor:
+ ros__parameters:
+ update_rate: 1000.0
+ components:
+ - rmcs_core::hardware::SteeringHero -> hero_hardware
+ # - rmcs_core::controller::pid::PidController -> test_pid_controller
+
+ # - rmcs_core::referee::Status -> referee_status
+ # - rmcs_core::referee::command::Interaction -> referee_interaction
+ # - rmcs_core::referee::command::interaction::Ui -> referee_ui
+ # - rmcs_core::referee::app::ui::Hero -> referee_ui_hero
+ # - rmcs_core::referee::Command -> referee_command
+
+ # - rmcs_core::controller::gimbal::HeroGimbalController -> gimbal_controller
+ # - rmcs_core::controller::gimbal::DualYawController -> dual_yaw_controller
+ # - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller
+ # - rmcs_core::controller::pid::PidController -> pitch_velocity_pid_controller
+
+ # - rmcs_core::controller::gimbal::PlayerViewer -> gimbal_player_viewer_controller
+ # - rmcs_core::controller::pid::ErrorPidController -> viewer_angle_pid_controller
+
+ # - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
+ # - rmcs_core::controller::shooting::HeatController -> heat_controller
+ # - rmcs_core::controller::shooting::PutterController -> bullet_feeder_controller
+ # - rmcs_core::controller::pid::PidController -> first_left_friction_velocity_pid_controller
+ # - rmcs_core::controller::pid::PidController -> first_right_friction_velocity_pid_controller
+ # - rmcs_core::controller::pid::PidController -> second_left_friction_velocity_pid_controller
+ # - rmcs_core::controller::pid::PidController -> second_right_friction_velocity_pid_controller
+ # - rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder
+
+ # - rmcs_core::controller::chassis::ChassisController -> chassis_controller
+ # - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
+ # - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller
+ # - rmcs_core::controller::chassis::ChassisClimberController -> climber_controller
+
+ # - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer
+ # - rmcs_auto_aim::AutoAimController -> auto_aim_controller
+
+ # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
+
+hero_hardware:
+ ros__parameters:
+ board_serial_bottom_board_two: "D4-3674-7174-8768-879E-E44A-3931"
+ test: 6.0
+ bottom_yaw_motor_zero_point: 52508
+ pitch_motor_zero_point: 35701
+ top_yaw_motor_zero_point: 58744
+ viewer_motor_zero_point: 3030
+ external_imu_port: /dev/ttyUSB0
+ bullet_feeder_motor_zero_point: 15111
+ left_front_zero_point: 4433
+ right_front_zero_point: 7177
+ left_back_zero_point: 6919
+ right_back_zero_point: 5120
+ # left_front_zero_point: 3473
+ # left_back_zero_point: 6124
+ # right_back_zero_point: 6157
+ # right_front_zero_point: 2723

rmcs_ws/src/rmcs_core/CMakeLists.txt

@@ -17,8 +17,8 @@ include(FetchContent)
 set(BUILD_STATIC_LIBRMCS ON CACHE BOOL "Build static librmcs SDK" FORCE)
 FetchContent_Declare(
  librmcs
- URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.0.0/librmcs-sdk-src-3.0.0.zip
- URL_HASH SHA256=b39f51c21baacdcbf3f0176119b8850137a108b88a67e12395d37d89e5ef53e8
+ URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.1.0b1/librmcs-sdk-src-3.1.0-beta.1.zip
+ URL_HASH SHA256=ec68a8b0e9441bd9e35b859139b3875c559944f7c0ecb4a1539bcdc75442fec4
  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 FetchContent_MakeAvailable(librmcs)