feat: omni/steering deformable infantry support

rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml

@@ -0,0 +1,364 @@
+rmcs_executor:
+ ros__parameters:
+ update_rate: 1000.0
+ components:
+ - rmcs_core::hardware::DeformableInfantryOmni -> deformable_infantry
+
+ - rmcs_core::referee::Status -> referee_status
+ - rmcs_core::referee::Command -> referee_command
+
+ - rmcs_core::referee::command::Interaction -> referee_interaction
+ - rmcs_core::referee::command::interaction::Ui -> referee_ui
+ - rmcs_core::referee::app::ui::Infantry -> referee_ui_infantry
+
+ - rmcs_core::controller::gimbal::DeformableInfantryGimbalController -> gimbal_controller
+
+ - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
+ - rmcs_core::controller::shooting::HeatController -> heat_controller
+ - rmcs_core::controller::shooting::BulletFeederController17mm -> bullet_feeder_controller
+ - rmcs_core::controller::pid::PidController -> left_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> right_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller
+
+ - rmcs_core::controller::chassis::DeformableChassis -> chassis_controller
+ - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
+ - rmcs_core::controller::chassis::DeformableOmniWheelController -> deformable_chassis_controller
+
+ - rmcs_core::controller::chassis::DeformableJointController -> lf_joint_controller
+ - rmcs_core::controller::chassis::DeformableJointController -> lb_joint_controller
+ - rmcs_core::controller::chassis::DeformableJointController -> rb_joint_controller
+ - rmcs_core::controller::chassis::DeformableJointController -> rf_joint_controller
+
+ - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
+ # - rmcs::AutoAimComponent -> auto_aim_component
+
+value_broadcaster:
+ ros__parameters:
+ forward_list:
+ - /gimbal/yaw/angle
+ - /gimbal/yaw/velocity
+
+deformable_infantry:
+ ros__parameters:
+ serial_filter_rmcs_board: "AF-73B2-E8A1-A544-79ED-5BDA-D088-7F21-A6A6"
+ serial_filter_top_board: "D4-0262-9E84-E715-CADB-9894-7241"
+ serial_filter_imu: "AF-8217-B05F-811B-6F3E-04EA-448E-9D03-CA2C"
+ left_front_zero_point: 374
+ left_back_zero_point: 5801
+ right_back_zero_point: 7817
+ right_front_zero_point: 7136
+ yaw_motor_zero_point: 50642
+ pitch_motor_zero_point: 6245
+ debug_log_supercap: false
+ debug_log_wheel_motor: false
+ debug_log_deformable_joint_motor: false
+
+chassis_controller:
+ ros__parameters:
+ # Deploy geometry / chassis-owned joint intent
+ min_angle: 8.0
+ max_angle: 58.0
+ active_suspension_enable: true
+ spin_ratio: 1.0
+
+ # Suspension geometry / support model.
+ active_suspension_mass: 22.5
+ active_suspension_rod_length: 0.150
+ active_suspension_Kz: 150.0
+ active_suspension_D_leg: 10.0
+ active_suspension_torque_limit: 80.0
+ active_suspension_gravity_comp_gain: 1.0
+ active_suspension_control_acceleration_limit: 6.0
+ active_suspension_preload_angle_deg: 8.0
+ active_suspension_entry_offset_deg: 1.5
+ active_suspension_ride_height_offset_deg: 3.0
+ active_suspension_hold_travel_deg: 5.0
+ active_suspension_activation_velocity_threshold_deg: 15.0
+
+ # IMU attitude correction as suspension force bias.
+ active_suspension_pitch_kp: 8.0
+ active_suspension_pitch_ki: 0.35
+ active_suspension_pitch_kd: 0.28
+
+ active_suspension_roll_kp: 8.0
+ active_suspension_roll_ki: 0.35
+ active_suspension_roll_kd: 0.28
+
+ active_suspension_pitch_angle_diff_limit_deg: 45.0
+ active_suspension_roll_angle_diff_limit_deg: 45.0
+ active_suspension_pid_integral_limit_deg: 20.0
+
+ # Chassis-owned joint intent trajectory limits while attitude correction is active.
+ active_suspension_target_velocity_limit_deg: 80.0
+ active_suspension_target_acceleration_limit_deg: 360.0
+
+ # Automatic IMU mounting-error calibration.
+ # When all four requested joint targets stay equal for 2s, average pitch/roll from 2s to 5s.
+ chassis_imu_calibration_wait_s: 2.0
+ chassis_imu_calibration_sample_s: 3.0
+
+gimbal_controller:
+ ros__parameters:
+ upper_limit: -0.61 # -35 deg
+ lower_limit: 0.05 # 6 deg
+
+ yaw_angle_kp: 30.0
+ yaw_angle_ki: 0.0
+ yaw_angle_kd: 0.0
+
+ yaw_velocity_kp: 15.0
+ yaw_velocity_ki: 0.0
+ yaw_velocity_kd: 0.0
+
+ yaw_vel_ff_gain: 0.47
+ yaw_acc_ff_gain: 0.00
+
+ pitch_angle_kp: 25.0
+ pitch_angle_ki: 0.0
+ pitch_angle_kd: 0.0
+
+ pitch_velocity_kp: 2.2
+ pitch_velocity_ki: 0.0
+ pitch_velocity_kd: 0.0
+
+ pitch_acc_ff_gain: 0.10
+
+ pitch_torque_control: true
+
+ pitch_fusion_enabled: true
+ pitch_fusion_alpha: 0.98
+
+friction_wheel_controller:
+ ros__parameters:
+ friction_wheels:
+ - /gimbal/left_friction
+ - /gimbal/right_friction
+ friction_velocities:
+ - 600.0
+ - 600.0
+ friction_soft_start_stop_time: 1.0
+
+heat_controller:
+ ros__parameters:
+ heat_per_shot: 10000
+ reserved_heat: 0
+
+bullet_feeder_controller:
+ ros__parameters:
+ bullets_per_feeder_turn: 8.0
+ shot_frequency: 30.0
+ safe_shot_frequency: 10.0
+ eject_frequency: 10.0
+ eject_time: 0.05
+ deep_eject_frequency: 5.0
+ deep_eject_time: 0.2
+ single_shot_max_stop_delay: 2.0
+
+left_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/left_friction/velocity
+ setpoint: /gimbal/left_friction/control_velocity
+ control: /gimbal/left_friction/control_torque
+ kp: 0.003436926
+ ki: 0.00
+ kd: 0.009373434
+
+right_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/right_friction/velocity
+ setpoint: /gimbal/right_friction/control_velocity
+ control: /gimbal/right_friction/control_torque
+ kp: 0.003436926
+ ki: 0.00
+ kd: 0.009373434
+
+bullet_feeder_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/bullet_feeder/velocity
+ setpoint: /gimbal/bullet_feeder/control_velocity
+ control: /gimbal/bullet_feeder/control_torque
+ kp: 1.5
+ ki: 0.0
+ kd: 0.0
+
+deformable_chassis_controller:
+ ros__parameters:
+ mass: 22.5
+ moment_of_inertia: 1.0
+ chassis_radius: 0.2341741
+ rod_length: 0.150
+ wheel_radius: 0.055
+ friction_coefficient: 66.6
+ k1: 2.958580e+00
+ k2: 3.082190e-03
+ no_load_power: 11.37
+
+lf_joint_controller:
+ ros__parameters:
+ # Joint-local servo inputs produced by chassis intent generation
+ measurement_angle: /chassis/left_front_joint/physical_angle
+ measurement_velocity: /chassis/left_front_joint/physical_velocity
+ setpoint_angle: /chassis/left_front_joint/target_physical_angle
+ setpoint_velocity: /chassis/left_front_joint/target_physical_velocity
+ mode_input: /chassis/left_front_joint/suspension_mode
+ suspension_torque: /chassis/left_front_joint/suspension_torque
+ control: /chassis/left_front_joint/control_torque
+
+ # Normal ADRC servo mode
+ dt: 0.001
+ b0: -0.60
+ kt: 1.0
+ td_h: 0.001
+ td_r: 50.0
+ eso_w0: 250.0
+ eso_auto_beta: true
+ k1: 30.0
+ k2: 17.0
+ alpha1: 0.75
+ alpha2: 0.7
+ delta: 0.02
+ u_min: -200.0
+ u_max: 200.0
+ output_min: -200.0
+ output_max: 200.0
+
+ # Suspension ADRC servo mode
+ suspension_td_h: 0.001
+ suspension_td_r: 12.0
+ suspension_eso_w0: 80.0
+ suspension_k1: 6.0
+ suspension_k2: 3.0
+ suspension_alpha1: 0.75
+ suspension_alpha2: 0.7
+ suspension_delta: 0.02
+ suspension_u_min: -35.0
+ suspension_u_max: 35.0
+ suspension_output_min: -35.0
+ suspension_output_max: 35.0
+
+ # Joint-local feedforward / limit shaping
+ torque_feedforward_gain: 0.0
+ suspension_torque_feedforward_gain: -1.0
+
+lb_joint_controller:
+ ros__parameters:
+ # Same joint-servo layout as lf_joint_controller
+ measurement_angle: /chassis/left_back_joint/physical_angle
+ measurement_velocity: /chassis/left_back_joint/physical_velocity
+ setpoint_angle: /chassis/left_back_joint/target_physical_angle
+ setpoint_velocity: /chassis/left_back_joint/target_physical_velocity
+ mode_input: /chassis/left_back_joint/suspension_mode
+ suspension_torque: /chassis/left_back_joint/suspension_torque
+ control: /chassis/left_back_joint/control_torque
+ dt: 0.001
+ b0: -0.60
+ kt: 1.0
+ td_h: 0.001
+ td_r: 50.0
+ eso_w0: 250.0
+ eso_auto_beta: true
+ k1: 30.0
+ k2: 17.0
+ alpha1: 0.75
+ alpha2: 0.7
+ delta: 0.02
+ u_min: -200.0
+ u_max: 200.0
+ output_min: -200.0
+ output_max: 200.0
+ suspension_td_h: 0.001
+ suspension_td_r: 12.0
+ suspension_eso_w0: 80.0
+ suspension_k1: 6.0
+ suspension_k2: 3.0
+ suspension_alpha1: 0.75
+ suspension_alpha2: 0.7
+ suspension_delta: 0.02
+ suspension_u_min: -35.0
+ suspension_u_max: 35.0
+ suspension_output_min: -35.0
+ suspension_output_max: 35.0
+ torque_feedforward_gain: 0.0
+ suspension_torque_feedforward_gain: -1.0
+
+rb_joint_controller:
+ ros__parameters:
+ # Same joint-servo layout as lf_joint_controller
+ measurement_angle: /chassis/right_back_joint/physical_angle
+ measurement_velocity: /chassis/right_back_joint/physical_velocity
+ setpoint_angle: /chassis/right_back_joint/target_physical_angle
+ setpoint_velocity: /chassis/right_back_joint/target_physical_velocity
+ mode_input: /chassis/right_back_joint/suspension_mode
+ suspension_torque: /chassis/right_back_joint/suspension_torque
+ control: /chassis/right_back_joint/control_torque
+ dt: 0.001
+ b0: -0.60
+ kt: 1.0
+ td_h: 0.001
+ td_r: 50.0
+ eso_w0: 250.0
+ eso_auto_beta: true
+ k1: 30.0
+ k2: 17.0
+ alpha1: 0.75
+ alpha2: 0.7
+ delta: 0.02
+ u_min: -200.0
+ u_max: 200.0
+ output_min: -200.0
+ output_max: 200.0
+ suspension_td_h: 0.001
+ suspension_td_r: 12.0
+ suspension_eso_w0: 80.0
+ suspension_k1: 6.0
+ suspension_k2: 3.0
+ suspension_alpha1: 0.75
+ suspension_alpha2: 0.7
+ suspension_delta: 0.02
+ suspension_u_min: -35.0
+ suspension_u_max: 35.0
+ suspension_output_min: -35.0
+ suspension_output_max: 35.0
+ torque_feedforward_gain: 0.0
+ suspension_torque_feedforward_gain: -1.0
+
+rf_joint_controller:
+ ros__parameters:
+ # Same joint-servo layout as lf_joint_controller
+ measurement_angle: /chassis/right_front_joint/physical_angle
+ measurement_velocity: /chassis/right_front_joint/physical_velocity
+ setpoint_angle: /chassis/right_front_joint/target_physical_angle
+ setpoint_velocity: /chassis/right_front_joint/target_physical_velocity
+ mode_input: /chassis/right_front_joint/suspension_mode
+ suspension_torque: /chassis/right_front_joint/suspension_torque
+ control: /chassis/right_front_joint/control_torque
+ dt: 0.001
+ b0: -0.60
+ kt: 1.0
+ td_h: 0.001
+ td_r: 50.0
+ eso_w0: 250.0
+ eso_auto_beta: true
+ k1: 30.0
+ k2: 17.0
+ alpha1: 0.75
+ alpha2: 0.7
+ delta: 0.02
+ u_min: -200.0
+ u_max: 200.0
+ output_min: -200.0
+ output_max: 200.0
+ suspension_td_h: 0.001
+ suspension_td_r: 12.0
+ suspension_eso_w0: 80.0
+ suspension_k1: 6.0
+ suspension_k2: 3.0
+ suspension_alpha1: 0.75
+ suspension_alpha2: 0.7
+ suspension_delta: 0.02
+ suspension_u_min: -35.0
+ suspension_u_max: 35.0
+ suspension_output_min: -35.0
+ suspension_output_max: 35.0
+ torque_feedforward_gain: 0.0
+ suspension_torque_feedforward_gain: -1.0