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feat(sentry): add chassis climb control#90

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Merged
gqsdjhh merged 1 commit into from
Jul 13, 2026
Merged

feat(sentry): add chassis climb control #90

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50 changes: 38 additions & 12 deletions rmcs_ws/src/rmcs_bringup/config/sentry.yaml
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Original file line numberDiff line numberDiff line change
Expand Up@@ -17,19 +17,20 @@ rmcs_executor:
- 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::ChassisClimberController -> climber_controller
- rmcs_core::controller::chassis::ChassisController -> chassis_controller
- rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
- rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller

# - rmcs::navigation::Navigation -> rmcs_navigation

# - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
- rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
# - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster

- rmcs::AutoAimCapturerComponent -> auto_aim_capturer
# - rmcs::AutoAimCapturerComponent -> auto_aim_capturer
# - rmcs::AutoAimPlayerComponent -> auto_aim_player
- rmcs::AutoAimRecorderComponent -> auto_aim_recorder
- rmcs::AutoAimComponent -> auto_aim_component
# - rmcs::AutoAimRecorderComponent -> auto_aim_recorder
# - rmcs::AutoAimComponent -> auto_aim_component

auto_aim_capturer:
ros__parameters:
Expand All@@ -55,18 +56,18 @@ value_broadcaster:
# The positive direction is the one that battery exists
sentry_hardware:
ros__parameters:
board_serial_bottom_board: "af-79cf"
board_serial_bottom_board: "af-b4e5"
board_serial_gimbal_board: "af-8b8b"

pitch_motor_zero_point: 12158
pitch_motor_zero_point: 17241

bottom_yaw_motor_zero_point: 9445
top_yaw_motor_zero_point: 33409
bottom_yaw_motor_zero_point: 65414
top_yaw_motor_zero_point: 32736

left_front_zero_point: 6775
left_back_zero_point: 5187
right_back_zero_point: 239
right_front_zero_point: 3750
left_front_zero_point: 5776
left_back_zero_point: 3784
right_back_zero_point: 3048
right_front_zero_point: 5135

rmcs_navigation:
ros__parameters:
Expand DownExpand Up@@ -122,6 +123,31 @@ chassis_controller:
following_velocity_ki: 0.001
following_velocity_kd: 0.0

climber_controller:
ros__parameters:
front_climber_velocity: 20.0
back_climber_velocity: 30.0
auto_climb_support_retract_velocity_fast: 60.0
auto_climb_support_retract_velocity_slow: 20.0
auto_climb_approach_chassis_velocity: 1.0
auto_climb_support_deploy_chassis_velocity: 0.3
auto_climb_support_retract_chassis_velocity: 0.3
auto_climb_dash_chassis_velocity: 3.0
first_stair_dash_leveled_pitch_threshold: 0.05
second_stair_dash_leveled_pitch_threshold: -0.09
sync_coefficient: 0.2
first_stair_approach_pitch: 0.585
second_stair_approach_pitch: 0.365
front_kp: 1.0
front_ki: 0.0
front_kd: 0.5
front_power_estimate_bias: 0.0
front_power_estimate_k_tau2: 1.0
front_power_estimate_k_mech: 1.0
back_kp: 0.5
back_ki: 0.0
back_kd: 0.0

friction_wheel_controller:
ros__parameters:
friction_wheels:
Expand Down
1 change: 1 addition & 0 deletions rmcs_ws/src/rmcs_core/plugins.xml
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Expand Up@@ -15,6 +15,7 @@
<class type="rmcs_core::controller::chassis::DeformableJointController" base_class_type="rmcs_executor::Component" />
<class type="rmcs_core::controller::chassis::DeformableChassisController" base_class_type="rmcs_executor::Component" />
<class type="rmcs_core::controller::chassis::ChassisControllerV2" base_class_type="rmcs_executor::Component" />
<class type="rmcs_core::controller::chassis::ChassisClimberController" base_class_type="rmcs_executor::Component" />
<class type="rmcs_core::controller::gimbal::SimpleGimbalController" base_class_type="rmcs_executor::Component" />
<class type="rmcs_core::controller::gimbal::OmniInfantryPlannerGimbalController" base_class_type="rmcs_executor::Component" />
<class type="rmcs_core::controller::gimbal::HeroGimbalController" base_class_type="rmcs_executor::Component" />
Expand Down
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