dev(robot): Sentry update

.github/workflows/update-image.yml

@@ -8,6 +8,7 @@ on:
  paths:
  - Dockerfile
  - .github/workflows/update-image.yml
+ - .script/template/
  - .script/build-rmcs-cross
  - rmcs_ws/toolchain.cmake
 

rmcs_ws/src/rmcs_bringup/config/sentry.yaml

@@ -17,30 +17,30 @@ 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::SentryClimber -> sentry_climber
  - 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::navigation::Navigation -> rmcs_navigation
 
  # - rmcs::AutoAimRecorderComponent -> auto_aim_recorder
  # - rmcs::AutoAimCapturerComponent -> auto_aim_capturer
- - rmcs::AutoAimComponent -> auto_aim_component
+# - rmcs::AutoAimComponent -> auto_aim_component
 
  # - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
  # - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster
 
 rmcs_navigation:
  ros__parameters:
  command_vel_name: "/cmd_vel"
- endpoint: "train"
+ endpoint: "otaku"
  enable_goal_topic_forward: true
 
 auto_aim_capturer:
  ros__parameters:
  camera_name: ""
- exposure_us: 3000.0
+ exposure_us: 2000.0
  gain: 8.0
  framerate: 120.0
  invert_image: true
@@ -59,12 +59,13 @@ auto_aim_recorder:
 auto_aim_component:
  ros__parameters:
  manual_shoot: true
+ enable_rune: true
  camera_translation: [0.07128, 0.0, 0.0481]
  fire_control:
  bullet_speed: 22.5
  shoot_delay: 0.1
- offset_yaw: -1.0
- offset_pitch: +0.0
+ offset_yaw: -0.5
+ offset_pitch: +1.0
  attack_window: 120.0
  degraded_angle_speed: 12.0
  window_hysteresis: 0.2
@@ -79,7 +80,6 @@ value_broadcaster:
  - /gimbal/yaw/velocity_imu
  - /gimbal/pitch/velocity_imu
 
-# The positive direction is the one that battery exists
 sentry_hardware:
  ros__parameters:
  board_serial_bottom_board: "af-b4e5"
@@ -123,34 +123,63 @@ gimbal_controller:
 
 chassis_controller:
  ros__parameters:
+ angular_velocity_max: 10.0
+ translational_velocity_max: 10.0
  following_velocity_kp: 7.0
  following_velocity_ki: 0.0
  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
+sentry_climber:
+ ros__parameters:
+ track_group:
+ speed_rush: 20.0
+ kp: 1.0
+ ki: 0.0
+ kd: 0.5
+ sync_coefficient: 0.2
+ power_estimate_bias: 0.0
+ power_estimate_k_tau2: 1.0
+ power_estimate_k_mech: 1.0
+ stick_group:
+ speed_drop: 30.0
+ speed_rise: 60.0
+ rise_torque_limit: 1.2
+ land_speed_begin: 100.0
+ land_speed_final: 10.0
+ land_duration: 0.5
+ land_torque_limit: 8.0
+ blocked_torque_threshold: 0.1
+ blocked_speed_threshold: 0.1
+ kp: 1.0
+ ki: 0.0
+ kd: 0.0
+ sync_coefficient: 0.2
+ hold_torque: 0.01
+ block_hold: 0.05
+ align:
+ err: 0.20
+ w: 0.2
+ hold: 0.05
+ timeout: 15.0
+ climb:
+ approach_pitch: 0.585
+ leveled_pitch: 0.05
+ approach_vx: 1.2
+ deploy_vx: 0.3
+ dash_vx: 3.0
+ retract_vx: 0.3
+ dash_min: 0.1
+ dash_duration: 0.8
+ stick_timeout: 8.0
+ approach_timeout: 8.0
+ land:
+ dash_vx: 1.0
+ soft_vx: 0.4
+ land_pitch: 0.15
+ land_delay: 0.2
+ stick_timeout: 8.0
+ soft_timeout: 3.0
+ settle_timeout: 8.0
 
 friction_wheel_controller:
  ros__parameters:

rmcs_ws/src/rmcs_core/plugins.xml

@@ -16,6 +16,7 @@
  <class type="rmcs_core::controller::chassis::HeroSteeringWheelController" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::chassis::SteeringWheelStatus" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::chassis::ChassisClimberController" base_class_type="rmcs_executor::Component" />
+ <class type="rmcs_core::controller::chassis::SentryClimber" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::chassis::DeformableChassis" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::chassis::DeformableSuspension" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::chassis::DeformableJointController" base_class_type="rmcs_executor::Component" />