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Fixed instances where mobile_to_maritime API wasn't updated (backport #320) #323

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merged 1 commit into from
Sep 25, 2024
Merged

Fixed instances where mobile_to_maritime API wasn't updated (backport #320) #323

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2 changes: 1 addition & 1 deletion blue_bringup/launch/bluerov2/bluerov2.launch.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -122,4 +122,4 @@ launch:
file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml

- include:
file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml
file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml
2 changes: 1 addition & 1 deletion blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -122,4 +122,4 @@ launch:
file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml

- include:
file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml
file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml
2 changes: 1 addition & 1 deletion blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -122,4 +122,4 @@ launch:
file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml

- include:
file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml
file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml
11 changes: 11 additions & 0 deletions blue_demos/control_integration/config/transforms.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
/control_integration/message_transforms:
ros__parameters:

incoming_topics:
- /mavros/local_position/velocity_body

transforms:
/mavros/local_position/velocity_body:
outgoing_topic: /integral_sliding_mode_controller/system_state
message_type: geometry_msgs/msg/TwistStamped
frame_id: base_link_fsd
44 changes: 29 additions & 15 deletions blue_demos/control_integration/launch/bluerov2_controllers.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,14 @@
# THE SOFTWARE.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
RegisterEventHandler,
)
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution, TextSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

Expand All @@ -48,18 +53,27 @@ def generate_launch_description() -> LaunchDescription:
]

# The ISMC expects state information to be provided in the FSD frame
mobile_to_maritime_velocity_state = Node(
package="mobile_to_maritime",
executable="mobile_twist_stamped_to_maritime_twist",
name="velocity_state_transform",
parameters=[
{
"in_topic": "/mavros/local_position/velocity_body",
"out_topic": "/integral_sliding_mode_controller/system_state",
"qos_reliability": "best_effort",
"qos_durability": "volatile",
}
],
message_transformer = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("message_transforms"),
"launch",
"message_transforms.launch.py",
]
)
),
launch_arguments={
"parameters_file": PathJoinSubstitution(
[
FindPackageShare("blue_demos"),
"control_integration",
"config",
"transforms.yaml",
]
),
"ns": TextSubstitution(text="control_integration"),
}.items(),
)

controller_manager = Node(
Expand Down Expand Up @@ -151,7 +165,7 @@ def generate_launch_description() -> LaunchDescription:
return LaunchDescription(
[
*args,
mobile_to_maritime_velocity_state,
message_transformer,
controller_manager,
*delay_thruster_spawners,
delay_tam_controller_spawner_after_thruster_controller_spawners,
Expand Down
44 changes: 29 additions & 15 deletions blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,14 @@
# THE SOFTWARE.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
RegisterEventHandler,
)
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution, TextSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

Expand All @@ -47,18 +52,27 @@ def generate_launch_description() -> LaunchDescription:
]

# The ISMC expects state information to be provided in the FSD frame
mobile_to_maritime_velocity_state = Node(
package="mobile_to_maritime",
executable="mobile_twist_stamped_to_maritime_twist",
name="velocity_state_transform",
parameters=[
{
"in_topic": "/mavros/local_position/velocity_body",
"out_topic": "/integral_sliding_mode_controller/system_state",
"qos_reliability": "best_effort",
"qos_durability": "volatile",
}
],
message_transformer = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("message_transforms"),
"launch",
"message_transforms.launch.py",
]
)
),
launch_arguments={
"parameters_file": PathJoinSubstitution(
[
FindPackageShare("blue_demos"),
"control_integration",
"config",
"transforms.yaml",
]
),
"ns": TextSubstitution(text="control_integration"),
}.items(),
)

controller_manager = Node(
Expand Down Expand Up @@ -150,7 +164,7 @@ def generate_launch_description() -> LaunchDescription:
return LaunchDescription(
[
*args,
mobile_to_maritime_velocity_state,
message_transformer,
controller_manager,
*delay_thruster_spawners,
delay_tam_controller_spawner_after_thruster_controller_spawners,
Expand Down