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Add Configuration File Roboboat Teleop #764

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merged 1 commit into from
Jan 12, 2024
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crvogt
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@crvogt crvogt commented Jan 8, 2024

What it Does

Maps joysticks on gamepad to each thruster on roboboat resulting in a differential drive system. Scaling is decreased in comparison to WAM-V config.

How to Test

See the tutorial for how it is used and testing.

Side Note to Reviewer

I've had past issues with my gamepad axes not matching intended command direction. This config matches the WAM-V config for direction/axis, so should be fine, but verification is appreciated.

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I have a few comments about the tutorial:

  1. I think we need to modify nbpark.sdf to include roboboat01. Could you add that part to the tutorial? It should be similar to what we do in:

https://github.com/osrf/vrx/wiki/running_roboboat_tutorial

  1. Perhaps we could keep the default wamv.yaml configuration and instead, just use the teleop_config parameter when running the node:
ros2 launch vrx_gz usv_joy_teleop.py teleop_config:=/home/caguero/vrx2023_ws/src/vrx/vrx_gz/config/roboboat.yaml
  1. Does your robot move smoothly when you teleoperate? Mine is very reactive...

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caguero commented Jan 11, 2024

Friendly ping @crvogt .

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caguero commented Jan 12, 2024

I went ahead and applied (1) and (2).

@caguero caguero merged commit 3c2e918 into main Jan 12, 2024
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@caguero caguero deleted the crv/roboboat_teleop_config branch January 12, 2024 20:47
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3 participants