use cabot3-common.yaml for cabot3.launch.py / rename cabot2-common-re…

…mote.yaml to cabot-common-remote.yaml

Signed-off-by: Daisuke Sato <[email protected]>

cabot_base/config/cabot3-common.yaml

@@ -0,0 +1,85 @@
+# include/vlp16.launch.py
+pointcloud_to_laserscan_node:
+  ros__parameters:
+    target_frame: velodyne
+    transform_tolerance: 0.01
+    min_height: -0.30  # origin is the sensor
+    max_height: 1.4  # origin is the sensor
+    angle_min: -2.57  # -M_PI/2 - 1.0 (angle clipping)
+    angle_max: 1.57  # M_PI/2
+    angle_increment: 0.00436  # M_PI/360/2
+    scan_time: 0.1
+    range_min: 0.2
+    range_max: 50.0
+    use_inf: True
+    inf_epsilon: 1.0
+    # Concurrency level affects number of pointclouds queued for
+    # processing and number of threads used
+    # 0 : Detect number of cores
+    # 1 : Single threaded
+    # 2->inf : Parallelism level
+    concurrency_level: 0       
+
+
+# crop box size is increased to ignore pointcloud following the user
+filter_crop_box_node:
+  ros__parameters:
+    min_x: -10.0
+    min_y: -1.5
+    min_z: 0.0
+    max_x: 0.2
+    max_y: 1.5
+    max_z: 2.0
+    keep_organized: False
+    negative: True
+    input_frame: base_link
+    output_frame: velodyne
+#------ vlp.16.launch.xml
+
+cabot:
+  cabot_handle_v2_node:
+    ros__parameters:
+      no_vibration: false
+      buttons: ['NEED_TO_BE_CONFIGURED']
+
+  cabot_serial:
+    ros__parameters:
+      port: NEED_TO_BE_CONFIGURED
+      baud: 115200
+      calibration_params: [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+      touch_params: [128,48,24] # NEED_TO_BE_CONFIGURED
+
+  serial_esp32_wifi_scanner:
+    ros__parameters:
+      port: /dev/ttyESP32
+      baud: 115200
+      verbose: False
+
+  odriver_adapter_node:
+    ros__parameters:
+      encoder_topic: /cabot/motorStatus
+      odom_topic: /cabot/odom_raw
+      motor_topic: /cabot/motorTarget
+      cmd_vel_topic: /cabot/cmd_vel
+      pause_control_topic: /cabot/pause_control 
+      max_acc: 1.2
+      max_dec: -1.2
+      target_rate: 20
+      bias: 1.0          # NEED_TO_BE_CONFIGURED
+      gain_omega: 1.0    # NEED_TO_BE_CONFIGURED
+      gain_omega_i: 0.0  # NEED_TO_BE_CONFIGURED
+
+  odriver_node:
+    ros__parameters:
+      wheel_diameter: 0.073      # NEED_TO_BE_CONFIGURED
+      count_per_round: 16384     # NEED_TO_BE_CONFIGURED
+      left_is_1: false           # NEED_TO_BE_CONFIGURED
+      is_clockwise: true         # NEED_TO_BE_CONFIGURED
+      gain_left: 1.0             # NEED_TO_BE_CONFIGURED
+      gain_right: 1.0            # NEED_TO_BE_CONFIGURED
+      port: /dev/ttyODRIVE
+      vel_gain: 1.0              # NEED_TO_BE_CONFIGURED
+      vel_integrator_gain: 10.0  # NEED_TO_BE_CONFIGURED
+      motor_bandwidth: 200       # NEED_TO_BE_CONFIGURED
+      encoder_bandwidth: 200     # NEED_TO_BE_CONFIGURED
+

cabot_base/launch/cabot2-remote.launch.py

@@ -69,7 +69,7 @@ def generate_launch_description():
         ParameterFile(PathJoinSubstitution([
                 pkg_dir,
                 'config',
-                'cabot2-common-remote.yaml'
+                'cabot-common-remote.yaml'
             ]), allow_substs=True
         ),
         ParameterFile(PathJoinSubstitution([

cabot_base/launch/cabot3-remote.launch.py

@@ -63,13 +63,13 @@ def generate_launch_description():
         ParameterFile(PathJoinSubstitution([
                 pkg_dir,
                 'config',
-                'cabot2-common.yaml'
+                'cabot3-common.yaml'
             ]), allow_substs=True
         ),
         ParameterFile(PathJoinSubstitution([
                 pkg_dir,
                 'config',
-                'cabot2-common-remote.yaml'
+                'cabot-common-remote.yaml'
             ]), allow_substs=True
         ),
         ParameterFile(PathJoinSubstitution([

cabot_base/launch/cabot3.launch.py

@@ -123,7 +123,7 @@ def has_flag(flag_name):
         ParameterFile(PathJoinSubstitution([
             pkg_dir,
             'config',
-            'cabot2-common.yaml'
+            'cabot3-common.yaml'
         ]),
             allow_substs=True,
         ),