├── LICENSE ├── README.md ├── tuna ├── CMakeLists.txt └── package.xml ├── tuna_bringup ├── CMakeLists.txt ├── config_scripts │ ├── config.txt │ ├── env.sh │ ├── magni-base │ ├── ros_setup.bash │ ├── ros_setup.sh │ ├── roscore │ └── roscore.service ├── launch │ ├── core.launch │ ├── gnss.launch │ └── imu.launch ├── package.xml ├── param │ ├── hyb_slam2d.yaml │ ├── imu_calib.yaml │ └── new_calib.yaml ├── scripts │ ├── ublox.txt │ └── ubxgen.py └── setup.py ├── tuna_description ├── CMakeLists.txt ├── img │ ├── NodeGraph.png │ ├── NodeGraph.xml │ ├── TunaElectric.png │ ├── TunaElectric.xml │ ├── gazebo.png │ ├── grid.png │ ├── image.png │ └── vizanti.jpg ├── launch │ ├── model.launch │ └── odometry.launch ├── nodes │ ├── odom_publisher.py │ └── sim_publisher.py ├── package.xml ├── setup.py └── urdf │ └── boat.urdf ├── tuna_gazebo ├── CMakeLists.txt ├── launch │ ├── bridge.launch │ └── ign.launch ├── meshes │ ├── boat.dae │ ├── map.dae │ ├── prop_left.dae │ ├── prop_right.dae │ └── stl │ │ ├── fin_left_1.stl │ │ ├── fin_left_2.stl │ │ ├── fin_right_1.stl │ │ ├── fin_right_2.stl │ │ ├── gnss_bottom.stl │ │ ├── gnss_top.stl │ │ ├── hook.stl │ │ ├── stern_bottom.stl │ │ ├── stern_top.stl │ │ └── tower.stl ├── package.xml ├── scripts │ ├── ign_interfacer.py │ └── wave_generator.py └── water_world.sdf ├── tuna_motor ├── CMakeLists.txt ├── launch │ └── electronics.launch ├── nodes │ ├── battery.py │ ├── motor.py │ └── shutdown.py ├── package.xml └── setup.py ├── tuna_nav ├── CMakeLists.txt ├── launch │ ├── line_planner.launch │ └── localization.launch ├── nodes │ ├── imu_filter.py │ └── light_indicator.py ├── package.xml └── setup.py └── tuna_viz ├── CMakeLists.txt ├── launch └── rviz.launch ├── package.xml └── rviz └── config.rviz /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2022 MoffKalast 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ![Diagram](tuna_description/img/image.png) 2 | 3 | [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) 4 | 5 | # About 6 | 7 | Tuna is an open-electronics and open-software GNSS platform for ROS, based on the Pi 4. It uses diff drive control for locomotion with [diff_drive_simple](https://github.com/MoffKalast/diff_drive_simple), a standard percision GNSS receiver for absolute localization with [navsat_simple](https://github.com/MoffKalast/navsat_simple), and an IMU for rotational data. If you see the overreaching theme there, I'm trying to keep everything as simple as possible. 8 | 9 | In the current iteration it uses [Vizanti](https://github.com/MoffKalast/vizanti) as the mission planner and [line_planner](https://github.com/MoffKalast/line_planner) as its local planner. You can find more specific info below or in the related videos. 10 | 11 | List of videos about construction and testing: 12 | 13 | | Video | Description | 14 | | ----------- | ----------- | 15 | | [![Watch the video](https://img.youtube.com/vi/CoFgflu3uPA/default.jpg)](https://www.youtube.com/watch?v=CoFgflu3uPA) | Hardware setup and general software stack info, initial testing with ROS Mobile and navsat_transform_node. | 16 | | [![Watch the video](https://img.youtube.com/vi/l3ynv3hPWGs/default.jpg)](https://www.youtube.com/watch?v=l3ynv3hPWGs) | Practical navigation experiments with proprietary EZ-Map and gps_common. Simulation in Ignition Gazebo. | 17 | | [![Watch the video](https://img.youtube.com/vi/NZO6q_YMRwI/default.jpg)](https://www.youtube.com/watch?v=NZO6q_YMRwI) | Open source navigation and interface with Vizanti, developing the more accurate line_planner. Survey pattern tests. | 18 | 19 | 20 | 21 | # Circuit Diagram 22 | 23 | ![Diagram](tuna_description/img/TunaElectric.png) 24 | 25 | # Node Graph 26 | 27 | ![Diagram](tuna_description/img/NodeGraph.png) 28 | 29 | # Installation 30 | 31 | ## Running in Gazebo Fortress 32 | 33 | ![Gazebo](tuna_description/img/gazebo.png) 34 | 35 | Base requirements: 36 | - [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) 37 | - [Gazebo Ignition (version Fortress)](https://gazebosim.org/docs/fortress/install_ubuntu) 38 | - [ros_ign bridge for Noetic](https://github.com/gazebosim/ros_gz/tree/noetic#from-source) 39 | 40 | Clone repos: 41 | 42 | ```bash 43 | cd ~/catkin_ws/src 44 | git clone https://github.com/MoffKalast/tuna.git 45 | # Diff drive controller 46 | git clone https://github.com/MoffKalast/diff_drive_simple.git 47 | # Localization fusion 48 | git clone https://github.com/MoffKalast/navsat_simple.git 49 | # Goal planner 50 | git clone https://github.com/MoffKalast/line_planner.git 51 | 52 | # Optional, for RViz Viewing 53 | git clone https://github.com/nobleo/rviz_satellite.git 54 | 55 | # ign bridge setup, skip if already installed 56 | export IGNITION_VERSION=fortress 57 | git clone https://github.com/osrf/ros_ign.git -b noetic 58 | 59 | cd ~/catkin_ws 60 | rosdep install --from-paths src --ignore-src --rosdistro=noetic -y 61 | catkin_make 62 | ``` 63 | 64 | Run: 65 | ```bash 66 | # Run the sim 67 | roscd tuna_gazebo 68 | ign gazebo water_world.sdf -r 69 | 70 | # Run bridge and navigation nodes 71 | roslaunch tuna_gazebo ign.launch 72 | 73 | # Visualize 74 | roslaunch tuna_viz rviz.launch 75 | 76 | # Turn on currnent/wind simulation 77 | rosrun tuna_gazebo wave_generator.py 78 | 79 | ``` 80 | 81 |
82 | 83 | ## Running with Vizanti 84 | 85 | ![Vizanti](tuna_description/img/vizanti.jpg) 86 | 87 | Install: 88 | 89 | ```bash 90 | cd ~/catkin_ws/src 91 | https://github.com/MoffKalast/vizanti.git 92 | cd .. 93 | rosdep install --from-paths src --ignore-src --rosdistro=noetic -y 94 | catkin_make 95 | ``` 96 | 97 | Run: 98 | ```bash 99 | roslaunch vizanti server.launch 100 | ``` 101 | Then view http://localhost:5000 102 | 103 |
104 | 105 | ## Running on a Raspberry Pi 106 | 107 | Clone hw drivers: 108 | ```bash 109 | cd ~/catkin_ws/src 110 | git clone https://github.com/dpkoch/imu_calib.git 111 | git clone https://github.com/MoffKalast/onewiretemp.git 112 | git clone https://github.com/MoffKalast/safety_light.git 113 | git clone https://github.com/MoffKalast/mpu9255.git 114 | 115 | cd ~/catkin_ws 116 | rosdep install --from-paths src --ignore-src --rosdistro=noetic -y 117 | catkin_make 118 | ``` 119 | 120 | To run this on a Pi 4, start with a [20.04 Ubuntu Pi image](https://learn.ubiquityrobotics.com/noetic_pi_image_downloads), install everything as listed above, plus [pigpio](https://abyz.me.uk/rpi/pigpio/download.html). 121 | 122 | Fix services to set up correct ROS params and autorun at boot: 123 | 124 | ```bash 125 | cd ~/catkin_ws/src/tuna/tuna_bringup/config_scripts 126 | sudo cp roscore.service /etc/systemd/system/roscore.service 127 | 128 | sudo cp magni-base /usr/sbin/magni-base 129 | sudo cp roscore /usr/sbin/roscore 130 | 131 | sudo cp env.sh /etc/ubiquity/env.sh 132 | sudo cp ros_setup.bash /etc/ubiquity/ros_setup.bash 133 | sudo cp ros_setup.sh /etc/ubiquity/ros_setup.sh 134 | ``` 135 | 136 | Changes to `/boot/config.txt` for i2c, uart, and LED power saving: 137 | 138 | ```bash 139 | # disable rainbow splash screen for faster booting 140 | disable_splash=1 141 | 142 | # Set up UART and disable BT 143 | dtoverlay=disable-bt 144 | dtoverlay=uart0 145 | 146 | # Set up I2C 147 | dtoverlay=i2c-gpio,i2c_gpio_sda=2,i2c_gpio_scl=3,bus=1 core_freq=250 148 | 149 | # Disable the PWR LED 150 | dtparam=pwr_led_trigger=none 151 | dtparam=pwr_led_activelow=off 152 | 153 | # Disable the Activity LED 154 | dtparam=act_led_trigger=none 155 | dtparam=act_led_activelow=off 156 | 157 | # Disable ethernet port LEDs 158 | dtparam=eth_led0=4 159 | dtparam=eth_led1=4 160 | ``` 161 | 162 | ### Enable Kernel Interfaces 163 | 164 | For the `safety_light` to have the correct kernel interface access create `/etc/udev/rules.d/99-gpio.rules` with the following contents (if it doesn't already exist): 165 | 166 | ```bash 167 | SUBSYSTEM=="bcm2835-gpiomem", KERNEL=="gpiomem", GROUP="gpio", MODE="0660" 168 | SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", RUN+="/bin/sh -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport ; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport'" 169 | SUBSYSTEM=="gpio", KERNEL=="gpio*", ACTION=="add", RUN+="/bin/chown root:gpio /sys%p/active_low /sys%p/edge /sys%p/direction /sys%p/value", RUN+="/bin/chmod 660 /sys%p/active_low /sys%p/edge /sys%p/direction /sys%p/value" 170 | ``` 171 | ### Run 172 | 173 | This launch file will also launch automatically at boot via the magni-base service. 174 | 175 | ```bash 176 | roslaunch tuna_bringup core.launch 177 | ``` 178 | -------------------------------------------------------------------------------- /tuna/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tuna) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /tuna/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | tuna 4 | 0.1.0 5 | All Karl self driving rc car related packages. 6 | 7 | Rohan Agrawal 8 | BSD 9 | 10 | catkin 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /tuna_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tuna_bringup) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | sensor_msgs 8 | message_generation 9 | std_msgs 10 | ) 11 | 12 | catkin_python_setup() 13 | 14 | generate_messages(DEPENDENCIES std_msgs) 15 | 16 | catkin_package( 17 | CATKIN_DEPENDS std_msgs sensor_msgs message_runtime 18 | ) 19 | -------------------------------------------------------------------------------- /tuna_bringup/config_scripts/config.txt: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | ## Raspberry Pi Configuration Settings 3 | ## 4 | ## Revision 16, 2013/06/22 5 | ## 6 | ## Details taken from the eLinux wiki 7 | ## For up-to-date information please refer to wiki page. 8 | ## 9 | ## Wiki Location : http://elinux.org/RPiconfig 10 | ## 11 | ## For more options and information see 12 | ## http://www.raspberrypi.org/documentation/configuration/config-txt.md 13 | ## Some settings may impact device functionality. See link above for details 14 | ## 15 | ## Description: 16 | ## Details of each setting are described with each section that begins with 17 | ## a double hashed comment ('##') 18 | ## It is up to the user to remove the single hashed comment ('#') from each 19 | ## option they want to enable, and to set the specific value of that option. 20 | ## 21 | ## Overclock settings will be disabled at runtime if the SoC reaches temp_limit 22 | ## 23 | ################################################################################ 24 | 25 | ################################################################################ 26 | ## Standard Definition Video Settings 27 | ################################################################################ 28 | 29 | ## sdtv_mode 30 | ## defines the TV standard for composite output 31 | ## 32 | ## Value Description 33 | ## ------------------------------------------------------------------------- 34 | ## 0 Normal NTSC (Default) 35 | ## 1 Japanese version of NTSC - no pedestal 36 | ## 2 Normal PAL 37 | ## 3 Brazilian version of PAL - 525/60 rather than 625/50, different 38 | ## subcarrier 39 | ## 40 | #sdtv_mode=0 41 | 42 | ## sdtv_aspect 43 | ## defines the aspect ratio for composite output 44 | ## 45 | ## Value Description 46 | ## ------------------------------------------------------------------------- 47 | ## 1 4:3 (Default) 48 | ## 2 14:9 49 | ## 3 16:9 50 | ## 51 | #sdtv_aspect=1 52 | 53 | ## sdtv_disable_colourburst 54 | ## Disables colour burst on composite output. The picture will be 55 | ## monochrome, but possibly sharper 56 | ## 57 | ## Value Description 58 | ## ------------------------------------------------------------------------- 59 | ## 0 Colour burst is enabled (Default) 60 | ## 1 Colour burst is disabled 61 | ## 62 | #sdtv_disable_colourburst=1 63 | 64 | ################################################################################ 65 | ## High Definition Video Settings 66 | ################################################################################ 67 | 68 | ## hdmi_safe 69 | ## Use "safe mode" settings to try to boot with maximum hdmi compatibility. 70 | ## 71 | ## Value Description 72 | ## ------------------------------------------------------------------------- 73 | ## 0 Disabled (Default) 74 | ## 1 Enabled (this does: hdmi_force_hotplug=1, 75 | ## hdmi_ignore_edid=0xa5000080, 76 | ## config_hdmi_boost=4, hdmi_group=2, 77 | ## hdmi_mode=4, disable_overscan=0, 78 | ## overscan_left=24, overscan_right=24, 79 | ## overscan_top=24, overscan_bottom=24) 80 | ## 81 | #hdmi_safe=1 82 | 83 | ## hdmi_force_hotplug 84 | ## Pretends HDMI hotplug signal is asserted so it appears a HDMI display 85 | ## is attached 86 | ## 87 | ## Value Description 88 | ## ------------------------------------------------------------------------- 89 | ## 0 Disabled (Default) 90 | ## 1 Use HDMI mode even if no HDMI monitor is detected 91 | ## 92 | #hdmi_force_hotplug=1 93 | 94 | ## hdmi_ignore_hotplug 95 | ## Pretends HDMI hotplug signal is not asserted so it appears a HDMI 96 | ## display is not attached 97 | ## 98 | ## Value Description 99 | ## ------------------------------------------------------------------------- 100 | ## 0 Disabled (Default) 101 | ## 1 Use composite mode even if HDMI monitor is detected 102 | ## 103 | #hdmi_ignore_hotplug=1 104 | 105 | ## hdmi_drive 106 | ## chooses between HDMI and DVI modes 107 | ## 108 | ## Value Description 109 | ## ------------------------------------------------------------------------- 110 | ## 1 Normal DVI mode (No sound) 111 | ## 2 Normal HDMI mode (Sound will be sent if supported and enabled) 112 | ## 113 | #hdmi_drive=2 114 | 115 | ## hdmi_ignore_edid 116 | ## Enables the ignoring of EDID/display data 117 | ## 118 | #hdmi_ignore_edid=0xa5000080 119 | 120 | ## hdmi_edid_file 121 | ## Read the EDID data from the edid.dat file instead of from the attached 122 | ## device 123 | ## 124 | ## Value Description 125 | ## ------------------------------------------------------------------------- 126 | ## 0 Read EDID data from attached device (Default) 127 | ## 1 Read EDID data from edid.txt file 128 | ## 129 | #hdmi_edid_file=1 130 | 131 | ## hdmi_ignore_edid_audio 132 | ## Pretends all audio formats are unsupported by display. This means ALSA 133 | ## will default to analogue. 134 | ## 135 | ## Value Description 136 | ## ------------------------------------------------------------------------- 137 | ## 0 Use EDID provided values (Default) 138 | ## 1 Pretend all audio formats are unsupported 139 | ## 140 | #hdmi_ignore_edid_audio=1 141 | 142 | ## hdmi_force_edid_audio 143 | ## Pretends all audio formats are supported by display, allowing 144 | ## passthrough of DTS/AC3 even when not reported as supported. 145 | ## 146 | ## Value Description 147 | ## ------------------------------------------------------------------------- 148 | ## 0 Use EDID provided values (Default) 149 | ## 1 Pretend all audio formats are supported 150 | ## 151 | #hdmi_force_edid_audio=1 152 | 153 | ## hdmi_force_edid_3d 154 | ## Pretends all CEA modes support 3D even when edid doesn't indicate 155 | ## support for them. 156 | ## 157 | ## Value Description 158 | ## ------------------------------------------------------------------------- 159 | ## 0 Use EDID provided values (Default) 160 | ## 1 Pretend 3D mode is supported 161 | ## 162 | #hdmi_force_edid_3d=1 163 | 164 | ## avoid_edid_fuzzy_match 165 | ## Avoid fuzzy matching of modes described in edid. 166 | ## 167 | ## Value Description 168 | ## ------------------------------------------------------------------------- 169 | ## 0 Use fuzzy matching (Default) 170 | ## 1 Avoid fuzzy matching 171 | ## 172 | #avoid_edid_fuzzy_match=1 173 | 174 | ## hdmi_pixel_encoding 175 | ## Force the pixel encoding mode. 176 | ## By default it will use the mode requested from edid so shouldn't 177 | ## need changing. 178 | ## 179 | ## Value Description 180 | ## ------------------------------------------------------------------------- 181 | ## 0 Use EDID provided values (Default) 182 | ## 1 RGB limited (16-235) 183 | ## 2 RGB full ( 0-255) 184 | ## 3 YCbCr limited (16-235) 185 | ## 4 YCbCr limited ( 0-255) 186 | ## 187 | #hdmi_pixel_encoding=1 188 | 189 | ## hdmi_group 190 | ## Defines the HDMI type 191 | ## 192 | ## Value Description 193 | ## ------------------------------------------------------------------------- 194 | ## 0 Use the preferred group reported by the edid (Default) 195 | ## 1 CEA 196 | ## 2 DMT 197 | ## 198 | #hdmi_group=1 199 | 200 | ## hdmi_mode 201 | ## defines screen resolution in CEA or DMT format 202 | ## 203 | ## H means 16:9 variant (of a normally 4:3 mode). 204 | ## 2x means pixel doubled (i.e. higher clock rate, with each pixel repeated 205 | ## twice) 206 | ## 4x means pixel quadrupled (i.e. higher clock rate, with each pixel 207 | ## repeated four times) 208 | ## reduced blanking means fewer bytes are used for blanking within the data 209 | ## stream (i.e. lower clock rate, with fewer wasted bytes) 210 | ## 211 | ## Value hdmi_group=CEA hdmi_group=DMT 212 | ## ------------------------------------------------------------------------- 213 | ## 1 VGA 640x350 85Hz 214 | ## 2 480p 60Hz 640x400 85Hz 215 | ## 3 480p 60Hz H 720x400 85Hz 216 | ## 4 720p 60Hz 640x480 60Hz 217 | ## 5 1080i 60Hz 640x480 72Hz 218 | ## 6 480i 60Hz 640x480 75Hz 219 | ## 7 480i 60Hz H 640x480 85Hz 220 | ## 8 240p 60Hz 800x600 56Hz 221 | ## 9 240p 60Hz H 800x600 60Hz 222 | ## 10 480i 60Hz 4x 800x600 72Hz 223 | ## 11 480i 60Hz 4x H 800x600 75Hz 224 | ## 12 240p 60Hz 4x 800x600 85Hz 225 | ## 13 240p 60Hz 4x H 800x600 120Hz 226 | ## 14 480p 60Hz 2x 848x480 60Hz 227 | ## 15 480p 60Hz 2x H 1024x768 43Hz DO NOT USE 228 | ## 16 1080p 60Hz 1024x768 60Hz 229 | ## 17 576p 50Hz 1024x768 70Hz 230 | ## 18 576p 50Hz H 1024x768 75Hz 231 | ## 19 720p 50Hz 1024x768 85Hz 232 | ## 20 1080i 50Hz 1024x768 120Hz 233 | ## 21 576i 50Hz 1152x864 75Hz 234 | ## 22 576i 50Hz H 1280x768 reduced blanking 235 | ## 23 288p 50Hz 1280x768 60Hz 236 | ## 24 288p 50Hz H 1280x768 75Hz 237 | ## 25 576i 50Hz 4x 1280x768 85Hz 238 | ## 26 576i 50Hz 4x H 1280x768 120Hz reduced blanking 239 | ## 27 288p 50Hz 4x 1280x800 reduced blanking 240 | ## 28 288p 50Hz 4x H 1280x800 60Hz 241 | ## 29 576p 50Hz 2x 1280x800 75Hz 242 | ## 30 576p 50Hz 2x H 1280x800 85Hz 243 | ## 31 1080p 50Hz 1280x800 120Hz reduced blanking 244 | ## 32 1080p 24Hz 1280x960 60Hz 245 | ## 33 1080p 25Hz 1280x960 85Hz 246 | ## 34 1080p 30Hz 1280x960 120Hz reduced blanking 247 | ## 35 480p 60Hz 4x 1280x1024 60Hz 248 | ## 36 480p 60Hz 4x H 1280x1024 75Hz 249 | ## 37 576p 50Hz 4x 1280x1024 85Hz 250 | ## 38 576p 50Hz 4x H 1280x1024 120Hz reduced blanking 251 | ## 39 1080i 50Hz reduced blanking 1360x768 60Hz 252 | ## 40 1080i 100Hz 1360x768 120Hz reduced blanking 253 | ## 41 720p 100Hz 1400x1050 reduced blanking 254 | ## 42 576p 100Hz 1400x1050 60Hz 255 | ## 43 576p 100Hz H 1400x1050 75Hz 256 | ## 44 576i 100Hz 1400x1050 85Hz 257 | ## 45 576i 100Hz H 1400x1050 120Hz reduced blanking 258 | ## 46 1080i 120Hz 1440x900 reduced blanking 259 | ## 47 720p 120Hz 1440x900 60Hz 260 | ## 48 480p 120Hz 1440x900 75Hz 261 | ## 49 480p 120Hz H 1440x900 85Hz 262 | ## 50 480i 120Hz 1440x900 120Hz reduced blanking 263 | ## 51 480i 120Hz H 1600x1200 60Hz 264 | ## 52 576p 200Hz 1600x1200 65Hz 265 | ## 53 576p 200Hz H 1600x1200 70Hz 266 | ## 54 576i 200Hz 1600x1200 75Hz 267 | ## 55 576i 200Hz H 1600x1200 85Hz 268 | ## 56 480p 240Hz 1600x1200 120Hz reduced blanking 269 | ## 57 480p 240Hz H 1680x1050 reduced blanking 270 | ## 58 480i 240Hz 1680x1050 60Hz 271 | ## 59 480i 240Hz H 1680x1050 75Hz 272 | ## 60 1680x1050 85Hz 273 | ## 61 1680x1050 120Hz reduced blanking 274 | ## 62 1792x1344 60Hz 275 | ## 63 1792x1344 75Hz 276 | ## 64 1792x1344 120Hz reduced blanking 277 | ## 65 1856x1392 60Hz 278 | ## 66 1856x1392 75Hz 279 | ## 67 1856x1392 120Hz reduced blanking 280 | ## 68 1920x1200 reduced blanking 281 | ## 69 1920x1200 60Hz 282 | ## 70 1920x1200 75Hz 283 | ## 71 1920x1200 85Hz 284 | ## 72 1920x1200 120Hz reduced blanking 285 | ## 73 1920x1440 60Hz 286 | ## 74 1920x1440 75Hz 287 | ## 75 1920x1440 120Hz reduced blanking 288 | ## 76 2560x1600 reduced blanking 289 | ## 77 2560x1600 60Hz 290 | ## 78 2560x1600 75Hz 291 | ## 79 2560x1600 85Hz 292 | ## 80 2560x1600 120Hz reduced blanking 293 | ## 81 1366x768 60Hz 294 | ## 82 1080p 60Hz 295 | ## 83 1600x900 reduced blanking 296 | ## 84 2048x1152 reduced blanking 297 | ## 85 720p 60Hz 298 | ## 86 1366x768 reduced blanking 299 | ## 300 | #hdmi_mode=1 301 | 302 | ## config_hdmi_boost 303 | ## configure the signal strength of the HDMI interface. 304 | ## 305 | ## Value Description 306 | ## ------------------------------------------------------------------------- 307 | ## 0 (Default) 308 | ## 1 309 | ## 2 310 | ## 3 311 | ## 4 Try if you have interference issues with HDMI 312 | ## 5 313 | ## 6 314 | ## 7 Maximum 315 | ## 316 | #config_hdmi_boost=0 317 | 318 | ## hdmi_ignore_cec_init 319 | ## Doesn't sent initial active source message. Avoids bringing 320 | ## (CEC enabled) TV out of standby and channel switch when rebooting. 321 | ## 322 | ## Value Description 323 | ## ------------------------------------------------------------------------- 324 | ## 0 Normal behaviour (Default) 325 | ## 1 Doesn't sent initial active source message 326 | ## 327 | #hdmi_ignore_cec_init=1 328 | 329 | ## hdmi_ignore_cec 330 | ## Pretends CEC is not supported at all by TV. 331 | ## No CEC functions will be supported. 332 | ## 333 | ## Value Description 334 | ## ------------------------------------------------------------------------- 335 | ## 0 Normal behaviour (Default) 336 | ## 1 Pretend CEC is not supported by TV 337 | ## 338 | #hdmi_ignore_cec=1 339 | 340 | ################################################################################ 341 | ## Overscan Video Settings 342 | ################################################################################ 343 | 344 | ## Use the following to adjust overscan. Use positive numbers if console 345 | ## goes off screen, and negative if there is too much border 346 | 347 | ## overscan_left 348 | ## Number of pixels to skip on left 349 | ## 350 | #overscan_left=0 351 | 352 | ## overscan_right 353 | ## Number of pixels to skip on right 354 | ## 355 | #overscan_right=0 356 | 357 | ## overscan_top 358 | ## Number of pixels to skip on top 359 | ## 360 | #overscan_top=0 361 | 362 | ## overscan_bottom 363 | ## Number of pixels to skip on bottom 364 | ## 365 | #overscan_bottom=0 366 | 367 | ## disable_overscan 368 | ## Set to 1 to disable overscan 369 | ## Disable overscan if your display has a black border of unused pixels 370 | ## visible and your display can output without overscan 371 | ## 372 | ## Value Description 373 | ## ------------------------------------------------------------------------- 374 | ## 0 Overscan Enabled (Default) 375 | ## 1 Overscan Disabled 376 | ## 377 | #disable_overscan=1 378 | 379 | ################################################################################ 380 | ## Framebuffer Video Settings 381 | ################################################################################ 382 | 383 | ## framebuffer_width 384 | ## Console framebuffer width in pixels. Default is display width minus 385 | ## overscan. 386 | ## 387 | #framebuffer_width=0 388 | 389 | ## framebuffer_height 390 | ## Console framebuffer height in pixels. Default is display height minus 391 | ## overscan. 392 | ## 393 | #framebuffer_height=0 394 | 395 | ## framebuffer_depth 396 | ## Console framebuffer depth in bits per pixel. 397 | ## 398 | ## Value Description 399 | ## ------------------------------------------------------------------------- 400 | ## 8 Valid, but default RGB palette makes an unreadable screen 401 | ## 16 (Default) 402 | ## 24 Looks better but has corruption issues as of 2012/06/15 403 | ## 32 Has no corruption issues but needs framebuffer_ignore_alpha=1 404 | ## and shows the wrong colors as of 2012/06/15 405 | ## 406 | #framebuffer_depth=16 407 | 408 | ## framebuffer_ignore_alpha 409 | ## Set to 1 to disable alpha channel. Helps with 32bit. 410 | ## 411 | ## Value Description 412 | ## ------------------------------------------------------------------------- 413 | ## 0 Enable Alpha Channel (Default) 414 | ## 1 Disable Alpha Channel 415 | ## 416 | #framebuffer_ignore_alpha=0 417 | 418 | ################################################################################ 419 | ## General Video Settings 420 | ################################################################################ 421 | 422 | ## display_rotate 423 | ## Rotate the display clockwise or flip the display. 424 | ## The 90 and 270 degrees rotation options require additional memory on GPU, 425 | ## so won't work with the 16M GPU split. 426 | ## 427 | ## Value Description 428 | ## ------------------------------------------------------------------------- 429 | ## 0 0 degrees (Default) 430 | ## 1 90 degrees 431 | ## 2 180 degrees 432 | ## 3 270 degrees 433 | ## 0x10000 Horizontal flip 434 | ## 0x20000 Vertical flip 435 | ## 436 | #display_rotate=0 437 | 438 | ## dispmanx_offline 439 | ## Set to "1" to enable offline compositing 440 | ## 441 | ## Default 0 442 | ## 443 | #dispmanx_offline=0 444 | 445 | ################################################################################ 446 | ## Licensed Codecs 447 | ## 448 | ## Hardware decoding of additional codecs can be enabled by purchasing a 449 | ## license that is locked to the CPU serial number of your Raspberry Pi. 450 | ## 451 | ## Up to 8 licenses per CODEC can be specified as a comma seperated list. 452 | ## 453 | ################################################################################ 454 | 455 | ## decode_MPG2 456 | ## License key to allow hardware MPEG-2 decoding. 457 | ## 458 | #decode_MPG2=0x12345678 459 | 460 | ## decode_WVC1 461 | ## License key to allow hardware VC-1 decoding. 462 | ## 463 | #decode_WVC1=0x12345678 464 | 465 | ################################################################################ 466 | ## Camera Settings 467 | ################################################################################ 468 | 469 | ## start_x 470 | ## Set to "1" to enable the camera module. 471 | ## 472 | ## Enabling the camera requires gpu_mem option to be specified with a value 473 | ## of at least 128. 474 | ## 475 | ## Default 0 476 | ## 477 | start_x=1 478 | 479 | ## disable_camera_led 480 | ## Turn off the red camera led when recording video or taking a still 481 | ## picture. 482 | ## 483 | ## Value Description 484 | ## ------------------------------------------------------------------------- 485 | ## 0 LED enabled (Default) 486 | ## 1 LED disabled 487 | ## 488 | #disable_camera_led=1 489 | 490 | ################################################################################ 491 | ## Test Settings 492 | ################################################################################ 493 | 494 | ## test_mode 495 | ## Enable test sound/image during boot for manufacturing test. 496 | ## 497 | ## Value Description 498 | ## ------------------------------------------------------------------------- 499 | ## 0 Disable Test Mod (Default) 500 | ## 1 Enable Test Mode 501 | ## 502 | #test_mode=0 503 | 504 | ################################################################################ 505 | ## Memory Settings 506 | ################################################################################ 507 | 508 | ## disable_l2cache 509 | ## Disable arm access to GPU's L2 cache. Needs corresponding L2 disabled 510 | ## kernel. 511 | ## 512 | ## Value Description 513 | ## ------------------------------------------------------------------------- 514 | ## 0 Enable L2 Cache (Default) 515 | ## 1 Disable L2 cache 516 | ## 517 | #disable_l2cache=0 518 | 519 | ## gpu_mem 520 | ## GPU memory allocation in MB for all board revisions. 521 | ## 522 | ## Default 64 523 | ## 524 | gpu_mem=128 525 | 526 | ## gpu_mem_256 527 | ## GPU memory allocation in MB for 256MB board revision. 528 | ## This option overrides gpu_mem. 529 | ## 530 | #gpu_mem_256=192 531 | 532 | ## gpu_mem_512 533 | ## GPU memory allocation in MB for 512MB board revision. 534 | ## This option overrides gpu_mem. 535 | ## 536 | #gpu_mem_512=448 537 | 538 | ## gpu_mem_1024 539 | ## GPU memory allocation in MB for 1024MB board revision. 540 | ## This option overrides gpu_mem. 541 | ## 542 | #gpu_mem_1024=944 543 | 544 | ## disable_pvt 545 | ## Disable adjusting the refresh rate of RAM every 500ms 546 | ## (measuring RAM temparature). 547 | ## 548 | #disable_pvt=1 549 | 550 | ################################################################################ 551 | ## CMA - Dynamic Memory Split 552 | ## 553 | ## CMA enables dynamic management of the ARM and GPU memory split at runtime. 554 | ## 555 | ## The following options need to be in cmdline.txt for CMA to work: 556 | ## coherent_pool=6M smsc95xx.turbo_mode=N 557 | ## 558 | ################################################################################ 559 | 560 | ## cma_lwm 561 | ## When GPU has less than cma_lwm (low water mark) memory available it 562 | ## will request some from ARM. 563 | ## 564 | #cma_lwm=16 565 | 566 | ## cma_hwm 567 | ## When GPU has more than cma_hwm (high water mark) memory available it 568 | ## will release some to ARM. 569 | ## 570 | #cma_hwm=32 571 | 572 | ################################################################################ 573 | ## Boot Option Settings 574 | ################################################################################ 575 | 576 | ## disable_commandline_tags 577 | ## Stop start.elf from filling in ATAGS (memory from 0x100) before 578 | ## launching kernel 579 | ## 580 | #disable_commandline_tags=0 581 | 582 | ## cmdline (string) 583 | ## Command line parameters. Can be used instead of cmdline.txt file 584 | ## 585 | #cmdline="" 586 | 587 | ## kernel (string) 588 | ## Alternative name to use when loading kernel. 589 | ## 590 | #kernel="" 591 | 592 | ## kernel_address 593 | ## Address to load kernel.img file at 594 | ## 595 | #kernel_address=0x00000000 596 | 597 | ## kernel_old 598 | ## Support loading old kernels 599 | ## 600 | ## Value Description 601 | ## ------------------------------------------------------------------------- 602 | ## 0 Disabled (Default) 603 | ## 1 Load kernel at address 0x00000000 604 | ## 605 | #kernel_old=1 606 | 607 | ## ramfsfile (string) 608 | ## ramfs file to load 609 | ## 610 | #ramfsfile="" 611 | 612 | ## ramfsaddr 613 | ## Address to load ramfs file at 614 | ## 615 | #ramfsaddr=0x00000000 616 | 617 | ## initramfs (string address) 618 | ## ramfs file and address to load it at (it's like ramfsfile+ramfsaddr in 619 | ## one option). 620 | ## 621 | ## NOTE: this option uses different syntax than all other options - you 622 | ## should not use "=" character here. 623 | ## 624 | #initramfs initramf.gz 0x00800000 625 | 626 | ## device_tree_address 627 | ## Address to load device_tree at 628 | ## 629 | #device_tree_address=0x00000000 630 | 631 | ## init_uart_baud 632 | ## Initial uart baud rate. 633 | ## 634 | ## Default 115200 635 | ## 636 | ## uart baud must be 38400 as per https://github.com/UbiquityRobotics/ubiquity_motor/issues/154 637 | #init_uart_baud=38400 638 | 639 | ## init_uart_clock 640 | ## Initial uart clock. 641 | ## 642 | ## Default 3000000 (3MHz) 643 | ## 644 | #init_uart_clock=3000000 645 | 646 | ## init_emmc_clock 647 | ## Initial emmc clock, increasing this can speedup your SD-card. 648 | ## 649 | ## Default 100000000 (100mhz) 650 | ## 651 | #init_emmc_clock=100000000 652 | 653 | ## boot_delay 654 | ## Wait for a given number of seconds in start.elf before loading 655 | ## kernel.img. 656 | ## 657 | ## delay = (1000 * boot_delay) + boot_delay_ms 658 | ## 659 | ## Default 1 660 | ## 661 | #boot_delay=2 662 | 663 | ## boot_delay_ms 664 | ## Wait for a given number of milliseconds in start.elf before loading 665 | ## kernel.img. 666 | ## 667 | ## delay = (1000 * boot_delay) + boot_delay_ms 668 | ## 669 | ## Default 0 670 | ## 671 | #boot_delay_ms=0 672 | 673 | ## avoid_safe_mode 674 | ## Adding a jumper between pins 5 & 6 of P1 enables a recovery Safe Mode. 675 | ## If pins 5 & 6 are used for connecting to external devices (e.g. GPIO), 676 | ## then this setting can be used to ensure Safe Mode is not triggered. 677 | ## 678 | ## Value Description 679 | ## ------------------------------------------------------------------------- 680 | ## 0 Respect Safe Mode input (Default) 681 | ## 1 Ignore Safe Mode input 682 | ## 683 | #avoid_safe_mode=1 684 | 685 | ## disable_splash 686 | ## Avoids the rainbow splash screen on boot. 687 | ## 688 | ## Value Description 689 | ## ------------------------------------------------------------------------- 690 | ## 0 Splash screen enabled (Default) 691 | ## 1 Splash screen disabled 692 | ## 693 | #disable_splash=1 694 | 695 | ################################################################################ 696 | ## Overclocking Settings 697 | ## 698 | ## ARM, SDRAM and GPU each have their own PLLs and can have unrelated 699 | ## frequencies. 700 | ## 701 | ## The GPU core, h264, v3d and isp share a PLL, so need to have related 702 | ## frequencies. 703 | ## pll_freq = floor(2400 / (2 * core_freq)) * (2 * core_freq) 704 | ## gpu_freq = pll_freq / [even number] 705 | ## 706 | ## The effective gpu_freq is automatically rounded to nearest even integer, so 707 | ## asking for core_freq = 500 and gpu_freq = 300 will result in divisor of 708 | ## 2000/300 = 6.666 => 6 and so 333.33MHz. 709 | ## 710 | ## 711 | ## Standard Profiles: 712 | ## arm_freq core_freq sdram_freq over_voltage 713 | ## ------------------------------------------------------------------------- 714 | ## None 700 250 400 0 715 | ## Modest 800 300 400 0 716 | ## Medium 900 333 450 2 717 | ## High 950 450 450 6 718 | ## Turbo 1000 500 500 6 719 | ## 720 | ################################################################################ 721 | 722 | ## force_turbo 723 | ## Control the kernel "ondemand" governor. It has no effect if no overclock 724 | ## settings are specified. 725 | ## May set warrany bit. 726 | ## 727 | ## Value Description 728 | ## ------------------------------------------------------------------------- 729 | ## 0 Enable dynamic clocks and voltage for the ARM core, GPU core and 730 | ## SDRAM (Default). 731 | ## Overclocking of h264_freq, v3d_freq and isp_freq is ignored. 732 | ## 1 Disable dynamic clocks and voltage for the ARM core, GPU core 733 | ## and SDRAM. 734 | ## Overclocking of h264_freq, v3d_freq and isp_freq is allowed. 735 | ## 736 | #force_turbo=0 737 | 738 | ## initial_turbo 739 | ## Enables turbo mode from boot for the given value in seconds (up to 60) 740 | ## or until cpufreq sets a frequency. Can help with sdcard corruption if 741 | ## overclocked. 742 | ## 743 | ## Default 0 744 | ## 745 | #initial_turbo=0 746 | 747 | ## temp_limit 748 | ## Overheat protection. Sets clocks and voltages to default when the SoC 749 | ## reaches this Celsius value. 750 | ## Setting this higher than default voids warranty. 751 | ## 752 | ## Default 85 753 | ## 754 | #temp_limit=85 755 | 756 | ## arm_freq 757 | ## Frequency of ARM in MHz. 758 | ## 759 | ## Default 700. 760 | ## 761 | #arm_freq=700 762 | 763 | ## arm_freq_min 764 | ## Minimum frequency of ARM in MHz (used for dynamic clocking). 765 | ## 766 | ## Default 700. 767 | ## 768 | #arm_freq_min=700 769 | 770 | ## gpu_freq 771 | ## Sets core_freq, h264_freq, isp_freq, v3d_freq together. 772 | ## 773 | ## Default 250. 774 | ## 775 | #gpu_freq=250 776 | 777 | ## core_freq 778 | ## Frequency of GPU processor core in MHz. It has an impact on ARM 779 | ## performance since it drives L2 cache. 780 | ## 781 | ## Default 250. 782 | ## 783 | #core_freq=250 784 | 785 | ## core_freq_min 786 | ## Minimum frequency of GPU processor core in MHz (used for dynamic 787 | ## clocking). It has an impact on ARM performance since it drives L2 cache. 788 | ## 789 | ## Default 250. 790 | ## 791 | #core_freq_min=250 792 | 793 | ## h264_freq 794 | ## Frequency of hardware video block in MHz. 795 | ## 796 | ## Default 250. 797 | ## 798 | #h264_freq=250 799 | 800 | ## isp_freq 801 | ## Frequency of image sensor pipeline block in MHz. 802 | ## 803 | ## Default 250. 804 | ## 805 | #isp_freq=250 806 | 807 | ## v3d_freq 808 | ## Frequency of 3D block in MHz. 809 | ## 810 | ## Default 250. 811 | ## 812 | #v3d_freq=250 813 | 814 | ## sdram_freq 815 | ## Frequency of SDRAM in MHz. 816 | ## 817 | ## Default 400. 818 | ## 819 | #sdram_freq=400 820 | 821 | ## sdram_freq_min 822 | ## Minimum frequency of SDRAM in MHz (used for dynamic clocking). 823 | ## 824 | ## Default 400. 825 | ## 826 | #sdram_freq_min=400 827 | 828 | ## avoid_pwm_pll 829 | ## Don't dedicate a pll to PWM audio. This will reduce analogue audio 830 | ## quality slightly. The spare PLL allows the core_freq to be set 831 | ## independently from the rest of the gpu allowing more control over 832 | ## overclocking. 833 | ## 834 | ## Value Description 835 | ## ------------------------------------------------------------------------- 836 | ## 0 Linked core_freq (Default) 837 | ## 1 Unlinked core_freq 838 | ## 839 | #avoid_pwm_pll=1 840 | 841 | ################################################################################ 842 | ## Voltage Settings 843 | ################################################################################ 844 | 845 | ## current_limit_override 846 | ## Disables SMPS current limit protection. Can help if you are currently 847 | ## hitting a reboot failure when overclocking too high. 848 | ## May set warrany bit. 849 | ## 850 | #current_limit_override=0x5A000020 851 | 852 | ## over_voltage 853 | ## ARM/GPU core voltage adjust. 854 | ## May set warrany bit. 855 | ## 856 | ## Value Description 857 | ## ------------------------------------------------------------------------- 858 | ## -16 0.8 V 859 | ## -15 0.825 V 860 | ## -14 0.85 V 861 | ## -13 0.875 V 862 | ## -12 0.9 V 863 | ## -11 0.925 V 864 | ## -10 0.95 V 865 | ## -9 0.975 V 866 | ## -8 1.0 V 867 | ## -7 1.025 V 868 | ## -6 1.05 V 869 | ## -5 1.075 V 870 | ## -4 1.1 V 871 | ## -3 1.125 V 872 | ## -2 1.15 V 873 | ## -1 1.175 V 874 | ## 0 1.2 V (Default) 875 | ## 1 1.225 V 876 | ## 2 1.25 V 877 | ## 3 1.275 V 878 | ## 4 1.3 V 879 | ## 5 1.325 V 880 | ## 6 1.35 V 881 | ## 7 1.375 V (requires force_turbo=1 or current_limit_override) 882 | ## 8 1.4 V (requires force_turbo=1 or current_limit_override) 883 | ## 884 | #over_voltage=0 885 | 886 | ## over_voltage_min 887 | ## Minimum ARM/GPU core voltage adjust (used for dynamic clocking). 888 | ## 889 | ## Value Description 890 | ## ------------------------------------------------------------------------- 891 | ## -16 0.8 V 892 | ## -15 0.825 V 893 | ## -14 0.85 V 894 | ## -13 0.875 V 895 | ## -12 0.9 V 896 | ## -11 0.925 V 897 | ## -10 0.95 V 898 | ## -9 0.975 V 899 | ## -8 1.0 V 900 | ## -7 1.025 V 901 | ## -6 1.05 V 902 | ## -5 1.075 V 903 | ## -4 1.1 V 904 | ## -3 1.125 V 905 | ## -2 1.15 V 906 | ## -1 1.175 V 907 | ## 0 1.2 V (Default) 908 | ## 1 1.225 V 909 | ## 2 1.25 V 910 | ## 3 1.275 V 911 | ## 4 1.3 V 912 | ## 5 1.325 V 913 | ## 6 1.35 V 914 | ## 7 1.375 V (requires force_turbo=1) 915 | ## 8 1.4 V (requires force_turbo=1) 916 | ## 917 | #over_voltage_min=0 918 | 919 | ## over_voltage_sdram 920 | ## Sets over_voltage_sdram_c, over_voltage_sdram_i, over_voltage_sdram_p 921 | ## together 922 | ## 923 | ## Value Description 924 | ## ------------------------------------------------------------------------- 925 | ## -16 0.8 V 926 | ## -15 0.825 V 927 | ## -14 0.85 V 928 | ## -13 0.875 V 929 | ## -12 0.9 V 930 | ## -11 0.925 V 931 | ## -10 0.95 V 932 | ## -9 0.975 V 933 | ## -8 1.0 V 934 | ## -7 1.025 V 935 | ## -6 1.05 V 936 | ## -5 1.075 V 937 | ## -4 1.1 V 938 | ## -3 1.125 V 939 | ## -2 1.15 V 940 | ## -1 1.175 V 941 | ## 0 1.2 V (Default) 942 | ## 1 1.225 V 943 | ## 2 1.25 V 944 | ## 3 1.275 V 945 | ## 4 1.3 V 946 | ## 5 1.325 V 947 | ## 6 1.35 V 948 | ## 7 1.375 V 949 | ## 8 1.4 V 950 | ## 951 | #over_voltage_sdram=0 952 | 953 | ## over_voltage_sdram_c 954 | ## SDRAM controller voltage adjust. 955 | ## 956 | ## Value Description 957 | ## ------------------------------------------------------------------------- 958 | ## -16 0.8 V 959 | ## -15 0.825 V 960 | ## -14 0.85 V 961 | ## -13 0.875 V 962 | ## -12 0.9 V 963 | ## -11 0.925 V 964 | ## -10 0.95 V 965 | ## -9 0.975 V 966 | ## -8 1.0 V 967 | ## -7 1.025 V 968 | ## -6 1.05 V 969 | ## -5 1.075 V 970 | ## -4 1.1 V 971 | ## -3 1.125 V 972 | ## -2 1.15 V 973 | ## -1 1.175 V 974 | ## 0 1.2 V (Default) 975 | ## 1 1.225 V 976 | ## 2 1.25 V 977 | ## 3 1.275 V 978 | ## 4 1.3 V 979 | ## 5 1.325 V 980 | ## 6 1.35 V 981 | ## 7 1.375 V 982 | ## 8 1.4 V 983 | ## 984 | #over_voltage_sdram_c=0 985 | 986 | ## over_voltage_sdram_i 987 | ## SDRAM I/O voltage adjust. 988 | ## 989 | ## Value Description 990 | ## ------------------------------------------------------------------------- 991 | ## -16 0.8 V 992 | ## -15 0.825 V 993 | ## -14 0.85 V 994 | ## -13 0.875 V 995 | ## -12 0.9 V 996 | ## -11 0.925 V 997 | ## -10 0.95 V 998 | ## -9 0.975 V 999 | ## -8 1.0 V 1000 | ## -7 1.025 V 1001 | ## -6 1.05 V 1002 | ## -5 1.075 V 1003 | ## -4 1.1 V 1004 | ## -3 1.125 V 1005 | ## -2 1.15 V 1006 | ## -1 1.175 V 1007 | ## 0 1.2 V (Default) 1008 | ## 1 1.225 V 1009 | ## 2 1.25 V 1010 | ## 3 1.275 V 1011 | ## 4 1.3 V 1012 | ## 5 1.325 V 1013 | ## 6 1.35 V 1014 | ## 7 1.375 V 1015 | ## 8 1.4 V 1016 | ## 1017 | #over_voltage_sdram_i=0 1018 | 1019 | ## over_voltage_sdram_p 1020 | ## SDRAM phy voltage adjust. 1021 | ## 1022 | ## Value Description 1023 | ## ------------------------------------------------------------------------- 1024 | ## -16 0.8 V 1025 | ## -15 0.825 V 1026 | ## -14 0.85 V 1027 | ## -13 0.875 V 1028 | ## -12 0.9 V 1029 | ## -11 0.925 V 1030 | ## -10 0.95 V 1031 | ## -9 0.975 V 1032 | ## -8 1.0 V 1033 | ## -7 1.025 V 1034 | ## -6 1.05 V 1035 | ## -5 1.075 V 1036 | ## -4 1.1 V 1037 | ## -3 1.125 V 1038 | ## -2 1.15 V 1039 | ## -1 1.175 V 1040 | ## 0 1.2 V (Default) 1041 | ## 1 1.225 V 1042 | ## 2 1.25 V 1043 | ## 3 1.275 V 1044 | ## 4 1.3 V 1045 | ## 5 1.325 V 1046 | ## 6 1.35 V 1047 | ## 7 1.375 V 1048 | ## 8 1.4 V 1049 | ## 1050 | #over_voltage_sdram_p=0 1051 | 1052 | ################################################################################ 1053 | ## USB Power 1054 | ################################################################################ 1055 | 1056 | ## max_usb_current 1057 | ## When set to 1, change the output current limit (for all 4 USB 1058 | ## ports combined) from 600mA to double that, 1200mA. 1059 | ## 1060 | ## This option is not available for Model A/B boards. 1061 | ## 1062 | ## Default 0. 1063 | ## 1064 | #max_usb_current=0 1065 | 1066 | ################################################################################ 1067 | ## Base Device Tree Parameters 1068 | ################################################################################ 1069 | 1070 | ## audio 1071 | ## Enable the onboard ALSA audio (loads snd_bcm2835) 1072 | ## 1073 | ## Default off. 1074 | ## 1075 | dtparam=audio=on 1076 | 1077 | ## i2c_arm 1078 | ## Enable the ARM's i2c interface 1079 | ## 1080 | ## Default off. 1081 | ## 1082 | dtparam=i2c_arm=on 1083 | 1084 | ## i2c_vc 1085 | ## Enable the i2c interface 1086 | ## 1087 | ## Usually reserved for the VideoCore processor 1088 | ## 1089 | ## Default off. 1090 | ## 1091 | #dtparam=i2c_vc=off 1092 | 1093 | ## i2c_arm_baudrate 1094 | ## Set the baudrate of the ARM's i2c interface 1095 | ## 1096 | ## Default 100000. 1097 | ## 1098 | #dtparam=i2c_arm_baudrate=100000 1099 | 1100 | ## i2c_vc_baudrate 1101 | ## Set the baudrate of the VideoCore i2c interface 1102 | ## 1103 | ## Default 100000. 1104 | ## 1105 | #dtparam=i2c_vc_baudrate=100000 1106 | 1107 | ## i2s 1108 | ## Set to "on" to enable the i2s interface 1109 | ## 1110 | ## Default off. 1111 | ## 1112 | #dtparam=i2s=off 1113 | 1114 | ## spi 1115 | ## Set to "on" to enable the spi interfaces 1116 | ## 1117 | ## Default off. 1118 | ## 1119 | #dtparam=spi=off 1120 | 1121 | ## random 1122 | ## Set to "on" to enable the hardware random 1123 | ## 1124 | ## Default off. 1125 | ## 1126 | #dtparam=random=off 1127 | 1128 | ## uart0 1129 | ## Set to "off" to disable uart0 1130 | ## 1131 | ## Default on. 1132 | ## 1133 | #dtparam=uart0=on 1134 | 1135 | ## watchdog 1136 | ## Set to "on" to enable the hardware watchdog 1137 | ## 1138 | ## Default off. 1139 | ## 1140 | #dtparam=watchdog=off 1141 | 1142 | ## act_led_trigger 1143 | ## Choose which activity the LED tracks. 1144 | ## 1145 | ## Use "heartbeat" for a nice load indicator. 1146 | ## 1147 | ## Default mmc. 1148 | ## 1149 | #dtparam=act_led_trigger=mmc 1150 | 1151 | ## act_led_activelow 1152 | ## Set to "on" to invert the sense of the LED 1153 | ## 1154 | ## Default off. 1155 | ## 1156 | #dtparam=act_led_activelow=off 1157 | 1158 | ## act_led_gpio 1159 | ## Set which GPIO to use for the activity LED 1160 | ## 1161 | ## In case you want to connect it to an external device 1162 | ## 1163 | ## Default 16 on a non-Plus board, 47 on a Plus or Pi 2. 1164 | ## 1165 | #dtparam=act_led_gpio=47 1166 | 1167 | ## pwr_led_trigger 1168 | ## Choose which activity the LED tracks. 1169 | ## 1170 | ## Use "heartbeat" for a nice load indicator. 1171 | ## 1172 | ## Not available on Model A/B boards. 1173 | ## 1174 | ## Default mmc. 1175 | ## 1176 | #dtparam=pwr_led_trigger=mmc 1177 | 1178 | ## pwr_led_activelow 1179 | ## Set to "on" to invert the sense of the LED 1180 | ## 1181 | ## Not available on Model A/B boards. 1182 | ## 1183 | ## Default off. 1184 | ## 1185 | #dtparam=pwr_led_activelow=off 1186 | 1187 | ## pwr_led_gpio 1188 | ## Set which GPIO to use for the PWR LED 1189 | ## 1190 | ## In case you want to connect it to an external device 1191 | ## 1192 | ## Not available on Model A/B boards. 1193 | ## 1194 | ## Default 35. 1195 | ## 1196 | #dtparam=pwr_led_gpio=35 1197 | 1198 | # Uncomment this to enable the lirc-rpi module 1199 | #dtoverlay=lirc-rpi 1200 | 1201 | # disable rainbow splash screen for faster booting 1202 | disable_splash=1 1203 | 1204 | # Uncomment this to enable the lirc-rpi module dtoverlay=lirc-rpi Additional overlays and parameters are documented 1205 | # /boot/overlays/README Allow UART and Bluetooth at the same time 1206 | # https://github.com/UbiquityRobotics/ubiquity_main/issues/126#issuecomment-429993821 1207 | dtoverlay=disable-bt 1208 | dtoverlay=uart2 1209 | #enable_uart=1 1210 | 1211 | dtoverlay=i2c-gpio,i2c_gpio_sda=2,i2c_gpio_scl=3,bus=1 core_freq=250 1212 | #dtoverlay=i2c-rtc,mcp7940x 1213 | #dtoverlay=ubiquity-led-buttons 1214 | 1215 | # Disable the PWR LED 1216 | dtparam=pwr_led_trigger=none 1217 | dtparam=pwr_led_activelow=off 1218 | 1219 | # Disable the Activity LED 1220 | dtparam=act_led_trigger=none 1221 | dtparam=act_led_activelow=off 1222 | 1223 | # Disable ethernet port LEDs 1224 | dtparam=eth_led0=4 1225 | dtparam=eth_led1=4 1226 | -------------------------------------------------------------------------------- /tuna_bringup/config_scripts/env.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | ip=$(hostname -I | cut --delimiter " " --fields 1) 4 | 5 | while [ -z $ip ] 6 | do 7 | sleep 1 8 | ip=$(hostname -I | cut --delimiter " " --fields 1) 9 | done 10 | 11 | #export ROS_IP=192.168.1.14 12 | #export ROS_HOSTNAME=$(hostname).local 13 | #export ROS_MASTER_URI=http://$ROS_HOSTNAME:11311 14 | 15 | export ROS_IP="$(echo $ip | xargs)" 16 | export ROS_HOSTNAME=$ROS_IP 17 | export ROS_MASTER_URI=http://$ROS_HOSTNAME:11311 18 | -------------------------------------------------------------------------------- /tuna_bringup/config_scripts/magni-base: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | function log() { 4 | logger -s -p user.$1 ${@:2} 5 | } 6 | 7 | log info "magni-base: Using workspace setup file /home/ubuntu/catkin_ws/devel/setup.bash" 8 | source /home/ubuntu/catkin_ws/devel/setup.bash 9 | 10 | log_path="/tmp" 11 | if [[ ! -d $log_path ]]; then 12 | CREATED_LOGDIR=true 13 | trap 'CREATED_LOGDIR=false' ERR 14 | log warn "magni-base: The log directory you specified \"$log_path\" does not exist. Attempting to create." 15 | mkdir -p $log_path 2>/dev/null 16 | chown ubuntu:ubuntu $log_path 2>/dev/null 17 | chmod ug+wr $log_path 2>/dev/null 18 | trap - ERR 19 | # if log_path could not be created, default to tmp 20 | if [[ $CREATED_LOGDIR == false ]]; then 21 | log warn "magni-base: The log directory you specified \"$log_path\" cannot be created. Defaulting to \"/tmp\"!" 22 | log_path="/tmp" 23 | fi 24 | fi 25 | 26 | # GNSS SETUP 27 | stty -F /dev/ttyAMA0 9600 raw 28 | 29 | #Set RATE to 5Hz 30 | echo -e -n '\xB5\x62\x06\x08\x06\x00\xC8\x00\x01\x00\x01\x00\xDE\x6A\xB5\x62\x06\x08\x00\x00\x0E\x30' >> /dev/ttyAMA0 31 | 32 | #Set BAUD to 57600 33 | echo -e -n '\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\xE1\x00\x00\x07\x00\x03\x00\x00\x00\x00\x00\xCE\xC9\xB5\x62\x06\x00\x00\x00\x06\x18' >> /dev/ttyAMA0 34 | 35 | stty -F /dev/ttyAMA0 57600 raw 36 | 37 | 38 | # disable hdmi (saves 30mA) 39 | sudo /opt/vc/bin/tvservice -o 40 | 41 | # disable usb controller (saves 100mA) 42 | echo '1-1' |sudo tee /sys/bus/usb/drivers/usb/unbind 43 | 44 | source /etc/ubiquity/env.sh 45 | log info "magni-base: Launching ROS_HOSTNAME=$ROS_HOSTNAME, ROS_IP=$ROS_IP, ROS_MASTER_URI=$ROS_MASTER_URI, ROS_LOG_DIR=$log_path" 46 | rosclean purge -y 47 | 48 | # Punch it. 49 | export ROS_HOME=$(echo ~ubuntu)/.ros 50 | export ROS_LOG_DIR=$log_path 51 | roslaunch --wait -v tuna_bringup core.launch 52 | PID=$! 53 | 54 | log info "magni-base: Started roslaunch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR" 55 | echo "$PID" > $log_path/magni-base.pid 56 | wait "$PID" 57 | -------------------------------------------------------------------------------- /tuna_bringup/config_scripts/ros_setup.bash: -------------------------------------------------------------------------------- 1 | source /opt/ros/noetic/setup.bash 2 | source /home/ubuntu/iris_lama_ws/devel/setup.bash 3 | source /home/ubuntu/catkin_ws/devel/setup.bash 4 | source /etc/ubiquity/env.sh 5 | -------------------------------------------------------------------------------- /tuna_bringup/config_scripts/ros_setup.sh: -------------------------------------------------------------------------------- 1 | ./opt/ros/noetic/setup.sh 2 | ./home/ubuntu/iris_lama_ws/devel/setup.sh 3 | ./home/ubuntu/catkin_ws/devel/setup.sh 4 | ./etc/ubiquity/env.sh 5 | -------------------------------------------------------------------------------- /tuna_bringup/config_scripts/roscore: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | source /opt/ros/noetic/setup.sh 4 | source /etc/ubiquity/env.sh 5 | 6 | while ! ping -c 1 -n -w 1 "$ROS_IP" &> /dev/null 7 | do 8 | sleep 1 9 | done 10 | 11 | roscore -v & 12 | 13 | while ! echo exit | nc localhost 11311 > /dev/null 14 | do 15 | sleep 1 16 | done 17 | -------------------------------------------------------------------------------- /tuna_bringup/config_scripts/roscore.service: -------------------------------------------------------------------------------- 1 | [Unit] 2 | After=NetworkManager.service time-sync.target 3 | [Service] 4 | Type=forking 5 | User=ubuntu 6 | ExecStart=/usr/sbin/roscore 7 | [Install] 8 | WantedBy=multi-user.target 9 | -------------------------------------------------------------------------------- /tuna_bringup/launch/core.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /tuna_bringup/launch/gnss.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /tuna_bringup/launch/imu.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /tuna_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | tuna_bringup 3 | 0.1.0 4 | Karl launch nodes. 5 | 6 | Vid Rijavec 7 | 8 | Vid Rijavec 9 | 10 | MIT 11 | 12 | catkin 13 | 14 | std_msgs 15 | sensor_msgs 16 | 17 | message_generation 18 | message_runtime 19 | 20 | message_runtime 21 | rospy 22 | 23 | 24 | -------------------------------------------------------------------------------- /tuna_bringup/param/hyb_slam2d.yaml: -------------------------------------------------------------------------------- 1 | # LaMa - A Localization and Mapping library. 2 | # 3 | # Hybrid Particle Filter SLAM 4 | # Gridd + Landmarks 5 | # 6 | 7 | # The global frame 8 | global_frame_id: "map" 9 | # The odometry frame 10 | odom_frame_id: "odom" 11 | # The frame of the robot 12 | base_frame_id: "base_link" 13 | 14 | # Topics 15 | detection_topic: "fiducial_transforms" 16 | scan_topic: "scan_filtered" 17 | gnss_topic: "gnss/fix" 18 | 19 | # How many seconds ahead of time is the pose transformation published. 20 | transform_tolerance: 0.1 21 | 22 | # Time period (in seconds) between each time the map is published. 23 | map_publish_period: 5 24 | 25 | # You can define an initial pose 26 | # x-coordinate (meter) 27 | initial_pos_x: 0.0 28 | # y-coordinate (meter) 29 | initial_pos_y: 0.0 30 | # angular orientation (radians) 31 | initial_pos_a: 0.0 32 | 33 | # The user can trigger a map reset, which will delete the current map and start 34 | # anew. However, the current pose of the robot will remain unchanged, unless 35 | # you set this parameter to `true. If that is the case, the pose of the robot 36 | # will bet set to the initial pose. 37 | reset_initial_pose: true 38 | 39 | # Number of particles 40 | # 41 | # Increasing the number of particles increases the changes of having a better 42 | # map. But as the number of particles grow, so does the computational 43 | # requirements. 44 | # 45 | # However, the number of particles in our particle filter is not fixed. 46 | # Depending on how spread the particles are, then number can increase or 47 | # decrease. Therefore, you can set a minimum and a maximum number of particles. 48 | # 49 | 50 | # minumum number of particles 51 | particles: 10 52 | # maximum number of particles 53 | max_particles: 15 54 | 55 | # use gnss injection, useful when using a low number of particle 56 | gnss_injection: true 57 | # how likely a gnss particle will be injected (0.01 is 1%) 58 | gnss_injection_prob: 0.99 59 | 60 | # keep a history of the particle poses. 61 | # if set to true, a path will be available at the topic `/path` 62 | keep_pose_history: false 63 | 64 | # Likelihood gain 65 | # 66 | # The gain reduces or increases the difference between the weight of each 67 | # particle. Becase the number of detected landmarks is usually low, we use the 68 | # gain to amplify the difference between particles. 69 | lgain: 2.0 70 | 71 | # Do a compatibility test between the measurement and the associated landmarks. 72 | # 73 | # An incompatible measurement will not be updated but its weight will be added 74 | # to the particle weight. The objective is to penalize particles far from the 75 | # true location. 76 | ctest: true 77 | 78 | # A measurement must have a score greater than this value, otherwise it is discarded. 79 | # This prevents bad detections from being integrated. 80 | min_score: 0.5 81 | 82 | # Sampling variance factors: srr, stt, srt, str 83 | # 84 | # These factors are use to calculate the error variances from the robot motion. 85 | # The translation and rotation variances are proportional to the magnitude of 86 | # the relative translation and relative rotation between updates. 87 | # 88 | # For robotic systems with bad odometry, high values should be used. 89 | # 90 | # How much the rotation affects the rotation 91 | srr: 0.2 92 | # How much the translation affects the translation 93 | stt: 0.4 94 | # How much the rotation affect the tranlation 95 | srt: 0.2 96 | # How much the translation affects the rotation 97 | str: 0.2 98 | 99 | # Landmark sigma scaling factor: srr, sst, ssa 100 | # 101 | # These factor are use to calculate the landmark detection covaraince. The 102 | # covariance is calculated in sherical coordinates (physics version) and then 103 | # converted to Cartesian, hence, these sigma scales appy to the spherical 104 | # components of the detection. The variances are proportional to the value of 105 | # each component. 106 | # 107 | # Factor fo rho (or range) 108 | ssr: 0.1 109 | # Factor for theta 110 | sst: 0.2 111 | # Factor for azimute 112 | ssa: 0.2 113 | 114 | # Number of working threads 115 | # 116 | # The mapping processes are independent for each particle. We take advantage of 117 | # this property to parallelize their execution. Note that doubling the number 118 | # of threads may not correspond to 2x speedup, weight normalization and 119 | # sampling are executed sequentially. 120 | threads: 4 121 | 122 | # displacement threshold: The SLAM process will only update new measurements if 123 | # the robot has moved at least this many meters. 124 | # 125 | # It is recommended to use a small number here, specially if your odometry is 126 | # not to be trusted. Odometry error is cumulative, hence the more displacement 127 | # you accumulate, the higher is the error that has to be corrected. 128 | # 129 | # Remember that a smaller number also implies a higher number of updates, 130 | # therefore, you have to take into consideration how long it takes to execute a 131 | # single update step. Our slam solution is fast, and usually a small value if 132 | # recommended. 133 | d_thresh: 0.1 134 | 135 | # angular threshold: The SLAM process will only update new measurement if 136 | # the robot has turned at least this many radians. 137 | # 138 | # Read the recommendations in `d_thresh`, they apply to this parameter. 139 | a_thresh: 0.1 140 | 141 | # Optimization strategy used by the scan matching process. 142 | # The supported stategies are: 143 | # * gn Gauss-Newton method, simple and fast: assumes monotonic cost decrease 144 | # * lm Levenberg-Marquardt method, more elaborated: may require more iterations. 145 | # 146 | # Using `gn` is a good choice. 147 | strategy: "gn" 148 | 149 | # Maximum number of iterations the optimization algorithm is allowed to 150 | # execute. 151 | max_iterations: 10 152 | 153 | # Maximum L2 (i.e. Euclidean) distance, in meters, calculated by the distance 154 | # map used for scan matching. 155 | # 156 | # Each time the occupancy map is updated, a distance map is also updated that 157 | # contains the distance of a cell to the closest occupied cell. This is done 158 | # efficiently by a dynamic distance map that tracks the changes in the 159 | # occupancy map and updates accordingly. Nonetheless, this can be an expensive 160 | # tasks if the number of changes in the occupancy grid is high and the maximum 161 | # L2 distance is also high. A high number of changes usually happen when 162 | # unknown parts of the map become known, and in SLAM this happens frequently. 163 | # 164 | # A low value makes the update step go faster, but if the value is to low the 165 | # scan matching may loose "attraction" to the "walls". A value of 0.5 meters 166 | # was found to provide good results. 167 | l2_max: 0.5 168 | 169 | # Maximum range (in meters) that a laser beam/ray can have for it to be 170 | # accepted. Any beam with a value equal or higher than this will be discarded. 171 | # 172 | # Note that the lower the range of a beam the faster the update with said beam. 173 | mrange: 80 174 | 175 | # Number of beams/rays to skip in each scan 176 | # 177 | # Useful for when you want to reduce the number of beams used in the SLAM 178 | # process. Increasing this value will result in a faster update without 179 | # necessarily losing accuracy. 180 | beam_step: 5 181 | 182 | # Size (in meters) of a truncated range. A value equal to zero means no 183 | # truncation. 184 | # 185 | # Instead of discarding beams with a high range value you can truncate it to 186 | # this value. A truncated range will not not mark any cell as occupied but it 187 | # will mark free cells along its truncated range. 188 | truncate_range: 0.0 189 | 190 | # Truncation value in meters. A value equal to zero means no truncation. 191 | # 192 | # Similar to `truncate_range`, but instead of truncating the beam before it 193 | # reaches the endpoint, it reverses the direction and truncates the beam before 194 | # reaching the origin. In practice, it will have a new origin point that 195 | # respects this truncate value. 196 | truncate: 0.0 197 | 198 | # Resolution (in meters) of the occupancy and distance grid maps. 199 | # 200 | # A higher resolution may increase the SLAM accuracy. But you should not use a 201 | # resolution that is higher that your laser' resolution. 202 | # 203 | # Remember that a higher resolution increases the overall computational 204 | # requirements. More resolution means more cells to update. 205 | resolution: 0.05 206 | 207 | # The size of a squared patch in number of cells per edge. 208 | # 209 | # The grid maps used by the SLAM process grow dynamically in size. Cells are 210 | # allocated in memory only when needed. For efficiency reasons, cells are not 211 | # allocated individually but in patches (or chunks). This value defines how 212 | # many many cells are allocated per patch. For example, for a value of 32, 213 | # enough memory is allocated to hold 32*32 cells. 214 | # 215 | # A low value results in a lower amount of allocated memory, but may result in 216 | # additional memory allocation overhead if the mapping area is large. For a 217 | # high number you have the reverse effect, low memory allocation overhead but 218 | # higher amount of allocated memory. 219 | # 220 | # For more information see: 221 | # Pedrosa et al. 2018. “A Sparse-Dense Approach for Efficient Grid Mapping.” 222 | patch_size: 32 223 | 224 | # Use lossless data compression to reduce the data hold by a patch. 225 | # 226 | # All patches will have their data compressed, except the most recently used 227 | # patched. The most recently used patched are kept uncompressed in a cache 228 | # with an LRU cache eviction strategy. 229 | # 230 | # Compression and decompression (obviously) introduce a computational overhead 231 | # to the SLAM process. However, the employed lossless algorithms are fast which 232 | # in conjuction with the cache mechanism makes this online data compression a 233 | # viable feature. 234 | use_compression: false 235 | 236 | # The size of the cache as in the number of patches it holds. 237 | # 238 | # If you set this value to low, you will notice a severe impact in the time it 239 | # takes to compute an update. Also, this value may need to change if you change the 240 | # `patch_size`. 241 | cache_size: 100 242 | 243 | # Lossless data compression algorithm used to compressed patches data. 244 | # 245 | # The supported algorithms are: 246 | # * lz4 faster compression/decompression, ratio ~ 1.75 247 | # * zstd fast compression/decompression, ratio ~ 2.5 248 | # 249 | # Usually, zstd is a good choice, it has a higher compression ratio with 250 | # reasonable speeds. 251 | compression_algorithm: "lz4" 252 | 253 | -------------------------------------------------------------------------------- /tuna_bringup/param/imu_calib.yaml: -------------------------------------------------------------------------------- 1 | SM: 2 | - 0.006233600027825646 3 | - -0.02322348961893811 4 | - -0.1149554555823807 5 | - -0.159958751734454 6 | - -0.5829640259971433 7 | - 0.05255226641545713 8 | - -0.04874668848326988 9 | - 0.04796148206690259 10 | - 0.5704982147739177 11 | bias: 12 | - 0.0001902343668135292 13 | - -0.004881553470972556 14 | - -0.001487630803464606 -------------------------------------------------------------------------------- /tuna_bringup/param/new_calib.yaml: -------------------------------------------------------------------------------- 1 | SM: 2 | - -7.500594817563565e-05 3 | - 0.001440205198329968 4 | - 0.0005316199410696564 5 | - -0.06192591826929801 6 | - -1.134322863598963 7 | - 0.1755222090601962 8 | - -0.1826766534850251 9 | - 0.07168940080625942 10 | - 0.9052431864446722 11 | bias: 12 | - -0.01300983995119539 13 | - 10.41199288779398 14 | - -0.4031587170056536 -------------------------------------------------------------------------------- /tuna_bringup/scripts/ublox.txt: -------------------------------------------------------------------------------- 1 | MON-VER - 0A 04 64 00 32 2E 30 31 20 28 37 35 33 33 31 29 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 30 30 38 30 30 30 30 00 00 50 52 4F 54 56 45 52 20 31 35 2E 30 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 47 50 53 3B 53 42 41 53 3B 47 4C 4F 3B 42 44 53 3B 51 5A 53 53 00 00 00 00 00 00 00 00 00 2 | CFG-ANT - 06 13 04 00 1B 00 F0 FD 3 | CFG-DAT - 06 06 02 00 00 00 4 | CFG-GNSS - 06 3E 2C 00 00 20 20 05 00 08 10 00 01 00 01 01 01 01 03 00 01 00 01 01 03 08 10 00 00 00 01 01 05 00 03 00 01 00 01 01 06 08 0E 00 01 00 01 01 5 | CFG-INF - 06 02 0A 00 00 00 00 00 00 00 00 00 00 00 6 | CFG-INF - 06 02 0A 00 01 00 00 00 87 87 87 87 87 87 7 | CFG-INF - 06 02 0A 00 03 00 00 00 00 00 00 00 00 00 8 | CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00 9 | CFG-LOGFILTER - 06 47 0C 00 01 00 00 00 00 00 00 00 00 00 00 00 10 | CFG-MSG - 06 01 08 00 0B 30 00 00 00 00 00 00 11 | CFG-MSG - 06 01 08 00 0B 33 00 00 00 00 00 00 12 | CFG-MSG - 06 01 08 00 0B 31 00 00 00 00 00 00 13 | CFG-MSG - 06 01 08 00 0B 01 00 00 00 00 00 00 14 | CFG-MSG - 06 01 08 00 21 08 00 00 00 00 00 00 15 | CFG-MSG - 06 01 08 00 0A 0B 00 00 00 00 00 00 16 | CFG-MSG - 06 01 08 00 0A 09 00 00 00 00 00 00 17 | CFG-MSG - 06 01 08 00 0A 02 00 00 00 00 00 00 18 | CFG-MSG - 06 01 08 00 0A 06 00 00 00 00 00 00 19 | CFG-MSG - 06 01 08 00 0A 07 00 00 00 00 00 00 20 | CFG-MSG - 06 01 08 00 0A 21 00 00 00 00 00 00 21 | CFG-MSG - 06 01 08 00 0A 08 00 00 00 00 00 00 22 | CFG-MSG - 06 01 08 00 01 60 00 00 00 00 00 00 23 | CFG-MSG - 06 01 08 00 01 22 00 00 00 00 00 00 24 | CFG-MSG - 06 01 08 00 01 36 00 00 00 00 00 00 25 | CFG-MSG - 06 01 08 00 01 31 00 00 00 00 00 00 26 | CFG-MSG - 06 01 08 00 01 04 00 00 00 00 00 00 27 | CFG-MSG - 06 01 08 00 01 09 00 00 00 00 00 00 28 | CFG-MSG - 06 01 08 00 01 34 00 00 00 00 00 00 29 | CFG-MSG - 06 01 08 00 01 01 00 00 00 00 00 00 30 | CFG-MSG - 06 01 08 00 01 02 00 00 00 00 00 00 31 | CFG-MSG - 06 01 08 00 01 07 00 00 00 00 00 00 32 | CFG-MSG - 06 01 08 00 01 35 00 00 00 00 00 00 33 | CFG-MSG - 06 01 08 00 01 32 00 00 00 00 00 00 34 | CFG-MSG - 06 01 08 00 01 06 00 00 00 00 00 00 35 | CFG-MSG - 06 01 08 00 01 03 00 00 00 00 00 00 36 | CFG-MSG - 06 01 08 00 01 30 00 00 00 00 00 00 37 | CFG-MSG - 06 01 08 00 01 20 00 00 00 00 00 00 38 | CFG-MSG - 06 01 08 00 01 21 00 00 00 00 00 00 39 | CFG-MSG - 06 01 08 00 01 11 00 00 00 00 00 00 40 | CFG-MSG - 06 01 08 00 01 12 00 00 00 00 00 00 41 | CFG-MSG - 06 01 08 00 02 14 00 00 00 00 00 00 42 | CFG-MSG - 06 01 08 00 02 20 00 00 00 00 00 00 43 | CFG-MSG - 06 01 08 00 0D 03 00 00 00 00 00 00 44 | CFG-MSG - 06 01 08 00 0D 01 00 00 00 00 00 00 45 | CFG-MSG - 06 01 08 00 0D 06 00 00 00 00 00 00 46 | CFG-MSG - 06 01 08 00 F0 00 01 01 01 01 01 01 47 | CFG-MSG - 06 01 08 00 F0 01 01 01 01 01 01 01 48 | CFG-MSG - 06 01 08 00 F0 02 01 01 01 01 01 01 49 | CFG-MSG - 06 01 08 00 F0 03 01 01 01 01 01 01 50 | CFG-MSG - 06 01 08 00 F0 04 01 01 01 01 01 01 51 | CFG-MSG - 06 01 08 00 F0 05 01 01 01 01 01 01 52 | CFG-MSG - 06 01 08 00 F0 06 00 00 00 00 00 00 53 | CFG-MSG - 06 01 08 00 F0 07 00 00 00 00 00 00 54 | CFG-MSG - 06 01 08 00 F0 08 00 00 00 00 00 00 55 | CFG-MSG - 06 01 08 00 F0 09 00 00 00 00 00 00 56 | CFG-MSG - 06 01 08 00 F0 0A 00 00 00 00 00 00 57 | CFG-MSG - 06 01 08 00 F0 0D 00 00 00 00 00 00 58 | CFG-MSG - 06 01 08 00 F0 0E 00 00 00 00 00 00 59 | CFG-MSG - 06 01 08 00 F0 0F 00 00 00 00 00 00 60 | CFG-MSG - 06 01 08 00 F1 00 00 00 00 00 00 00 61 | CFG-MSG - 06 01 08 00 F1 03 00 00 00 00 00 00 62 | CFG-MSG - 06 01 08 00 F1 04 00 00 00 00 00 00 63 | CFG-NAV5 - 06 24 24 00 FF FF 05 03 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 00 3C 00 00 00 00 C8 00 00 00 00 00 00 00 64 | CFG-NAVX5 - 06 23 28 00 00 00 FF FF 5F 00 00 00 03 02 03 14 06 00 00 01 00 00 DC 06 00 00 00 00 01 01 00 00 00 64 64 00 00 01 10 00 00 00 00 00 65 | CFG-NMEA - 06 17 14 00 00 40 00 02 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 66 | CFG-ODO - 06 1E 14 00 00 00 00 00 00 00 00 00 19 46 19 66 0A 32 00 00 99 4C 00 00 67 | CFG-PM2 - 06 3B 2C 00 01 06 00 00 00 90 02 00 E8 03 00 00 10 27 00 00 00 00 00 00 00 00 00 00 2C 01 00 00 4F C1 03 00 86 02 00 00 FE 00 00 00 64 40 01 00 68 | 69 | CFG-PRT - 06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 07 00 03 00 00 00 00 00 70 | CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 E1 00 00 07 00 03 00 00 00 00 00 71 | CFG-PRT - 06 00 14 00 02 00 00 00 C0 38 00 00 00 00 00 00 00 00 00 00 00 00 00 00 72 | CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 07 00 03 00 00 00 00 00 73 | CFG-PRT - 06 00 14 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 74 | 75 | CFG-RATE - 06 08 06 00 C8 00 01 00 01 00 76 | 77 | CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00 78 | CFG-RXM - 06 11 02 00 08 00 79 | CFG-SBAS - 06 16 08 00 01 03 03 00 51 A2 06 00 80 | CFG-TP5 - 06 31 20 00 00 00 00 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 77 00 00 00 81 | CFG-TP5 - 06 31 20 00 01 00 00 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 7E 00 00 00 82 | CFG-USB - 06 1B 6C 00 46 15 A8 01 00 00 00 00 64 00 22 01 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 47 4E 53 53 20 72 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 83 | 84 | 85 | https://portal.u-blox.com/s/question/0D52p00008HKCh8CAH/ublox-8-configuration-using-hex-commands 86 | 87 | CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 E1 00 00 07 00 03 00 00 00 00 00 88 | 89 | echo -e -n '\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\xE1\x00\x00\x07\x00\x03\x00\x00\x00\x00\x00\xCE\xC9' >> /dev/ttyAMA0 90 | 91 | echo -e -n '\xB5\x62 \x06\x08\x06\x00\xC8\x00\x01\x00\x01\x00\xDE\x6A \xB5\x62 \x06\x08\x00\x00 \x0E\x30' >> /dev/ttyAMA0 -------------------------------------------------------------------------------- /tuna_bringup/scripts/ubxgen.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | # 3 | # ubx packet generator 4 | # 5 | # v0.1 6 | # 7 | # Wilfried Klaebe 8 | # 9 | # Usage: 10 | # 11 | # ubxgen.py 06 13 04 00 01 00 00 00 > packet.ubx 12 | # 13 | # prepends 0xb5 0x62 header, 14 | # appends checksum, 15 | # outputs binary packet to stdout 16 | # 17 | # you can send the packet to GPS chip like this: 18 | # 19 | # cat packet.ubx > /dev/ttySAC1 20 | 21 | import sys 22 | import binascii 23 | 24 | cs0=0 25 | cs1=0 26 | 27 | print("\\xb5\\x62") 28 | 29 | for d in sys.argv[1:]: 30 | c = binascii.unhexlify(d) 31 | print(c) 32 | cs0 += ord(c) 33 | cs0 &= 255 34 | cs1 += cs0 35 | cs1 &= 255 36 | 37 | print(bytes([cs0,cs1]).hex()) -------------------------------------------------------------------------------- /tuna_bringup/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | from catkin_pkg.python_setup import generate_distutils_setup 3 | 4 | # fetch values from package.xml 5 | setup_args = generate_distutils_setup( 6 | packages=['tuna_bringup'], 7 | package_dir={'': 'nodes'}, 8 | requires=['std_msgs', 'rospy'] 9 | ) 10 | 11 | setup(**setup_args) 12 | -------------------------------------------------------------------------------- /tuna_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tuna_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | message_generation 8 | std_msgs 9 | ) 10 | 11 | catkin_python_setup() 12 | 13 | generate_messages(DEPENDENCIES std_msgs) 14 | 15 | catkin_package( 16 | CATKIN_DEPENDS std_msgs message_runtime 17 | ) 18 | -------------------------------------------------------------------------------- /tuna_description/img/NodeGraph.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MoffKalast/tuna/16065bacc6a904e335cc2f3c4ec2dc8696b63499/tuna_description/img/NodeGraph.png -------------------------------------------------------------------------------- /tuna_description/img/TunaElectric.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MoffKalast/tuna/16065bacc6a904e335cc2f3c4ec2dc8696b63499/tuna_description/img/TunaElectric.png -------------------------------------------------------------------------------- /tuna_description/img/TunaElectric.xml: -------------------------------------------------------------------------------- 1 | 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-------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import numpy as np 4 | import rospy 5 | import time 6 | import math 7 | import tf 8 | import random 9 | 10 | from std_msgs.msg import String, Bool 11 | from nav_msgs.msg import Odometry 12 | from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3, TransformStamped 13 | from sensor_msgs.msg import Imu, MagneticField, JointState 14 | 15 | import tf2_ros 16 | import tf2_geometry_msgs 17 | 18 | RATE = 20.0 19 | CALIB_FACTOR = 1.55 20 | 21 | def transform_quat(orientation, tf_buffer, from_frame, to_frame): 22 | pose_stamped = tf2_geometry_msgs.PoseStamped() 23 | pose_stamped.pose.orientation = orientation 24 | pose_stamped.header.frame_id = from_frame 25 | pose_stamped.header.stamp = rospy.Time.now() 26 | 27 | try: 28 | # ** It is important to wait for the listener to start listening. Hence the rospy.Duration(1) 29 | output_pose_stamped = tf_buffer.transform(pose_stamped, to_frame, rospy.Duration(0.1)) 30 | return output_pose_stamped.pose 31 | 32 | except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): 33 | raise 34 | 35 | class State: 36 | def __init__(self): 37 | rospy.init_node('odometry_publisher') 38 | 39 | self.odom_tf = tf.TransformBroadcaster() 40 | 41 | self.tf_buffer = tf2_ros.Buffer() 42 | self.listener = tf2_ros.TransformListener(self.tf_buffer) 43 | 44 | self.diff_drive_sub = rospy.Subscriber("/diff_drive", JointState, self.diff_drive_data) 45 | self.imu_sub = rospy.Subscriber("/imu/data", Imu, self.imu_data) 46 | 47 | self.odom_pub = rospy.Publisher("/odometry/propeller", Odometry, queue_size=5) 48 | self.joint_pub = rospy.Publisher("/joint_states", JointState, queue_size=1) 49 | 50 | self.x = 0 51 | self.y = 0 52 | self.angle = 0 53 | 54 | self.speed = 0 55 | 56 | self.cmd_linear_speed = 0 57 | self.cmd_prop_left = 0.0 58 | self.cmd_prop_right = 0.0 59 | 60 | self.prop_left = 0.0 61 | self.prop_right = 0.0 62 | 63 | self.rotation = (0.0, 0.0, 0.0, 1.0) 64 | self.imu_angle = 0 65 | 66 | def imu_data(self, msg): 67 | quat = transform_quat(msg.orientation, self.tf_buffer, "imu_link", "base_link").orientation 68 | self.rotation = (quat.x, quat.y, quat.z, quat.w) 69 | 70 | angles = tf.transformations.euler_from_quaternion(self.rotation) 71 | self.imu_angle = angles[2] 72 | 73 | def diff_drive_data(self, msg): 74 | if math.isnan(msg.velocity[0]) or math.isnan(msg.velocity[1]): 75 | rospy.logfatal("Warning: NaN value detected in diff_drive_data: v0=%s, v1=%s", msg.velocity[0], msg.velocity[1]) 76 | else: 77 | self.cmd_linear_speed = (msg.velocity[0] + msg.velocity[1]) * 0.5 * CALIB_FACTOR 78 | self.cmd_prop_left = msg.velocity[0] 79 | self.cmd_prop_right = msg.velocity[1] 80 | 81 | def get_covariance(self, val): 82 | array = np.zeros(36) 83 | array[0] = val 84 | array[7] = val 85 | array[14] = val 86 | array[21] = val 87 | array[28] = val 88 | array[35] = val 89 | return array 90 | 91 | def publish_state(self): 92 | 93 | #slow acceleration and drifting 94 | self.speed = self.speed * 0.95 + self.cmd_linear_speed * 0.05 95 | 96 | if math.isnan(self.speed): 97 | rospy.logfatal("Warning: odometry speed is NaN") 98 | self.speed = 0.0 99 | 100 | current_time = rospy.Time.now() 101 | linearmove = self.speed * 1.0/RATE 102 | 103 | self.angle = self.imu_angle 104 | 105 | turnx = linearmove 106 | turny = 0 107 | 108 | cosang = math.cos(self.angle) 109 | sinang = math.sin(self.angle) 110 | 111 | if math.isnan(cosang) or math.isnan(sinang): 112 | rospy.logfatal("Warning: odometry angle is NaN") 113 | sinang = 0 114 | cosang = 0 115 | 116 | deltax = turnx * cosang - turny * sinang 117 | deltay = turnx * sinang + turny * cosang 118 | 119 | self.x += deltax 120 | self.y += deltay 121 | 122 | self.odom_tf.sendTransform((self.x, self.y, 0), self.rotation, current_time, "base_link", "odom") 123 | 124 | odom = Odometry() 125 | odom.header.stamp = current_time 126 | odom.header.frame_id = "odom" 127 | odom.pose.pose = Pose(Point(self.x, self.y, 0), Quaternion(self.rotation[0], self.rotation[1], self.rotation[2], self.rotation[3])) 128 | odom.pose.covariance = self.get_covariance(1.0) 129 | odom.child_frame_id = "base_link" 130 | odom.twist.twist = Twist(Vector3(self.speed, 0, 0), Vector3(0, 0, 0)) 131 | odom.twist.covariance = self.get_covariance(1.0) 132 | self.odom_pub.publish(odom) 133 | 134 | # Joint States for RViz 135 | 136 | self.prop_left += self.cmd_prop_left * 3.1 137 | self.prop_right += self.cmd_prop_left * 3.1 138 | 139 | state = JointState() 140 | state.header.stamp = current_time 141 | state.name = ["base_to_prop_left", "base_to_prop_right"] 142 | state.position = [self.prop_left , -self.prop_right] 143 | self.joint_pub.publish(state) 144 | 145 | try: 146 | state = State() 147 | r = rospy.Rate(RATE) 148 | while not rospy.is_shutdown(): 149 | state.publish_state() 150 | r.sleep() 151 | 152 | except rospy.ROSInterruptException: 153 | print("Script interrupted", file=sys.stderr) 154 | -------------------------------------------------------------------------------- /tuna_description/nodes/sim_publisher.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import numpy as np 4 | import rospy 5 | import time 6 | import math 7 | import tf 8 | 9 | from nav_msgs.msg import Odometry 10 | from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3, TransformStamped 11 | from sensor_msgs.msg import Imu 12 | 13 | RATE = 50.0 14 | WAVE_SPEED = 1.0 15 | WAVE_HEIGHT = 0.01 16 | 17 | def euler_to_quaternion(roll, pitch, yaw): 18 | 19 | qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) 20 | qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) 21 | qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) 22 | qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) 23 | 24 | return [qx, qy, qz, qw] 25 | 26 | #old simulator 27 | class State: 28 | def __init__(self): 29 | rospy.init_node('odometry_publisher') 30 | 31 | self.get_tf = tf.TransformListener() 32 | self.odom_tf = tf.TransformBroadcaster() 33 | 34 | self.motor_sub = rospy.Subscriber("/cmd_vel", Twist, self.motor_data) 35 | self.odom_pub = rospy.Publisher("/odom", Odometry, queue_size=50) 36 | 37 | self.x = 0 38 | self.y = 0 39 | self.angle = 0 40 | 41 | self.speed = 0 42 | self.angular_speed = 0 43 | 44 | self.CMD_speed = 0 45 | self.CMD_angular_speed = 0 46 | 47 | self.rotation = (0.0, 0.0, 0.0, 1.0) 48 | 49 | def motor_data(self, msg): 50 | self.CMD_speed = msg.linear.x * 0.85 51 | self.CMD_angular_speed = msg.angular.z 52 | 53 | def get_covariance(self, val): 54 | array = np.zeros(36) 55 | array[0] = val 56 | array[7] = val 57 | array[14] = val 58 | array[21] = val 59 | array[28] = val 60 | array[35] = val 61 | return array 62 | 63 | def publish_state(self): 64 | 65 | #slow acceleration and drifting 66 | self.angular_speed = self.angular_speed * 0.98 + self.CMD_angular_speed * 0.02 67 | self.speed = self.speed * 0.98 + self.CMD_speed * 0.02 68 | 69 | current_time = rospy.Time.now() 70 | linearmove = self.speed * 1.0/RATE 71 | 72 | self.angle += self.angular_speed * 1.0/RATE + abs(math.sin(rospy.get_time()*WAVE_SPEED)*WAVE_HEIGHT*0.2) 73 | 74 | turnx = linearmove 75 | turny = 0 76 | 77 | cosang = math.cos(self.angle) 78 | sinang = math.sin(self.angle) 79 | 80 | deltax = turnx * cosang - turny * sinang 81 | deltay = turnx * sinang + turny * cosang 82 | 83 | self.x += deltax + abs(math.sin(rospy.get_time()*WAVE_SPEED)*WAVE_HEIGHT*0.05) 84 | self.y += deltay + abs(math.sin(rospy.get_time()*WAVE_SPEED)*WAVE_HEIGHT*0.1) 85 | self.z = math.sin(rospy.get_time()*WAVE_SPEED)*WAVE_HEIGHT 86 | 87 | self.rotation = euler_to_quaternion(math.sin(rospy.get_time()*WAVE_SPEED)*WAVE_HEIGHT*10.0,math.sin(rospy.get_time()*WAVE_SPEED*1.5)*WAVE_HEIGHT*5.0,self.angle) 88 | 89 | self.odom_tf.sendTransform((self.x, self.y, self.z), self.rotation, current_time, "base_link", "odom") 90 | 91 | odom = Odometry() 92 | odom.header.stamp = current_time 93 | odom.header.frame_id = "odom" 94 | odom.pose.pose = Pose(Point(self.x, self.y, self.z), Quaternion(self.rotation[0], self.rotation[1], self.rotation[2], self.rotation[3])) 95 | odom.pose.covariance = self.get_covariance(0.5) 96 | odom.child_frame_id = "base_link" 97 | odom.twist.twist = Twist(Vector3(deltax, deltay, 0), Vector3(0, 0, self.angle)) 98 | odom.twist.covariance = self.get_covariance(0.5) 99 | self.odom_pub.publish(odom) 100 | 101 | 102 | try: 103 | state = State() 104 | r = rospy.Rate(RATE) 105 | while not rospy.is_shutdown(): 106 | state.publish_state() 107 | r.sleep() 108 | 109 | except rospy.ROSInterruptException: 110 | print("Script interrupted", file=sys.stderr) 111 | -------------------------------------------------------------------------------- /tuna_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | tuna_description 3 | 0.1.0 4 | Visual display for Karl. 5 | 6 | Vid Rijavec 7 | 8 | MIT 9 | 10 | catkin 11 | 12 | std_msgs 13 | 14 | message_generation 15 | message_runtime 16 | 17 | message_runtime 18 | rospy 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /tuna_description/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | from catkin_pkg.python_setup import generate_distutils_setup 3 | 4 | # fetch values from package.xml 5 | setup_args = generate_distutils_setup( 6 | packages=['tuna_description'], 7 | package_dir={'': 'nodes'}, 8 | requires=['std_msgs', 'rospy'] 9 | ) 10 | 11 | setup(**setup_args) 12 | -------------------------------------------------------------------------------- /tuna_description/urdf/boat.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | -------------------------------------------------------------------------------- /tuna_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tuna_gazebo) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | message_generation 8 | std_msgs 9 | ) 10 | 11 | generate_messages(DEPENDENCIES std_msgs) 12 | 13 | catkin_package( 14 | CATKIN_DEPENDS std_msgs message_runtime 15 | ) 16 | -------------------------------------------------------------------------------- /tuna_gazebo/launch/bridge.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /tuna_gazebo/launch/ign.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /tuna_gazebo/meshes/prop_left.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.90.1 commit date:2020-09-23, commit time:06:43, hash:3e85bb34d0d7 7 | 8 | 2022-09-22T01:34:37 9 | 2022-09-22T01:34:37 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 0 0 0 1 20 | 21 | 22 | 0.8 0.8 0.8 1 23 | 24 | 25 | 1.45 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 0 0 0 1 37 | 38 | 39 | 0 0 0 1 40 | 41 | 42 | 1.45 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 0 0 0 1 54 | 55 | 56 | 0 0.01575971 0.2140349 1 57 | 58 | 59 | 1.45 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 1 0.8450995 0 1 71 | 72 | 73 | 0.8000001 0.5478113 0 1 74 | 75 | 76 | 1.45 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | -18.84557 8.266208 -7.539108 -16.82127 1.016523 0.4821085 -17.26124 -0.2838404 -0.8751246 -19.09933 6.86573 -9.015815 -16.78647 6.916718 -9.04018 -15.09333 0.9652923 0.2343032 -16.06734 -0.5871306 -0.726529 -17.65687 5.331922 -10.07062 -14.82225 4.003672 -10.65852 -13.89751 0.9075054 -0.0659182 -14.97687 -0.7286363 -0.5352949 -15.514 2.266621 -11.15546 -12.79792 0.7075318 -11.37698 -12.71125 0.8634271 -0.345284 -13.81698 -0.8093131 -0.2904644 -13.74851 -1.105052 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-------------------------------------------------------------------------------- /tuna_gazebo/scripts/ign_interfacer.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import numpy as np 4 | import rospy 5 | import time 6 | import math 7 | import random 8 | import tf 9 | 10 | from std_msgs.msg import Header, String, Float64 11 | from sensor_msgs.msg import JointState 12 | from geometry_msgs.msg import Vector3, Twist 13 | 14 | MIN_SPD = 0.15 15 | MAX_SPD = 0.45 16 | 17 | DEADMAN = 0.6 # seconds 18 | 19 | def clamp(val, minval, maxval): 20 | if val < minval: 21 | return minval 22 | if val > maxval: 23 | return maxval 24 | return val 25 | 26 | # Stand in for the hardware drivers 27 | class IGNInterfacer: 28 | def __init__(self): 29 | rospy.init_node('ign_interfacer') 30 | 31 | self.right_pub = rospy.Publisher("prop_spd_right", Float64, queue_size=1) 32 | self.left_pub = rospy.Publisher("prop_spd_left", Float64, queue_size=1) 33 | 34 | self.diff_drive_sub = rospy.Subscriber("diff_drive", JointState, self.diff_drive_cb) 35 | 36 | self.m_sleep = True 37 | self.m_time = time.time() 38 | self.m_left_vel = 0 39 | self.m_right_vel = 0 40 | 41 | rospy.loginfo("Motors Ready") 42 | 43 | def diff_drive_cb(self, msg): 44 | self.m_time = time.time() 45 | self.m_sleep = False 46 | 47 | left_vel = msg.velocity[0] 48 | right_vel = msg.velocity[1] 49 | 50 | if left_vel == 0.0 and right_vel == 0.0: 51 | self.stop() 52 | return 53 | 54 | # just in case 55 | left_spd = clamp(abs(left_vel), MIN_SPD, MAX_SPD) 56 | right_spd = clamp(abs(right_vel), MIN_SPD, MAX_SPD) 57 | 58 | self.m_left_vel = math.copysign(left_spd, left_vel) * 2.0 59 | self.m_right_vel = math.copysign(right_spd, right_vel) * 2.0 60 | 61 | def update(self): 62 | if self.m_sleep: 63 | return 64 | 65 | if rospy.get_time() - self.m_time > DEADMAN: 66 | self.stop() 67 | self.m_sleep = True 68 | else: 69 | self.right_pub.publish(self.m_left_vel) 70 | self.left_pub.publish(self.m_right_vel) 71 | 72 | 73 | def stop(self): 74 | self.m_left_vel = 0.0 75 | self.m_right_vel = 0.0 76 | self.right_pub.publish(0.0) 77 | self.left_pub.publish(0.0) 78 | self.m_sleep = True 79 | 80 | try: 81 | ctrl = IGNInterfacer() 82 | rate = rospy.Rate(10) 83 | while not rospy.is_shutdown(): 84 | ctrl.update() 85 | rate.sleep() 86 | 87 | except Exception as e: 88 | print(e) -------------------------------------------------------------------------------- /tuna_gazebo/scripts/wave_generator.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import numpy as np 4 | import rospy 5 | import time 6 | import math 7 | import random 8 | import tf 9 | 10 | from visualization_msgs.msg import Marker, MarkerArray 11 | from geometry_msgs.msg import Vector3 12 | from tf.transformations import quaternion_from_euler, euler_from_quaternion, quaternion_multiply, quaternion_conjugate, quaternion_inverse 13 | 14 | def clamp(num, min, max): 15 | return min if num < min else max if num > max else num 16 | 17 | 18 | class WindGen: 19 | def __init__(self): 20 | rospy.init_node('gazebo_wave_generator') 21 | 22 | self.wave_magnitude = 0.3 23 | self.wave_pub = rospy.Publisher("ocean_current", Vector3, queue_size=1) 24 | self.marker_pub = rospy.Publisher("wave_arrows", MarkerArray, queue_size=1) 25 | 26 | rospy.loginfo("Wave Generator started") 27 | 28 | self.vel = Vector3() 29 | self.vel.x = 0.0 30 | self.vel.y = 0.0 31 | 32 | self.dir_x = 0.0 33 | self.dir_y = 0.0 34 | 35 | def update(self): 36 | 37 | self.dir_x = self.dir_x * 0.97 + (random.random()*0.1 - 0.05) * 0.03 38 | self.dir_y = self.dir_y * 0.97 + (random.random()*0.1 - 0.05) * 0.03 39 | 40 | self.vel.x = clamp(self.vel.x + self.dir_x, -0.35, 0.35) 41 | self.vel.y = clamp(self.vel.y - self.dir_x, -0.35, 0.35) 42 | self.wave_pub.publish(self.vel) 43 | 44 | rotation = quaternion_from_euler(0,0,math.atan2(self.vel.y, self.vel.x)) 45 | 46 | markerArray = MarkerArray() 47 | 48 | marker_id = 0; 49 | for i in range(-2,12,2): 50 | for j in range(-2,12,2): 51 | arrow = Marker() 52 | arrow.header.frame_id = "map" 53 | arrow.type = arrow.ARROW 54 | arrow.pose.position.x = i 55 | arrow.pose.position.y = j 56 | arrow.pose.position.z = 0.0 57 | 58 | arrow.pose.orientation.x = rotation[0] 59 | arrow.pose.orientation.y = rotation[1] 60 | arrow.pose.orientation.z = rotation[2] 61 | arrow.pose.orientation.w = rotation[3] 62 | 63 | arrow.scale.x = math.sqrt(self.vel.x*self.vel.x + self.vel.y*self.vel.y)*1.5 64 | arrow.scale.y = arrow.scale.x*0.25 65 | arrow.scale.z = arrow.scale.x*0.25 66 | 67 | arrow.color.a = 0.2 68 | 69 | arrow.color.r = 0.4 70 | arrow.color.g = 0.4 71 | arrow.color.b = 1.0 72 | 73 | arrow.id = marker_id 74 | markerArray.markers.append(arrow) 75 | 76 | marker_id +=1 77 | 78 | self.marker_pub.publish(markerArray) 79 | 80 | try: 81 | wave = WindGen() 82 | rate = rospy.Rate(15) 83 | while not rospy.is_shutdown(): 84 | wave.update() 85 | rate.sleep() 86 | 87 | wave.vel.x = 0 88 | wave.vel.y = 0 89 | wave.wave_pub.publish(wave.vel) 90 | wave.marker_pub.publish(MarkerArray()) 91 | 92 | except Exception as e: 93 | print(e) -------------------------------------------------------------------------------- /tuna_gazebo/water_world.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0.001 5 | 1 6 | 1000 7 | 8 | 9 | 10 | 11 | EARTH_WGS84 12 | ENU 13 | 46.06661, 14 | 14.46993 15 | 0 16 | 0 17 | 18 | 19 | 20 | 21 | 1000 22 | 23 | 0 24 | 1 25 | 26 | 27 | tuna::boat 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 3D View 38 | false 39 | docked 40 | 41 | false 42 | ogre2 43 | scene 44 | 0.4 0.4 0.4 45 | 0.8 0.8 0.8 46 | 0 -6 8 0 0.8 1.56 47 | 48 | 49 | 50 | 51 | floating 52 | 5 53 | 5 54 | false 55 | 56 | 57 | 58 | 59 | 60 | false 61 | 5 62 | 5 63 | floating 64 | false 65 | 66 | 67 | 68 | 69 | 70 | false 71 | 5 72 | 5 73 | floating 74 | false 75 | 76 | 77 | 78 | 79 | 80 | false 81 | 5 82 | 5 83 | floating 84 | false 85 | 86 | 87 | 88 | 89 | 90 | false 91 | 5 92 | 5 93 | floating 94 | false 95 | 96 | 97 | 98 | 99 | 100 | false 101 | 5 102 | 5 103 | floating 104 | false 105 | 106 | 107 | 108 | 109 | 110 | World control 111 | false 112 | false 113 | 72 114 | 121 115 | 1 116 | floating 117 | 118 | 119 | 120 | 121 | 122 | true 123 | true 124 | true 125 | true 126 | 127 | 128 | 129 | 130 | World stats 131 | false 132 | false 133 | 110 134 | 290 135 | 1 136 | floating 137 | 138 | 139 | 140 | 141 | 142 | true 143 | true 144 | true 145 | true 146 | 147 | 148 | 149 | 150 | false 151 | 250 152 | 50 153 | floating 154 | false 155 | #777777 156 | 157 | false 158 | 159 | 160 | 161 | 162 | docked 163 | 164 | 165 | 166 | 167 | 168 | GNSS 169 | docked 170 | 171 | /gnss/fix 172 | true 173 | 174 | 175 | 176 | 177 | Grid Config 178 | false 179 | 180 | 181 | 60 182 | 0 183 | 5.0 184 | -90 75 0 0 0 0 185 | 1 1 1 0.7 186 | 187 | false 188 | 189 | 190 | 191 | 192 | 0 0 -9.81 193 | 6e-06 2.3e-05 -4.2e-05 194 | 195 | 196 | 0.4 0.4 0.4 1 197 | 0.7 0.7 0.7 1 198 | 199 | true 200 | 201 | 202 | 203 | -91.7405 76.9637 0 0 0 0 204 | true 205 | 206 | 207 | 0 0 0 0 -0 0 208 | 209 | 210 | 300 300 211 | 0 0 1 212 | 213 | 214 | 215 | 0.4 0.72 0.85 0.3 216 | 0.4 0.72 0.85 0.3 217 | 1 1 1 0.3 218 | 219 | 220 | 221 | 0 0 0 0 -0 0 222 | 223 | 224 | 300 300 225 | 0 0 -1 226 | 227 | 228 | 229 | 0.1, 0.32, 0.45 0.9 230 | 0.1, 0.32, 0.45 0.9 231 | 1 1 1 0.9 232 | 233 | 234 | 235 | 0 0 0 0 -0 0 236 | 1 237 | 238 | 1 239 | 0 240 | 0 241 | 1 242 | 0 243 | 1 244 | 245 | 246 | false 247 | 248 | 0 0 0 0 -0 0 249 | false 250 | 251 | 252 | 253 | 0 0 0 0 0 0 254 | 255 | -91.7405 76.9637 0 0 0 0 256 | 257 | 258 | 1.1 259 | -0.03 0 -0.02 0 0 0 260 | 261 | 1 262 | 0 263 | 0 264 | 1 265 | 0 266 | 1 267 | 268 | 269 | 270 | 271 | 272 | 273 | file://meshes/map.dae 274 | 275 | 276 | 277 | 278 | 279 | 0.000 0.000 -10.012 0 0 0 280 | 281 | 0.387 0.103 0.033 282 | 283 | 284 | 0.10.1 285 | 286 | 287 | 288 | 289 | 290 | true 291 | false 292 | 293 | 294 | 295 | 0 0 0 0 0 0 296 | 297 | 0 0 0 0 0 0 298 | 299 | 300 | 1.4 301 | -0.02 0 -0.02 0 0 0 302 | 303 | 0.00002 304 | 0 305 | 0 306 | 0.00002 307 | 0 308 | 0.00002 309 | 310 | 311 | 312 | 313 | 314 | file://meshes/boat.dae 315 | 316 | 317 | 318 | 319 | 320 | 321 | 0.000 0.000 0.012 0 0 0 322 | 323 | 0.387 0.103 0.033 324 | 325 | 326 | 0.10.1 327 | 328 | 329 | 330 | -0.007 0.000 0.037 0 0 0 331 | 332 | 0.185 0.078 0.017 333 | 334 | 335 | 0.10.1 336 | 337 | 338 | 339 | 0.012 0.000 0.053 0 0 0 340 | 341 | 0.108 0.056 0.017 342 | 343 | 344 | 0.10.1 345 | 346 | 347 | 348 | 0.021 0.000 0.095 0 0 0 349 | 350 | 0.045 0.044 0.070 351 | 352 | 353 | 0.10.1 354 | 355 | 356 | 357 | -0.082 -0.065 -0.020 0.64 0 0 358 | 359 | 0.112 0.043 0.009 360 | 361 | 362 | 0.10.1 363 | 364 | 365 | 366 | -0.224 0.000 0.012 0 0 0 367 | 368 | 0.062 0.064 0.033 369 | 370 | 371 | 0.10.1 372 | 373 | 374 | 375 | 0.22 0.000 0.012 0 0 0 376 | 377 | 0.07 0.061 0.033 378 | 379 | 380 | 0.10.1 381 | 382 | 383 | 384 | -0.028 0.000 -0.017 0 0 0 385 | 386 | 0.284 0.097 0.025 387 | 388 | 389 | 0.10.1 390 | 391 | 392 | 393 | 0.142 0.000 -0.017 0 0 0 394 | 395 | 0.056 0.083 0.025 396 | 397 | 398 | 0.10.1 399 | 400 | 401 | 402 | 0.188 0.000 -0.013 0 0 0 403 | 404 | 0.048 0.036 0.018 405 | 406 | 407 | 0.10.1 408 | 409 | 410 | 411 | -0.207 0.000 -0.016 0 0 0 412 | 413 | 0.074 0.066 0.023 414 | 415 | 416 | 0.10.1 417 | 418 | 419 | 420 | -0.082 0.065 -0.020 -0.64 0 0 421 | 422 | 0.112 0.043 0.009 423 | 424 | 425 | 0.10.1 426 | 427 | 428 | 429 | 430 | 1 431 | 25 432 | true 433 | imu 434 | imu 435 | 436 | 437 | 438 | true 439 | 5 440 | gnss/fix 441 | 442 | 443 | 444 | 445 | 0.00001 446 | 0.0000002 447 | 448 | 449 | 450 | 451 | 0 452 | 0.000001 453 | 454 | 455 | 456 | 457 | gps 458 | 459 | 460 | 461 | 462 | 463 | 488 | 489 | 490 | 514 | 515 | 516 | base_link 517 | -0.00001 518 | -0.00001 519 | -0.00001 520 | 521 | -0.00001 522 | -0.00001 523 | -0.00001 524 | 525 | -4.5 526 | -0.001 527 | -6.5 528 | -0.001 529 | -30.0 530 | 0 531 | 532 | -0.01 533 | 0 534 | -2.4 535 | 0 536 | -0.13 537 | 0 538 | 539 | 0 0 0 540 | 541 | 542 | 543 | 544 | -0.14 -0.018 -0.043 0 -0.05 0 545 | 546 | 0.01 547 | 548 | 0.019 549 | 0 550 | 0 551 | 0.019 552 | 0 553 | 0.019 554 | 555 | 556 | 557 | 558 | file://meshes/prop_left.dae 559 | 560 | 561 | 562 | 563 | 564 | -0.14 0.018 -0.043 0 -0.05 0 565 | 566 | 0.01 567 | 568 | 0.019 569 | 0 570 | 0 571 | 0.019 572 | 0 573 | 0.019 574 | 575 | 576 | 577 | 578 | file://meshes/prop_right.dae 579 | 580 | 581 | 582 | 583 | 584 | base_link 585 | prop_right 586 | 587 | 1 0 0 588 | 589 | -1000000000000 590 | 1000000000000 591 | inf 592 | inf 593 | 100000000 594 | 1 595 | 596 | 597 | 0 598 | 0 599 | 0 600 | 0 601 | 602 | 603 | 604 | 605 | 606 | base_link 607 | prop_left 608 | 609 | 1 0 0 610 | 611 | -1000000000000 612 | 1000000000000 613 | inf 614 | inf 615 | 100000000 616 | 1 617 | 618 | 619 | 0 620 | 0 621 | 0 622 | 0 623 | 624 | 625 | 626 | 627 | 628 | base_to_prop_left 629 | 1000 630 | 0.025 631 | 0.0 632 | 633 | 634 | 635 | base_to_prop_right 636 | 1000 637 | 0.025 638 | 0.0 639 | 640 | 641 | 642 | battery 643 | 12.5 644 | 4.2 645 | -2.0 646 | 2.1 647 | 2.2 648 | 0.04 649 | 2.0 650 | true 651 | 3.0 652 | 0.51 653 | 1.2 654 | true 655 | 656 | 657 | 658 | false 659 | false 660 | 661 | 662 | 663 | 0 0 10 0 -0 0 664 | true 665 | 1 666 | -0.5 0.1 -0.9 667 | 1 1 1 1 668 | 0.5 0.5 0.5 1 669 | 670 | 1000 671 | 0.01 672 | 0.90000000000000002 673 | 0.001 674 | 675 | 676 | 0 677 | 0 678 | 0 679 | 680 | 681 | 682 | 683 | -------------------------------------------------------------------------------- /tuna_motor/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tuna_motor) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | sensor_msgs 8 | message_generation 9 | std_msgs 10 | ) 11 | 12 | catkin_python_setup() 13 | 14 | generate_messages(DEPENDENCIES std_msgs) 15 | 16 | catkin_package( 17 | CATKIN_DEPENDS std_msgs sensor_msgs message_runtime 18 | ) 19 | -------------------------------------------------------------------------------- /tuna_motor/launch/electronics.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /tuna_motor/nodes/battery.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import rospy 4 | import smbus 5 | import time 6 | 7 | from sensor_msgs.msg import BatteryState 8 | 9 | #http://www.smartypies.com/projects/ads1115-with-raspberrypi-and-python/ads1115runner/ 10 | 11 | #http://www.ti.com/lit/ds/symlink/ads1115.pdf page 28 12 | 13 | #000 : FSR = 6.144 V 14 | #001 : FSR = 4.096 V 15 | #010 : FSR = 2.048 V (default) 16 | #011 : FSR = 1.024 V 17 | #100 : FSR = 0.512 V 18 | #101 : FSR = 0.256 V 19 | #110 : FSR = 0.256 V 20 | #111 : FSR = 0.256 V 21 | 22 | #000 : AINP = AIN0 and AINN = AIN1 (default) 23 | #001 : AINP = AIN0 and AINN = AIN3 24 | #010 : AINP = AIN1 and AINN = AIN3 25 | #011 : AINP = AIN2 and AINN = AIN3 26 | #100 : AINP = AIN0 and AINN = GND 27 | #101 : AINP = AIN1 and AINN = GND 28 | #110 : AINP = AIN2 and AINN = GND 29 | #111 : AINP = AIN3 and AINN = GND 30 | 31 | LIPO= [ 32 | 3.27, # 0 33 | 3.61, # 5 34 | 3.69, # 10 35 | 3.71, # 15 36 | 3.73, # 20 37 | 3.75, # 25 38 | 3.77, # 30 39 | 3.79, # 35 40 | 3.80, # 40 41 | 3.82, # 45 42 | 3.84, # 50 43 | 3.85, # 55 44 | 3.87, # 60 45 | 3.91, # 65 46 | 3.95, # 70 47 | 3.98, # 75 48 | 4.02, # 80 49 | 4.08, # 85 50 | 4.11, # 90 51 | 4.15, # 95 52 | 4.20, # 100 53 | ] 54 | 55 | LION= [ 56 | 3.3, # 0 57 | 3.35, 58 | 3.49, 59 | 3.50, 60 | 3.53, 61 | 3.54, 62 | 3.55, 63 | 3.58, 64 | 3.60, 65 | 3.62, 66 | 3.64, 67 | 3.67, 68 | 3.70, 69 | 3.75, 70 | 3.80, 71 | 3.88, 72 | 3.85, 73 | 3.95, 74 | 4.05, 75 | 4.10, 76 | 4.20, # 100 77 | ] 78 | 79 | ADDRESS = 0x48 80 | POINTER_CFG = 0x1 81 | POINTER_CONV = 0x0 82 | 83 | def swap2Bytes(c): 84 | '''Revert Byte order for Words (2 Bytes, 16 Bit).''' 85 | return (c>>8 |c<<8)&0xFFFF 86 | 87 | def prepareLEconf(BEconf): 88 | '''Prepare LittleEndian Byte pattern from BigEndian configuration string, with separators.''' 89 | c = int(BEconf.replace('-',''), base=2) 90 | return swap2Bytes(c) 91 | 92 | def LEtoBE(c): 93 | '''Little Endian to BigEndian conversion for signed 2Byte integers (2 complement).''' 94 | c = swap2Bytes(c) 95 | if(c >= 2**15): 96 | c= c-2**16 97 | return c 98 | 99 | class Battery: 100 | def __init__(self): 101 | rospy.init_node('battery') 102 | self.pub = rospy.Publisher('/battery_state', BatteryState, queue_size=1) 103 | self.bus = smbus.SMBus(1) 104 | 105 | def clamp(self, val, minval, maxval): 106 | return max(min(val, maxval), minval) 107 | 108 | def capacity(self, voltage, cells, type): 109 | onecell = voltage / cells 110 | 111 | if onecell >= type[20]: 112 | return 1.0 113 | elif onecell <= type[0]: 114 | return 0.0 115 | 116 | upper = 0 117 | lower = 0 118 | 119 | for i in range(0,len(type)): 120 | if onecell > type[i]: 121 | lower = i 122 | else: 123 | upper = i 124 | break 125 | 126 | deltavoltage = type[upper] - type[lower] 127 | between_percent = (onecell - type[lower]) / deltavoltage 128 | 129 | upper = float(upper) * 5.0 130 | lower = float(lower) * 5.0 131 | 132 | return (lower + (upper-lower) * between_percent) / 100 133 | 134 | def read(self): 135 | try: 136 | # start single conversion - AIN0/GND - 4.096V - single shot - 8SPS - X - X - X - disable comparator 137 | 138 | conf = prepareLEconf('1-100-001-1-000-0-0-0-11') 139 | 140 | self.bus.write_word_data(ADDRESS, POINTER_CFG, conf) 141 | 142 | rospy.sleep(0.2) 143 | 144 | value_raw = self.bus.read_word_data(ADDRESS, POINTER_CONV) 145 | value = LEtoBE(value_raw) 146 | value = value * 0.0004504553 + 1.58421 147 | 148 | battery_msg = BatteryState() 149 | battery_msg.voltage = value 150 | 151 | battery_msg.current = float('nan') 152 | battery_msg.current = float('nan') 153 | 154 | battery_msg.percentage = self.clamp(self.capacity(value, 3, LIPO) + 0.03, 0.0, 1.0) 155 | battery_msg.charge = 5.0 * battery_msg.percentage 156 | battery_msg.capacity = 5.0 157 | battery_msg.design_capacity = 5.0 158 | battery_msg.present = True 159 | battery_msg.cell_voltage = [value/3.0, value/3.0, value/3.0] 160 | 161 | battery_msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING 162 | battery_msg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN 163 | battery_msg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_LIPO 164 | 165 | self.pub.publish(battery_msg) 166 | 167 | except: 168 | pass 169 | try: 170 | 171 | b = Battery() 172 | rate = rospy.Rate(1) 173 | while not rospy.is_shutdown(): 174 | b.read() 175 | rate.sleep() 176 | 177 | except rospy.ROSInterruptException: 178 | print("Script interrupted", file=sys.stderr) 179 | -------------------------------------------------------------------------------- /tuna_motor/nodes/motor.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import rospy 4 | import time 5 | import pigpio 6 | import math 7 | import sys 8 | 9 | from std_msgs.msg import Header, String 10 | from sensor_msgs.msg import JointState 11 | 12 | PIN_STBY = 17 13 | PIN_A1 = 27 14 | PIN_A2 = 22 15 | 16 | PIN_B1 = 24 17 | PIN_B2 = 23 18 | 19 | PIN_PWM1 = 12 20 | PIN_PWM2 = 13 21 | 22 | MIN_SPD = 15 23 | MAX_SPD = 45 24 | 25 | DEADMAN = 0.6 # seconds 26 | 27 | def clamp(val, minval, maxval): 28 | if val < minval: 29 | return minval 30 | if val > maxval: 31 | return maxval 32 | return val 33 | 34 | class Motor: 35 | 36 | def __init__(self, pi, PIN_DIR1, PIN_DIR2, PIN_PWM): 37 | self.pi = pi 38 | 39 | self.PIN_DIR1 = PIN_DIR1 40 | self.PIN_DIR2 = PIN_DIR2 41 | self.PIN_PWM = PIN_PWM 42 | 43 | self.pi.set_mode(self.PIN_DIR1, pigpio.OUTPUT) 44 | self.pi.write(self.PIN_DIR1, 0) 45 | 46 | self.pi.set_mode(self.PIN_DIR2, pigpio.OUTPUT) 47 | self.pi.write(self.PIN_DIR2, 0) 48 | 49 | self.pi.set_mode(self.PIN_PWM, pigpio.OUTPUT) 50 | self.pi.set_PWM_range(self.PIN_PWM, 100) 51 | self.pi.set_PWM_frequency(self.PIN_PWM, 20000) 52 | self.pi.set_PWM_dutycycle(self.PIN_PWM, 0) 53 | 54 | def set(self, velocity): 55 | 56 | if velocity > 0: 57 | self.pi.write(self.PIN_DIR1, 1) 58 | self.pi.write(self.PIN_DIR2, 0) 59 | else: 60 | self.pi.write(self.PIN_DIR1, 0) 61 | self.pi.write(self.PIN_DIR2, 1) 62 | 63 | self.pi.set_PWM_dutycycle(self.PIN_PWM, clamp(abs(velocity), 0, MAX_SPD)) 64 | 65 | def stop(self): 66 | self.pi.write(self.PIN_DIR1, 0) 67 | self.pi.write(self.PIN_DIR2, 0) 68 | self.pi.set_PWM_dutycycle(self.PIN_PWM, 0) 69 | 70 | class Controller: 71 | def __init__(self): 72 | rospy.init_node('motortest') 73 | 74 | self.pi = pigpio.pi() 75 | 76 | # standby switch 77 | self.pi.set_mode(PIN_STBY, pigpio.OUTPUT) 78 | self.pi.write(PIN_STBY, 0) 79 | 80 | #motor setup 81 | self.motor_right = Motor(self.pi, PIN_A1, PIN_A2, PIN_PWM1) 82 | self.motor_left = Motor(self.pi, PIN_B1, PIN_B2, PIN_PWM2) 83 | 84 | self.cmdsub = rospy.Subscriber("diff_drive", JointState, self.velocity) 85 | 86 | self.m_sleep = True 87 | self.m_time = time.time() 88 | self.m_left_vel = 0 89 | self.m_right_vel = 0 90 | 91 | rospy.loginfo("Motors Ready") 92 | 93 | def velocity(self, msg): 94 | 95 | self.m_time = time.time() 96 | self.m_sleep = False 97 | 98 | left_vel = int(msg.velocity[0] * 100) 99 | right_vel = int(msg.velocity[1] * 100) 100 | 101 | if left_vel == 0 and right_vel == 0: 102 | self.stop() 103 | return 104 | 105 | self.pi.write(PIN_STBY, 1) 106 | 107 | # just in case 108 | left_spd = clamp(abs(left_vel), MIN_SPD, MAX_SPD) 109 | right_spd = clamp(abs(right_vel), MIN_SPD, MAX_SPD) 110 | 111 | self.m_left_vel = math.copysign(left_spd, left_vel) 112 | self.m_right_vel = math.copysign(right_spd, right_vel) 113 | 114 | def update(self): 115 | if self.m_sleep: 116 | return 117 | 118 | if rospy.get_time() - self.m_time > DEADMAN: 119 | self.stop() 120 | self.m_sleep = True 121 | else: 122 | self.motor_left.set(self.m_left_vel) 123 | self.motor_right.set(self.m_right_vel) 124 | print(self.m_right_vel, self.m_left_vel) 125 | 126 | 127 | def stop(self): 128 | self.pi.write(PIN_STBY, 0) 129 | self.motor_left.stop() 130 | self.motor_right.stop() 131 | 132 | 133 | def cleanup(self): 134 | self.stop() 135 | self.pi.stop() 136 | 137 | 138 | try: 139 | ctrl = Controller() 140 | rospy.on_shutdown(ctrl.cleanup) 141 | rate = rospy.Rate(10) 142 | while not rospy.is_shutdown(): 143 | ctrl.update() 144 | rate.sleep() 145 | 146 | except Exception as e: 147 | print(e) 148 | -------------------------------------------------------------------------------- /tuna_motor/nodes/shutdown.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import rospy 4 | import os 5 | from sensor_msgs.msg import BatteryState 6 | 7 | class Shutdown: 8 | def __init__(self): 9 | rospy.init_node('shutdown') 10 | self.batt = rospy.Subscriber("/battery_state", BatteryState, self.battery) 11 | 12 | self.running = False 13 | self.warning = False 14 | self.shutdown = False 15 | self.percentage = 1.0 16 | 17 | def battery(self, msg): 18 | if msg.percentage < 0.1: 19 | return 20 | 21 | self.percentage = self.percentage * 0.9 + msg.percentage * 0.1 22 | if self.percentage < 0.2: 23 | os.system('sudo poweroff') 24 | 25 | try: 26 | s = Shutdown() 27 | rospy.spin() 28 | except Exception as e: 29 | print(e) 30 | -------------------------------------------------------------------------------- /tuna_motor/package.xml: -------------------------------------------------------------------------------- 1 | 2 | tuna_motor 3 | 0.1.0 4 | Karl motor control node. 5 | 6 | Vid Rijavec 7 | 8 | Vid Rijavec 9 | 10 | MIT 11 | 12 | catkin 13 | 14 | std_msgs 15 | sensor_msgs 16 | 17 | message_generation 18 | message_runtime 19 | 20 | message_runtime 21 | rospy 22 | 23 | 24 | -------------------------------------------------------------------------------- /tuna_motor/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | from catkin_pkg.python_setup import generate_distutils_setup 3 | 4 | # fetch values from package.xml 5 | setup_args = generate_distutils_setup( 6 | packages=['tuna_motor'], 7 | package_dir={'': 'nodes'}, 8 | requires=['std_msgs', 'rospy'] 9 | ) 10 | 11 | setup(**setup_args) 12 | -------------------------------------------------------------------------------- /tuna_nav/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tuna_nav) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | message_generation 8 | std_msgs 9 | ) 10 | 11 | catkin_python_setup() 12 | 13 | generate_messages(DEPENDENCIES std_msgs) 14 | 15 | catkin_package( 16 | CATKIN_DEPENDS std_msgs message_runtime 17 | ) 18 | -------------------------------------------------------------------------------- /tuna_nav/launch/line_planner.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /tuna_nav/launch/localization.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /tuna_nav/nodes/imu_filter.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import numpy as np 4 | import rospy 5 | import math 6 | import tf 7 | 8 | from geometry_msgs.msg import PoseWithCovarianceStamped 9 | from sensor_msgs.msg import Imu, MagneticField 10 | 11 | class IMUFilter: 12 | def __init__(self): 13 | rospy.init_node('imu_filter', anonymous=True) 14 | 15 | #self.mag_angle = 0 16 | #self.mag_angle_x = 0 17 | #self.mag_angle_y = 0 18 | #self.mag_angle_z = 0 19 | self.gyro_callib_y = None 20 | 21 | self.rotation = (0.0, 0.0, 0.0, 1.0) 22 | self.gps_rotation = None 23 | 24 | self.imu_pub = rospy.Publisher("imu/data", Imu, queue_size=50) 25 | 26 | self.imu_sub = rospy.Subscriber("imu/raw", Imu, self.imu_data) 27 | #self.mag_sub = rospy.Subscriber("imu/mag", MagneticField, self.mag_data) 28 | self.gps_sub = rospy.Subscriber("navsat_simple/heading", PoseWithCovarianceStamped, self.gps_data) 29 | 30 | self.pose_pub = rospy.Publisher('imu/debug_pose', PoseWithCovarianceStamped, queue_size=10) 31 | 32 | def gps_data(self, msg): 33 | q = msg.pose.pose.orientation 34 | 35 | if q.x == 0 and q.y == 0 and q.z == 0 and q.w == 0: 36 | self.gps_rotation = None 37 | else: 38 | self.gps_rotation = [q.x, q.y, q.z, q.w] 39 | 40 | #def mag_data(self, msg): 41 | #m = msg.magnetic_field 42 | #self.mag_angle = math.atan2(m.x, m.z) 43 | 44 | def imu_data(self, msg): 45 | self.imu_msg = msg 46 | 47 | if self.gyro_callib_y is None: 48 | self.gyro_callib_y = -msg.angular_velocity.y 49 | 50 | y = -msg.angular_velocity.y - self.gyro_callib_y 51 | deltarot = tf.transformations.quaternion_from_euler(0, 0, y * 0.0255) 52 | self.rotation = tf.transformations.quaternion_multiply(self.rotation, deltarot) 53 | 54 | #magquat = tf.transformations.quaternion_from_euler(self.mag_angle_x, self.mag_angle_y, self.mag_angle_z) 55 | #magquat = tf.transformations.quaternion_from_euler(0, 0, self.mag_angle) 56 | #self.rotation = tf.transformations.quaternion_slerp(self.rotation, magquat, 0.004) 57 | 58 | if not self.gps_rotation is None: 59 | self.rotation = tf.transformations.quaternion_slerp(self.rotation, self.gps_rotation, 0.03) 60 | 61 | msg.orientation.x = self.rotation[0] 62 | msg.orientation.y = self.rotation[1] 63 | msg.orientation.z = self.rotation[2] 64 | msg.orientation.w = self.rotation[3] 65 | self.imu_pub.publish(msg) 66 | 67 | try: 68 | b = IMUFilter() 69 | rospy.spin() 70 | except rospy.ROSInterruptException: 71 | print("Script interrupted", file=sys.stderr) 72 | -------------------------------------------------------------------------------- /tuna_nav/nodes/light_indicator.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import rospy 4 | import time 5 | from std_msgs.msg import Bool 6 | 7 | class LightIndicator: 8 | def __init__(self): 9 | rospy.init_node('nav_indicator_light') 10 | self.light_state = False 11 | self.light_pub = rospy.Publisher("safety_light", Bool, queue_size=1) 12 | self.route_sub = rospy.Subscriber("line_planner/active", Bool, self.nav_callback) 13 | 14 | def nav_callback(self, msg): 15 | if msg.data != self.light_state: 16 | self.light_state = msg.data 17 | self.light_pub.publish(msg.data) 18 | 19 | 20 | try: 21 | l = LightIndicator() 22 | rospy.spin() 23 | except rospy.ROSInterruptException: 24 | print("Script interrupted", file=sys.stderr) 25 | -------------------------------------------------------------------------------- /tuna_nav/package.xml: -------------------------------------------------------------------------------- 1 | 2 | tuna_nav 3 | 0.1.0 4 | Teb local planner config for Karl. 5 | 6 | Vid Rijavec 7 | 8 | MIT 9 | 10 | catkin 11 | 12 | std_msgs 13 | 14 | message_generation 15 | message_runtime 16 | 17 | message_runtime 18 | rospy 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /tuna_nav/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | from catkin_pkg.python_setup import generate_distutils_setup 3 | 4 | # fetch values from package.xml 5 | setup_args = generate_distutils_setup( 6 | packages=['tuna_nav'], 7 | package_dir={'': 'nodes'}, 8 | requires=['std_msgs', 'rospy'] 9 | ) 10 | 11 | setup(**setup_args) 12 | -------------------------------------------------------------------------------- /tuna_viz/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(tuna_viz) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | message_generation 8 | std_msgs 9 | ) 10 | 11 | generate_messages(DEPENDENCIES std_msgs) 12 | 13 | catkin_package( 14 | CATKIN_DEPENDS std_msgs message_runtime 15 | ) 16 | -------------------------------------------------------------------------------- /tuna_viz/launch/rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /tuna_viz/package.xml: -------------------------------------------------------------------------------- 1 | 2 | tuna_viz 3 | 0.1.0 4 | Visual display for Tuna. 5 | 6 | Vid Rijavec 7 | 8 | MIT 9 | 10 | catkin 11 | 12 | std_msgs 13 | 14 | message_generation 15 | message_runtime 16 | 17 | message_runtime 18 | rospy 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /tuna_viz/rviz/config.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 87 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | Splitter Ratio: 0.5 9 | Tree Height: 623 10 | - Class: rviz/Selection 11 | Name: Selection 12 | - Class: rviz/Tool Properties 13 | Expanded: 14 | - /2D Pose Estimate1 15 | - /2D Nav Goal1 16 | - /Publish Point1 17 | Name: Tool Properties 18 | Splitter Ratio: 0.5886790156364441 19 | - Class: rviz/Views 20 | Expanded: 21 | - /Current View1 22 | Name: Views 23 | Splitter Ratio: 0.5 24 | - Class: rviz/Time 25 | Experimental: false 26 | Name: Time 27 | SyncMode: 0 28 | SyncSource: "" 29 | Preferences: 30 | PromptSaveOnExit: true 31 | Toolbars: 32 | toolButtonStyle: 2 33 | Visualization Manager: 34 | Class: "" 35 | Displays: 36 | - Alpha: 0.30000001192092896 37 | Cell Size: 1 38 | Class: rviz/Grid 39 | Color: 99; 99; 102 40 | Enabled: true 41 | Line Style: 42 | Line Width: 0.029999999329447746 43 | Value: Lines 44 | Name: Grid 45 | Normal Cell Count: 0 46 | Offset: 47 | X: 0 48 | Y: 0 49 | Z: 0 50 | Plane: XY 51 | Plane Cell Count: 200 52 | Reference Frame: 53 | Value: true 54 | - Alpha: 1 55 | Class: rviz/RobotModel 56 | Collision Enabled: false 57 | Enabled: true 58 | Links: 59 | All Links Enabled: true 60 | Expand Joint Details: false 61 | Expand Link Details: false 62 | Expand Tree: false 63 | Link Tree Style: Links in Alphabetic Order 64 | base_link: 65 | Alpha: 1 66 | Show Axes: false 67 | Show Trail: false 68 | Value: true 69 | gps: 70 | Alpha: 1 71 | Show Axes: false 72 | Show Trail: false 73 | imu_link: 74 | Alpha: 1 75 | Show Axes: false 76 | Show Trail: false 77 | prop_left: 78 | Alpha: 1 79 | Show Axes: false 80 | Show Trail: false 81 | Value: true 82 | prop_right: 83 | Alpha: 1 84 | Show Axes: false 85 | Show Trail: false 86 | Value: true 87 | Name: RobotModel 88 | Robot Description: robot_description 89 | TF Prefix: "" 90 | Update Interval: 0 91 | Value: true 92 | Visual Enabled: true 93 | - Class: rviz/TF 94 | Enabled: true 95 | Frame Timeout: 15 96 | Frames: 97 | All Enabled: false 98 | base_link: 99 | Value: true 100 | gps: 101 | Value: false 102 | imu_link: 103 | Value: false 104 | map: 105 | Value: true 106 | odom: 107 | Value: true 108 | prop_left: 109 | Value: false 110 | prop_right: 111 | Value: false 112 | world: 113 | Value: true 114 | Marker Alpha: 1 115 | Marker Scale: 3 116 | Name: TF 117 | Show Arrows: true 118 | Show Axes: true 119 | Show Names: true 120 | Tree: 121 | world: 122 | map: 123 | odom: 124 | base_link: 125 | gps: 126 | {} 127 | imu_link: 128 | {} 129 | prop_left: 130 | {} 131 | prop_right: 132 | {} 133 | Update Interval: 0 134 | Value: true 135 | - Alpha: 0.699999988079071 136 | Blocks: 4 137 | Class: rviz_plugins/AerialMapDisplay 138 | Draw Behind: true 139 | Enabled: true 140 | Name: AerialMapDisplay 141 | Object URI: https://tile.openstreetmap.org/{z}/{x}/{y}.png 142 | Topic: /navsat_simple/origin_fix 143 | Value: true 144 | Zoom: 19 145 | - Alpha: 1 146 | Buffer Length: 1 147 | Class: rviz/Path 148 | Color: 25; 255; 0 149 | Enabled: true 150 | Head Diameter: 0.30000001192092896 151 | Head Length: 0.20000000298023224 152 | Length: 0.30000001192092896 153 | Line Style: Lines 154 | Line Width: 0.029999999329447746 155 | Name: Path 156 | Offset: 157 | X: 0 158 | Y: 0 159 | Z: 0 160 | Pose Color: 255; 85; 255 161 | Pose Style: None 162 | Queue Size: 10 163 | Radius: 0.029999999329447746 164 | Shaft Diameter: 0.10000000149011612 165 | Shaft Length: 0.10000000149011612 166 | Topic: /nav/plan 167 | Unreliable: false 168 | Value: true 169 | - Class: rviz/MarkerArray 170 | Enabled: true 171 | Marker Topic: /nav/markers 172 | Name: MarkerArray 173 | Namespaces: 174 | {} 175 | Queue Size: 100 176 | Value: true 177 | - Alpha: 1 178 | Axes Length: 1 179 | Axes Radius: 0.10000000149011612 180 | Class: rviz/PoseWithCovariance 181 | Color: 255; 25; 0 182 | Covariance: 183 | Orientation: 184 | Alpha: 0.5 185 | Color: 255; 255; 127 186 | Color Style: Unique 187 | Frame: Local 188 | Offset: 1 189 | Scale: 1 190 | Value: true 191 | Position: 192 | Alpha: 0.30000001192092896 193 | Color: 204; 51; 204 194 | Scale: 1 195 | Value: true 196 | Value: true 197 | Enabled: true 198 | Head Length: 0.30000001192092896 199 | Head Radius: 0.10000000149011612 200 | Name: PoseWithCovariance 201 | Queue Size: 10 202 | Shaft Length: 1 203 | Shaft Radius: 0.05000000074505806 204 | Shape: Arrow 205 | Topic: /navsat_simple/raw_pose 206 | Unreliable: false 207 | Value: true 208 | Enabled: true 209 | Global Options: 210 | Background Color: 48; 57; 62 211 | Default Light: true 212 | Fixed Frame: map 213 | Frame Rate: 30 214 | Name: root 215 | Tools: 216 | - Class: rviz/Interact 217 | Hide Inactive Objects: true 218 | - Class: rviz/MoveCamera 219 | - Class: rviz/Select 220 | - Class: rviz/FocusCamera 221 | - Class: rviz/Measure 222 | - Class: rviz/SetInitialPose 223 | Theta std deviation: 0.2617993950843811 224 | Topic: /initialpose 225 | X std deviation: 0.5 226 | Y std deviation: 0.5 227 | - Class: rviz/SetGoal 228 | Topic: /move_base_simple/goal 229 | - Class: rviz/PublishPoint 230 | Single click: true 231 | Topic: /clicked_point 232 | Value: true 233 | Views: 234 | Current: 235 | Class: rviz/Orbit 236 | Distance: 33.409080505371094 237 | Enable Stereo Rendering: 238 | Stereo Eye Separation: 0.05999999865889549 239 | Stereo Focal Distance: 1 240 | Swap Stereo Eyes: false 241 | Value: false 242 | Field of View: 0.7853981852531433 243 | Focal Point: 244 | X: 1.7178369760513306 245 | Y: 11.672297477722168 246 | Z: -16.395109176635742 247 | Focal Shape Fixed Size: false 248 | Focal Shape Size: 0.05000000074505806 249 | Invert Z Axis: false 250 | Name: Current View 251 | Near Clip Distance: 0.009999999776482582 252 | Pitch: 0.9947971105575562 253 | Target Frame: 254 | Yaw: 4.880396842956543 255 | Saved: ~ 256 | Window Geometry: 257 | Displays: 258 | collapsed: false 259 | Height: 981 260 | Hide Left Dock: false 261 | Hide Right Dock: true 262 | QMainWindow State: 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263 | Selection: 264 | collapsed: false 265 | Time: 266 | collapsed: false 267 | Tool Properties: 268 | collapsed: false 269 | Views: 270 | collapsed: true 271 | Width: 1250 272 | X: 670 273 | Y: 0 274 | --------------------------------------------------------------------------------