Adapt to V3 Interface #10
Conversation
ivangr3
force-pushed
the
ros_gremsy_V3
branch
from
c7114fe to
ee5ca17
Compare
|
Thank you for your contribution! I will probably put it on a different branch. The new SDK seems more limited regarding its feature set. Is this the case or are e.g. the IMU readout only missing from this PR? |
| url = ../../Gremsy/gSDK.git | ||
| [submodule "gremsy_base/src/gSDK"] | ||
| path = gremsy_base/src/gSDK | ||
| url = https://github.com/Gremsy/gSDK.git |
There was a problem hiding this comment.
Please use the ../../ instead of https://github.com/as it better compatible with repos that are cloned via ssh.
| Devices such as the Raspberry Pi feature a build-in UART interface others like most PCs or Laptops need a cheap USB Adapter. | ||
| The used serial device, as well as many other gimbal specific parameters, can be configured in the `config.yaml` file. | ||
| The node publishes the gimbals encoder positions, imu measurements, and the camera mount orientation. | ||
| The node publishes the gimbals encoder positions. |
There was a problem hiding this comment.
Is the IMU, etc not supported by the SDK or is it not implemented in the ROS interface?
There was a problem hiding this comment.
I've only been able to implement the publication of the gimbal encoders with the new SDK. In the case of the IMU, the method used to get the data returns without closing a mutex and the system blocks. I think that it's a bug in the SDK but might be due to an incorrect use of the method. Regarding the camera mount orientation, I don't find a method in the new SDK to read the data. However, I haven't studied the functionalities of the new interface thoroughly so I could have a look to ensure they can't be implemented.
| mount_orientation.pitch, | ||
| mount_orientation.yaw))); | ||
| } | ||
| encoder_ros_msg.vector.x = ((float) encoder_values.roll); |
There was a problem hiding this comment.
Is the SDK interface changed to radians now?
There was a problem hiding this comment.
It works directly with degrees. There would be no problem to change it to radians if preferred.
2 participants
Adaptation of the ROS package for V3 gimbals. It would be great to have a different branch for this contribution as it is based on a different interface.