Merge branch 'main' into yaml_files_for_drone

Author: Q3rkses

auv_setup/description/nautilus.urdf.xacro

@@ -25,7 +25,7 @@
   <joint name="base_to_dvl" type="fixed">
     <parent link="base_link"/>
     <child link="dvl_link"/>
-    <origin xyz="-0.130 0.003 0.2414" rpy="0.0 0.0 0.0"/>
+    <origin xyz="-0.130 0.003 0.2414" rpy="0.0 0.0 3.14159"/>
   </joint>
 
   <!-- base to pressure sensor -->

auv_setup/launch/nucleus_odom_transformer.launch.py

@@ -46,10 +46,10 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "frame_id": f"{namespace}/nucleus_frame",
+                "qos": "best_effort",
                 "connection_params.remote_ip": "10.0.0.42",
                 "connection_params.data_remote_port": 9000,
                 "connection_params.password": "",
-                "reset_pose_on_start": True,
                 "enable_imu": True,
                 "enable_ins_odom": True,
                 "enable_dvl": True,
@@ -78,7 +78,7 @@ def launch_setup(context, *args, **kwargs):
                 "altimeter_settings.power_level": 0,  # 0=default
                 "magnetometer_settings.freq": 75,
                 "magnetometer_settings.mode": 0,
-                "instrument_settings.rotxy": 180.0,  # Transform currently not working. Maybe fix later
+                "instrument_settings.rotxy": 0.0,  # Transform currently not working. Maybe fix later
                 "instrument_settings.rotyz": 0.0,
                 "instrument_settings.rotxz": 0.0,
             },
@@ -98,7 +98,6 @@ def launch_setup(context, *args, **kwargs):
                 "publish_tf": True,
                 "publish_pose": True,
                 "publish_twist": True,
-                "rotate_yaw_180": True,
                 "topics.input": f"/{namespace}/nucleus/odom",
                 "topics.output": f"/{namespace}/odom",
                 "topics.pose": f"/{namespace}/pose",

auv_setup/launch/state_estimation.launch.py

@@ -151,10 +151,10 @@ def launch_setup(context, *args, **kwargs):
                 parameters=[
                     {
                         "frame_id": f"/{namespace}/nucleus_frame",
+                        "qos": "best_effort",
                         "connection_params.remote_ip": "10.0.0.42",
                         "connection_params.data_remote_port": 9000,
                         "connection_params.password": "",
-                        "reset_pose_on_start": True,
                         "enable_imu": False,
                         "enable_ins_odom": False,
                         "enable_dvl": True,
@@ -183,7 +183,7 @@ def launch_setup(context, *args, **kwargs):
                         "fast_pressure_settings.sampling_rate": 16,
                         "magnetometer_settings.freq": 75,
                         "magnetometer_settings.mode": 0,
-                        "instrument_settings.rotxy": 180.0,  # Transform currently not working. Maybe fix later
+                        "instrument_settings.rotxy": 0.0,  # Transform currently not working. Maybe fix later
                         "instrument_settings.rotyz": 0.0,
                         "instrument_settings.rotxz": 0.0,
                     }

auv_setup/launch/topside.launch.py

@@ -10,6 +10,7 @@
 )
 from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 from auv_setup.launch_arg_common import (
@@ -47,6 +48,7 @@ def launch_setup(context, *args, **kwargs):
             "drone": drone,
             "orientation_mode": orientation_mode,
             "namespace": namespace,
+            "orientation_mode": orientation_mode,
         }.items(),
     )
 
@@ -75,8 +77,9 @@ def generate_launch_description() -> LaunchDescription:
         + [
             DeclareLaunchArgument(
                 "orientation_mode",
-                default_value="quat",
+                default_value="euler",
                 description="Reference orientation representation: 'euler' (ReferenceFilter) or 'quat' (ReferenceFilterQuat)",
+                choices=["euler", "quat"],
             ),
             OpaqueFunction(function=launch_setup),
         ]

mission/joystick_interface_auv/joystick_interface_auv/joystick_interface_auv_node.py

@@ -65,7 +65,7 @@ def __init__(self):
 
     def get_parameters(self):
         """Method to get the parameters from the config file."""
-        self.declare_parameter('drone')
+        self.declare_parameter('drone', Parameter.Type.STRING)
         self._drone = self.get_parameter('drone').value
 
         gain_params = [

mission/joystick_interface_auv/launch/joystick_interface_auv.launch.py

@@ -65,6 +65,7 @@ def generate_launch_description() -> LaunchDescription:
                 "orientation_mode",
                 default_value="euler",
                 description="Reference orientation representation: 'euler' (ReferenceFilter) or 'quat' (ReferenceFilterQuat)",
+                choices=["euler", "quat"],
             ),
             OpaqueFunction(function=launch_setup),
         ]

motion/thruster_interface_auv/config/thruster_interface_auv_config.yaml

@@ -20,9 +20,9 @@
       #   LEFT: [2.55792, 27.51178, 147.67001, 1472.23069]
       #   RIGHT: [1.33421, -18.75129, 121.29079, 1528.99886]
 
-    i2c:
-      bus: 7
-      address: 0x21
+    uart:
+      device: "/dev/serial0"
+      baud_rate: 115200
 
     debug:
-      flag: False
+      flag: True