Merge remote-tracking branch 'origin/integration' into rtk

CMakeLists.txt

@@ -67,15 +67,19 @@ set(MROVER_ROS_DEPENDENCIES
         tf2
         tf2_ros
         tf2_geometry_msgs
+        actionlib_msgs
 )
 
 extract_filenames(msg/*.msg MROVER_MESSAGE_FILES)
 
 extract_filenames(srv/*.srv MROVER_SERVICE_FILES)
 
+extract_filenames(action/*.action MROVER_ACTION_FILES)
+
 set(MROVER_MESSAGE_DEPENDENCIES
         std_msgs
         sensor_msgs
+        actionlib_msgs
 )
 
 set(MROVER_PARAMETERS
@@ -98,7 +102,7 @@ if (ZED_FOUND)
     set(CMAKE_CUDA_STANDARD 17)
     set(CMAKE_CUDA_STANDARD_REQUIRED ON)
     set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
-    set(CMAKE_CUDA_FLAGS "--diag-suppress 108,68")
+    set(CMAKE_CUDA_FLAGS "--diag-suppress 20012")
     # Jetson Xavier NX/AGX has Volta 7.2 architecture
     # Perception Laptop (A4000, Quadro version of RTX 3080) has Ampere 8.6 architecture
     set(CMAKE_CUDA_ARCHITECTURES 72 86)
@@ -123,6 +127,8 @@ add_message_files(FILES ${MROVER_MESSAGE_FILES})
 
 add_service_files(FILES ${MROVER_SERVICE_FILES})
 
+add_action_files(DIRECTORY action FILES ${MROVER_ACTION_FILES})
+
 generate_messages(DEPENDENCIES ${MROVER_MESSAGE_DEPENDENCIES})
 
 generate_dynamic_reconfigure_options(${MROVER_PARAMETERS})
@@ -197,9 +203,11 @@ if (CUDA_FOUND)
     #    target_include_directories(nv_vid_codec_h265_enc SYSTEM PUBLIC deps/nvenc)
 endif ()
 
-mrover_add_nodelet(gst_websocket_streamer src/esw/gst_websocket_streamer/*.c* src/esw/gst_websocket_streamer src/esw/gst_websocket_streamer/pch.hpp)
-mrover_nodelet_link_libraries(gst_websocket_streamer PRIVATE websocket_server ${Gst_LIBRARIES} ${GstApp_LIBRARIES})
-mrover_nodelet_include_directories(gst_websocket_streamer ${Gst_INCLUDE_DIRS} ${GstApp_INCLUDE_DIRS})
+if (Gst_FOUND AND GstApp_FOUND AND LibUsb_FOUND AND LibUdev_FOUND)
+    mrover_add_nodelet(gst_websocket_streamer src/esw/gst_websocket_streamer/*.c* src/esw/gst_websocket_streamer src/esw/gst_websocket_streamer/pch.hpp)
+    mrover_nodelet_link_libraries(gst_websocket_streamer PRIVATE websocket_server ${Gst_LIBRARIES} ${GstApp_LIBRARIES} ${LibUsb_LIBRARIES} ${LibUdev_LIBRARIES} opencv_core opencv_imgproc)
+    mrover_nodelet_include_directories(gst_websocket_streamer ${Gst_INCLUDE_DIRS} ${GstApp_INCLUDE_DIRS} ${LibUsb_INCLUDE_DIRS} ${LibUdev_INCLUDE_DIRS})
+endif ()
 
 if (ZED_FOUND)
     mrover_add_nodelet(object_detector src/perception/object_detector/*.c* src/perception/object_detector src/perception/object_detector/pch.hpp)

action/ArmAction.action

@@ -0,0 +1,3 @@
+string name
+---
+---

ansible/roles/build/files/profiles/ci/config.yaml

@@ -5,9 +5,9 @@ catkin_make_args: [ ]
 cmake_args:
   - -DCMAKE_BUILD_TYPE=Release
   - -DCMAKE_C_COMPILER=clang-16
-  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_CXX_FLAGS=-pipe -fgnuc-version=13.1.0
   - -DCMAKE_CXX_COMPILER=clang++-16
-  - -DCMAKE_CUDA_HOST_COMPILER=clang++-16
+  - -DCMAKE_CUDA_HOST_COMPILER=g++-9
   - -DMROVER_IS_CI=ON
   - -Wno-dev
 devel_layout: linked

ansible/roles/build/files/profiles/debug/config.yaml

@@ -5,11 +5,11 @@ catkin_make_args: [ ]
 cmake_args:
   - -DCMAKE_BUILD_TYPE=Debug
   - -DCMAKE_C_COMPILER=clang-16
-  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_CXX_FLAGS=-pipe -fgnuc-version=13.1.0
   - -DCMAKE_CXX_COMPILER=clang++-16
   - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
   - -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
-  - -DCMAKE_CUDA_HOST_COMPILER=clang++-16
+  - -DCMAKE_CUDA_HOST_COMPILER=g++-9
   - -Wno-dev
 devel_layout: linked
 devel_space: devel

ansible/roles/build/files/profiles/release/config.yaml

@@ -5,11 +5,11 @@ catkin_make_args: [ ]
 cmake_args:
   - -DCMAKE_BUILD_TYPE=Release
   - -DCMAKE_C_COMPILER=clang-16
-  - -DCMAKE_CXX_FLAGS=-march=native -pipe
+  - -DCMAKE_CXX_FLAGS=-march=native -pipe -fgnuc-version=13.1.0
   - -DCMAKE_CXX_COMPILER=clang++-16
   - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
   - -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
-  - -DCMAKE_CUDA_HOST_COMPILER=clang++-16
+  - -DCMAKE_CUDA_HOST_COMPILER=g++-9
   - -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON
   - -Wno-dev
 devel_layout: linked

ansible/roles/build/tasks/main.yml

@@ -97,6 +97,7 @@
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
       - vainfo
+      - x264
 
 - name: Install Local APT Packages
   become: True

ansible/roles/esw/tasks/main.yml

@@ -22,4 +22,4 @@
 
 - name: Install Moteus GUI
   pip:
-    name: moteus_gui
+    name: moteus-gui

ansible/roles/jetson_services/files/rules/99-usb-serial.rules

@@ -0,0 +1,3 @@
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", SYMLINK+="gps_%n"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0058", SYMLINK+="imu"
+SUBSYSTEM=="video4linux", KERNEL=="video*", ATTRS{idVendor}=="1bcf", ATTRS{idProduct}=="0b12", ATTR{index}=="0", GROUP="video", SYMLINK+="arducam" 

ansible/roles/jetson_services/tasks/main.yml

@@ -0,0 +1,14 @@
+- name: USB Rules
+  become: true
+  synchronize:
+    src: files/rules/
+    dest: /etc/udev/rules.d
+    recursive: true
+
+- name: udev Reload Rules
+  become: true
+  command: udevadm control --reload-rules
+
+- name: udev TTY Trigger
+  become: true
+  command: udevadm trigger --subsystem-match=tty

cmake/deps.cmake

@@ -69,3 +69,5 @@ pkg_search_module(NetLink libnl-3.0 QUIET)
 pkg_search_module(NetLinkRoute libnl-route-3.0 QUIET)
 pkg_search_module(Gst gstreamer-1.0 QUIET)
 pkg_search_module(GstApp gstreamer-app-1.0 QUIET)
+pkg_search_module(LibUsb libusb-1.0 QUIET)
+pkg_search_module(LibUdev libudev QUIET)

config/esw.yaml

@@ -1,10 +1,10 @@
 right_gps_driver:
-  port: "/dev/gps"
+  port: "/dev/ttyACM0"
   baud: 38400
   frame_id: "base_link"
 
 left_gps_driver:
-  port: "/dev/ttyACM0"
+  port: "/dev/gps_0"
   baud: 38400
   frame_id: "base_link"
 
@@ -52,7 +52,7 @@ can:
       id: 0x15
     - name: "joint_a"
       bus: 1
-      id: 0x20
+      id: 0x20  
     - name: "joint_b"
       bus: 1
       id: 0x21
@@ -73,10 +73,10 @@ can:
       id: 0x26
     - name: "mast_gimbal_y"
       bus: 3
-      id: 0x28
+      id: 0x27
     - name: "mast_gimbal_z"
       bus: 3
-      id: 0x27
+      id: 0x28
     - name: "sa_x"
       bus: 1
       id: 0x29
@@ -131,10 +131,10 @@ brushless_motors:
       max_velocity: 20.0
       max_torque: 5.0
     joint_a:
-      # 1236.8475 rad/meter, or 196.850393476 rev/meter, and we want a max vel of 40 meter/s. 
+      # 1236.8475 rad/meter, or 196.850393476 rev/meter, and we want a max vel of 40 meter/s.
       # gear ratio is currently at 0.005080 revolutions = 1 meter
-      min_velocity: -0.10  # this means -0.10 meters per second.
-      max_velocity: 0.10
+      min_velocity: -0.05  # this means -0.10 meters per second.
+      max_velocity: 0.05
       limit_0_present: true
       limit_1_present: true
       limit_0_enabled: true
@@ -153,11 +153,11 @@ brushless_motors:
       max_backward_pos: 0.0
       max_torque: 20.0
     joint_c:
-      min_velocity: -0.08 # in terms of output
-      max_velocity: 0.08 # max output shaft speed: 5 rpm (for now)
+      min_velocity: -0.03 # in terms of output
+      max_velocity: 0.03 # max output shaft speed: 5 rpm (for now)
       min_position: -0.125
       max_position: 0.30 # 220 degrees of motion is the entire range
-      max_torque: 20.0
+      max_torque: 200.0
     joint_de_0:
       min_velocity: -5.0
       max_velocity: 5.0
@@ -604,4 +604,4 @@ auton_led_driver:
   baud: 115200
 
 science:
-  shutoff_temp: 50.0f
+  shutoff_temp: 50.0f

config/localization.yaml

@@ -8,4 +8,4 @@ gps_linearization:
   reference_point_longitude: -83.7096706
   reference_point_altitude: 234.1
   reference_heading: 90.0
-  use_both_gps: true
+  use_both_gps: false

config/moteus/joint_c.cfg

@@ -1363,9 +1363,9 @@ servo.adc_cur_cycles 2
 servo.adc_aux_cycles 47
 servo.pid_dq.kp 0.060606
 servo.pid_dq.ki 102.321388
-servo.pid_position.kp 14.000000
+servo.pid_position.kp 800.000000
 servo.pid_position.ki 0.000000
-servo.pid_position.kd 1.450000
+servo.pid_position.kd 50.000000
 servo.pid_position.iratelimit -1.000000
 servo.pid_position.ilimit 0.000000
 servo.pid_position.max_desired_rate 0.000000

config/teleop.yaml

@@ -6,34 +6,24 @@ teleop:
     joint_a:
       multiplier: -1
       slow_mode_multiplier: 0.5
-      invert: True
-      xbox_index: 0
     joint_b:
       multiplier: 1
       slow_mode_multiplier: 1
-      invert: False
-      xbox_index: 1
     joint_c:
-      multiplier: -1
+      multiplier: 1
       slow_mode_multiplier: 0.6
-      invert: False
-      xbox_index: 3
     joint_de_pitch:
-      multiplier: 0.5
+      multiplier: -1
       slow_mode_multiplier: 1
-      invert: True
     joint_de_roll:
-      multiplier: -0.5
+      multiplier: 1
       slow_mode_multiplier: 1
-      invert: True
     allen_key:
       multiplier: 1
       slow_mode_multiplier: 1
-      invert: False
     gripper:
       multiplier: 1
       slow_mode_multiplier: 1
-      invert: True
 
   sa_controls:
     sa_x:
@@ -67,21 +57,32 @@ teleop:
       enabled: true
       multiplier: 1
     twist:
-      multiplier: 0.7
+      multiplier: 0.6
+    tilt:
+      multiplier: 1
 
   xbox_mappings:
-    left_js_x: 0
-    left_js_y: 1
-    right_js_x: 2
-    right_js_y: 3
-    left_trigger: 6
-    right_trigger: 7
+    left_x: 0
+    left_y: 1
+    right_x: 2
+    right_y: 3
     a: 0
     b: 1
     x: 2
     y: 3
     left_bumper: 4
     right_bumper: 5
+    left_trigger: 6
+    right_trigger: 7
+    back: 8
+    forward: 9
+    left_stick_click: 10
+    right_stick_click: 11
+    dpad_up: 12
+    dpad_down: 13
+    dpad_left: 14
+    dpad_right: 15
+    home: 16
 
   joystick_mappings:
     left_right: 0
@@ -119,6 +120,6 @@ teleop:
     bar: ["/tf_static", "/rosout", "/tf"]
 
   ik_multipliers:
-    x: 1
-    y: 1
-    z: 1
+    x: 0.1
+    y: 0.1
+    z: 0.1

launch/basestation.launch

@@ -4,14 +4,18 @@
 <launch>
   <arg name="run_rviz" default="false" />
   <arg name="run_network_monitor" default="false" />
+  <arg name="run_backend" default="true" />
+  <arg name="run_frontend" default="true" />
+  <arg name="run_browser" default="true" />
 
   <rosparam command="load" file="$(find mrover)/config/esw.yaml" />
   <rosparam command="load" file="$(find mrover)/config/teleop.yaml" />
   <rosparam command="load" file="$(find mrover)/config/localization.yaml" />
 
-  <node name="gui_frontend" pkg="mrover" type="gui_frontend.sh" cwd="node" required="true" />
-  <node name="gui_backend" pkg="mrover" type="gui_backend.sh" cwd="node" required="true" />
-  <node name="gui_chromium" pkg="mrover" type="gui_chromium.sh" />
+  <node if="$(arg run_frontend)" name="gui_frontend" pkg="mrover" type="gui_frontend.sh" cwd="node" required="true" />
+  <node if="$(arg run_backend)" name="gui_backend" pkg="mrover" type="gui_backend.sh" cwd="node" required="true" />
+  <node if="$(arg run_browser)" name="gui_chromium_menu" pkg="mrover" type="gui_chromium_menu.sh" />
+  <node if="$(arg run_browser)" name="gui_chromium_cameras" pkg="mrover" type="gui_chromium_cameras.sh" />
 
   <group if="$(arg run_rviz)">
     <arg name="rvizconfig" default="$(find mrover)/config/rviz/basestation.rviz" />