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general cleanup before i start work on CANceiver

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ryleu
2026-01-22 00:31:46 -05:00
parent 4a98c3d435
commit 5e2bbe23a3
2 changed files with 88 additions and 145 deletions
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README.md
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@@ -65,10 +65,10 @@ You can fake the presence of a Serial device (i.e., MCU) by using the following
$ socat -dd -v pty,rawer,crnl,link=/tmp/ttyACM9 pty,rawer,crnl,link=/tmp/ttyOUT
```
When you go to run anchor, use the `PORT_OVERRIDE` environment variable to point it to the fake serial port, like so:
When you go to run anchor, use the `port_override` launch parameter to point it to the fake serial port, like so:
```bash
$ PORT_OVERRIDE=/tmp/ttyACM9 ros2 launch anchor_pkg rover.launch.py
$ ros2 launch anchor_pkg rover.launch.py --ros-args -p port_override:=/tmp/ttyACM9
```
### Connecting the GuliKit Controller
@@ -121,23 +121,24 @@ A: Don't worry about it. If you had the workspace sourced, ROS2 will complain ab
...
```
A: To find a microcontroller to talk to, Anchor sends a ping to every Serial port on your computer. If it does not receive a 'pong' in less than one second, then it aborts. There are a few possible fixes:
A: To find a microcontroller to talk to, Anchor filters through your available serial ports to find microcontrollers. If the microcontroller fails
to respond properly, or one is not found, it will abort. There are a few possible fixes:
- Keep trying to run it until it works
- Run `lsusb` to see if the microcontroller is detected by your computer.
- Run `ls /dev/tty*0` to see if there is a valid Serial port enumerated for the microcontroller.
- Check if you are in the `dialout` group (or whatever group shows up by running `ls -l /dev/tty*`).
- Check if you are in the `dialout` group (or whatever group shows up by running `ls -l /dev/tty*`) by using the `groups` command.
## Packages
- [anchor\_pkg](./src/anchor_pkg) - Handles Serial communication between the various other packages here and the microcontroller.
- [arm\_pkg](./src/arm_pkg) - Relays controls and sensor data for the arm (socket and digit) between anchor and basestation/headless.
- [astra\_descriptions](./src/astra_descriptions) - Submodule with URDF-related packages.
- [astra\_msgs](./src/astra_msgs) - Contains custom message types for communication between basestation and the rover over ROS2.
- [bio\_pkg](./src/bio_pkg) - Like arm_pkg, but for CITADEL and FAERIE
- [core\_pkg](./src/core_pkg) - Like arm_pkg, but for Core
- [headless\_pkg](./src/headless_pkg) - Simple, non-graphical controller node to work in place of basestation when controlling the rover by itself. This is autostarted with anchor to allow for setup-less control of the rover.
- [latency\_tester](./src/latency_tester) - A temporary node to test comms latency over ROS2, Serial, and CAN.
- [ros2\_interfaces\_pkg](./src/ros2_interfaces_pkg) - Contains custom message types for communication between basestation and the rover over ROS2. (being renamed to `astra_msgs`).
- [servo\_arm\_twist\_pkg](./src/servo_arm_twist_pkg) - A temporary node to translate controller state from `ros2_joy` to `Twist` messages to control the Arm via IK.
## Maintainers