aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-02-11 17:30:36 +00:00
Code Issues Packages Projects Releases Wiki Activity

docs: add graphs for individual anchor nodes

Browse Source
This commit is contained in:
David
2025-12-01 12:23:06 -06:00
parent bf42dbd5af
commit e644a3cad5
5 changed files with 31 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
README.md
View File

@@ -17,6 +17,8 @@ You will use these packages to launch all rover-side ROS2 nodes.
- [Common Problems/Toubleshooting](#common-problemstroubleshooting)
- [Packages](#packages)
- [Graphs](#graphs)
- [Full System](#full-system)
- [Individual Nodes](#individual-nodes)
- [Maintainers](#maintainers)
## Software Prerequisites
@@ -143,14 +145,37 @@ A: To find a microcontroller to talk to, Anchor sends a ping to every Serial por
## Graphs
> Anchor stand-alone (`ros2 launch anchor_pkg rover.launch.py`)
![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png)
### Full System
> Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)
![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png)
> **Anchor stand-alone** (`ros2 launch anchor_pkg rover.launch.py`)
>
> ![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png)
> Anchor with Headless (`ros2 run headless_pkg headless_full`)
![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png)
> **Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)**
>
> ![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png)
> **Anchor with Headless** (`ros2 run headless_pkg headless_full`)
>
> ![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png)
### Individual Nodes
> **Anchor** (`ros2 run anchor_pkg anchor`)
>
> ![rqt_graph of Anchor node running by itself](./docs-resources/graph-anchor-anchor-standalone.png)
> **Core** (`ros2 run core_pkg core --ros-args -p launch_mode:=anchor`)
>
> ![rqt_graph of Core node running by itself](./docs-resources/graph-anchor-core-standalone.png)
> **Arm** (`ros2 run arm_pkg arm --ros-args -p launch_mode:=anchor`)
>
> ![rqt_graph of Arm node running by itself](./docs-resources/graph-anchor-arm-standalone.png)
> **Bio** (`ros2 run bio_pkg bio --ros-args -p launch_mode:=anchor`)
>
> ![rqt_graph of Bio node running by itself](./docs-resources/graph-anchor-bio-standalone.png)
## Maintainers