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finish adding parameters

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ryleu
2026-03-23 20:39:50 -05:00
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@@ -60,6 +60,20 @@ $ ros2 launch anchor_pkg rover.launch.py # Must be run on a computer connected
$ ros2 run headless_pkg headless_full # Optionally run in a separate shell on the same or different computer.
```
### Using the Mock Connector
Anchor provides a mock connector meant for testing and scripting purposes. You can select the mock connector by running anchor with this command:
```bash
$ ros2 launch anchor_pkg rover.launch.py connector:="mock"
```
You can see all data sent to it in a string format with this command:
```bash
$ ros2 topic echo /anchor/to_vic/debug
```
### Testing Serial
You can fake the presence of a Serial device (i.e., MCU) by using the following command:
@@ -68,10 +82,31 @@ 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 `serial_override` ROS2 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 connector:=serial serial_override:=/tmp/ttyACM9
```
### Testing CAN
You can create a virtual CAN network by using the following commands to create and then enable it:
```bash
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 up
```
When you go to run anchor, use the `can_override` ROS2 parameter to point it to the virtual CAN network, like so:
```bash
$ ros2 launch anchor_pkg rover.launch.py connector:=can can_override:=vcan0
```
Once you're done, you should delete the virtual network so that anchor doesn't get confused if you plug in a real CAN adapter:
```bash
$ sudo ip link delete vcan0
```
### Connecting the GuliKit Controller