feat(core): change rover_platform parameter to override, default with hostname instead of environment variable

src/anchor_pkg/launch/rover.launch.py

@@ -58,10 +58,10 @@ def generate_launch_description():
 
     ld.add_action(
         DeclareLaunchArgument(
-            "rover_platform",
+            "rover_platform_override",
-            default_value="auto",
+            default_value="",
-            description="Choose the rover platform (either clucky or testbed). If left on auto, will defer to ROVER_PLATFORM environment variable.",
+            description="Override the rover platform (either clucky or testbed). If unset, hostname is used; defaults to clucky without hostname.",
-            choices=["clucky", "testbed", "auto"],
+            choices=["clucky", "testbed", ""],
         )
     )
 
@@ -120,8 +120,8 @@ def generate_launch_description():
                     )
                 },
                 {
-                    "rover_platform": LaunchConfiguration(
+                    "rover_platform_override": LaunchConfiguration(
-                        "rover_platform", default="auto"
+                        "rover_platform_override", default="auto"
                     )
                 },
             ],

src/core_pkg/core_pkg/core_node.py

@@ -5,6 +5,7 @@ from scipy.spatial.transform import Rotation
 from math import copysign, pi
 from warnings import deprecated
 from os import getenv
+from socket import gethostname
 
 import rclpy
 from rclpy.node import Node
@@ -71,18 +72,27 @@ class CoreNode(Node):
             self.get_parameter("use_ros2_control").get_parameter_value().bool_value
         )
 
-        self.declare_parameter("rover_platform", "auto")
+        self.declare_parameter("rover_platform_override", "")
         rover_platform = (
-            self.get_parameter("rover_platform").get_parameter_value().string_value
+            self.get_parameter("rover_platform_override")
+            .get_parameter_value()
+            .string_value
         )
-        if rover_platform == "auto":
+        # Verify rover_platform_override value is valid
+        if rover_platform not in ("clucky", "testbed", ""):
+            # Keeping this here, because I want a value error only if the user manually
+            # overrides using a bad value. If we can't determine it automatically
+            # from hostname, then default to clucky.
+            self.get_logger().fatal(
+                "Invalid rover_platform_override parameter value. If set, must be 'clucky' or 'testbed'."
+            )
+        # Attempt to determine platform from hostname, default to clucky on failure
+        rover_platform = rover_platform or gethostname().lower()
+        if rover_platform not in ("clucky", "testbed"):
             self.get_logger().info(
-                "rover_platform parameter is unset, falling back to environment variable"
+                "rover_platform defaulting to clucky, not overridden and could not determine from hostname."
             )
-            rover_platform = getenv("ROVER_PLATFORM", "clucky")
+            rover_platform = "clucky"
-        if rover_platform not in ("clucky", "testbed"):  # make sure we have a valid value
-            raise ValueError("rover platform must be either 'clucky' or 'testbed'.")
-        else:
         self.rover_platform = cast(Literal["clucky", "testbed"], rover_platform)
 
         if self.rover_platform == "testbed":
@@ -179,9 +189,19 @@ class CoreNode(Node):
             Barometer, "/core/feedback/baro", qos_profile=qos.qos_profile_sensor_data
         )
 
+        ###################################################
+        # Timers
+
+        if self.use_ros2_control:
+            self.vel_cmd_timer_ = self.create_timer(0.1, self.vel_cmd_timer_callback)
+
         ###################################################
         # Saved state
 
+        # Controls
+        self._last_joint_command_time = self.get_clock().now()
+        self._last_joint_command_msg = JointState()
+
         # Main Core feedback
         self.feedback_new_state = NewCoreFeedback()
         self.feedback_new_state.fl_motor.id = 1
@@ -273,16 +293,31 @@ class CoreNode(Node):
             )
             return
 
-        (bl_vel, br_vel, fl_vel, fr_vel) = msg.velocity
+        # A 10 Hz timer callback actually sends these commands to Core for rate limiting
+        # These come from ros2_control at 50 Hz
+        self._last_joint_command_time = self.get_clock().now()
+        self._last_joint_command_msg = msg
 
+    def vel_cmd_timer_callback(self):
+        # Safety timeout for diff_drive_controller commands via topic_based_ros2_control.
+        # It is safe to send stop command here because if self.use_ros2_control,
+        # then this is the only callback that is controlling Core's motors.
+        if self.get_clock().now() - self._last_joint_command_time > Duration(
+            nanoseconds=int(1e8)  # 100ms
+        ):
+            self.send_viccan(20, [0.0, 0.0, 0.0, 0.0])
+            return
+
+        # This order is verified by the subscription callback
+        (bl_vel, br_vel, fl_vel, fr_vel) = self._last_joint_command_msg.velocity
+
+        # Convert wheel rad/s to motor RPM
         bl_rpm = radps_to_rpm(bl_vel) * self.gear_ratio
         br_rpm = radps_to_rpm(br_vel) * self.gear_ratio
         fl_rpm = radps_to_rpm(fl_vel) * self.gear_ratio
         fr_rpm = radps_to_rpm(fr_vel) * self.gear_ratio
 
-        self.send_viccan(
+        self.send_viccan(20, [fl_rpm, bl_rpm, fr_rpm, br_rpm])  # REV Velocity
-            20, [fl_rpm, bl_rpm, fr_rpm, br_rpm]
-        )  # order expected by embedded
 
     def twist_man_callback(self, msg: Twist):
         linear = msg.linear.x  # [-1 1] for forward/back from left stick y

src/headless_pkg/src/headless_node.py

@@ -366,10 +366,14 @@ class Headless(Node):
             )  # Exponent for finer control (curve)
 
             # This kinda looks dumb being seperate from the following block, but this
-            # maintains the separation between modifying the control message and sending it
+            # maintains the separation between modifying the control message and sending it.
             if self.use_cmd_vel:
-                twist.linear.x *= 1.5
+                # These scaling factors convert raw stick inputs to absolute m/s and rad/s
-                twist.angular.z *= 0.5
+                # values that DiffDriveController will convert to motor RPM, rather than
+                # the plain Twist, which just sends the stick values as duty cycle and
+                # sends that scaled to the motors.
+                twist.linear.x *= 1.0
+                twist.angular.z *= 1.5
 
             # Publish
             if self.use_cmd_vel: