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wip-behaviors #3

Merged
Pimpest merged 86 commits from wip-behaviors into main 2026-05-28 06:21:26 +00:00
Conversation 0 Commits 86 Files Changed 129 +8 -5
4 changed files with 8 additions and 5 deletions
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1
docker-compose.yaml
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@@ -1,6 +1,7 @@
services: services:
toid: toid:
image: localhost:5000/toid image: localhost:5000/toid
build: .
container_name: toid container_name: toid
privileged: true privileged: true

5
firmware/base/src/config.h
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@@ -24,7 +24,8 @@
#define ENCODER_LEFT_PIN_B 13 #define ENCODER_LEFT_PIN_B 13
#define ENCODER_CPR 3840 #define ENCODER_CPR 3840
#define WHEEL_RADIUS 0.0300 //#define WHEEL_RADIUS (0.0300 * 1.01483541)
#define WHEEL_SEPARATION 0.264 #define WHEEL_RADIUS 0.028
#define WHEEL_SEPARATION 0.271
#define TIMER_CYCLE_US 1000 #define TIMER_CYCLE_US 1000
//====================================================== //======================================================

4
firmware/base/src/main.c
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@@ -62,8 +62,8 @@ typedef struct calib_diff_t {
} calib_diff_t; } calib_diff_t;
static calib_diff_t calib_enc = { static calib_diff_t calib_enc = {
.left_gain = 1.000, .left_gain = 1.0,
.right_gain = 1.0000 .right_gain = 1.0,
}; };
void update_pos_cb() { void update_pos_cb() {

3
toid_bt/src/bt_executor.cpp
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@@ -19,9 +19,10 @@ TreeExecutor::TreeExecutor(const rclcpp::NodeOptions opts)
/* /*
executeRegistration(); executeRegistration();
std::cout << BT::writeTreeNodesModelXML(factory()) << std::endl; std::cout << BT::writeTreeNodesModelXML(factory()) << std::endl;
*/
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node()->get_clock()); tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node()->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_); tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
*/
nav2_util::declare_parameter_if_not_declared( nav2_util::declare_parameter_if_not_declared(
node(), "base_frame", rclcpp::ParameterValue("base_footprint")); node(), "base_frame", rclcpp::ParameterValue("base_footprint"));