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base repository: osrf/vrx
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base: 2.4.0
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head repository: osrf/vrx
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compare: 2.4.1
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  • 3 commits
  • 2 files changed
  • 2 contributors

Commits on Jan 12, 2024

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    3c2e918 View commit details
  2. Update changelog

    Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
    caguero committed Jan 12, 2024
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    7df94ea View commit details
  3. Restore

    Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
    caguero committed Jan 12, 2024
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Showing with 111 additions and 0 deletions.
  1. +13 −0 Changelog.md
  2. +98 −0 vrx_gz/config/roboboat.yaml
13 changes: 13 additions & 0 deletions Changelog.md
Original file line number Diff line number Diff line change
@@ -1,5 +1,18 @@
## VRX 2

### VRX 2.4.1

1. Add configuration file for RoboBoat teleop
* [Pull Request 764](https://github.com/osrf/vrx/pull/764)

### VRX 2.4.0

1. Adding extra RoboBoat models
* [Pull Request 758](https://github.com/osrf/vrx/pull/758)
* [Pull Request 759](https://github.com/osrf/vrx/pull/759)
1. Spawn robot and world separately
* [Pull Request 594](https://github.com/osrf/vrx/pull/594)

### VRX 2.3.3

1. Initialize acoustic perception score
98 changes: 98 additions & 0 deletions vrx_gz/config/roboboat.yaml
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# Copyright 2022 Open Source Robotics Foundation.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Teleop configuration for WAM-V Controller joystick using the d-pad
# configuration.
# Left thumb-stick up/down for left thruster thrust.
# Left thumb-stick left/right for left thruster rotation.
# Right thumb-stick up/down for right thruster thrust.
# Right thumb-stick left/right for right thruster rotation.
# "A" button for firing the ball shooter.
#
# Image from: https://github.com/turtlebot/turtlebot4_robot/blob/galactic/turtlebot4_bringup/config/turtlebot4_controller.config.yaml
#
# L1 R1
# L2 R2
# _=====_ _=====_
# / _____ \ / _____ \
# +.-'_____'-.------------------------------.-'_____'-.+
# / | | '. (BACK) (START) .' | _ | \
# / ___| /|\ |___ \ / ___| /Y\ |___ \
# / | | | ; ; | _ _ ||
# | | <--- ---> | | | ||X| (B)||
# | |___ | ___| ; ; |___ ___||
# |\ | \|/ | / _ ____ _ \ | (A) | /|
# | \ |_____| .','" "', ,'" "', '. |_____| .' |
# | '-.______.-' / \ / \ '-._____.-' |
# | | LJ |--------| RJ | |
# | /\ / \ /\ |
# | / '.___.' '.___.' \ |
# | / \ |
# \ / \ /
# \________/ \_________/
#
# ^ x
# |
# |
# y <-----+ Accelerometer axes
# \
# \
# > z (out)
#
# BUTTON Value
# X 0
# A 1
# B 2
# Y 3
# L1 4
# R1 5
# L2 6
# R2 7
# Back 8
# Start 9
# L3 10
# R3 11
#
# AXIS Value
# Left Horiz. 0
# Left Vert. 1
# Right Horiz. 2
# Right Vert. 3
# D-pad Horiz. 4
# D-pad Vert. 5

joy_teleop:
ros__parameters:

left_thrust:
type: topic
interface_type: std_msgs/msg/Float64
topic_name: /model/roboboat01/joint/left_engine_propeller_joint/cmd_thrust
deadman_buttons: [4]
axis_mappings:
data:
axis: 1
scale: 150.0
offset: 0

right_thrust:
type: topic
interface_type: std_msgs/msg/Float64
topic_name: /model/roboboat01/joint/right_engine_propeller_joint/cmd_thrust
deadman_buttons: [4]
axis_mappings:
data:
axis: 3
scale: 150.0
offset: 0