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ConnorNeed
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ConnorNeed
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Here are some things to get started with.
I will challenge you to see if you can create a helper python library that contains all the shared helper functions reducing code dupliations.
Given that the configuration scripts are going to be used as command line tools, use argparse (https://docs.python.org/3/library/argparse.html) to allow us to change some of the parameters from the command line. Make sure to use whatever the "Correct" versions for our setup as the defaults.
src/Nav/gps/gps/rtcm_pub_node.py
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| self.get_parameter("Baudrate").get_parameter_value().integer_value | ||
| ) | ||
| self.declare_parameter("Device", "/dev/ttyACM0") | ||
| self.declare_parameter( |
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This is just the default path. It can be overwriten in the launch file. Using /dev/ttyACM0 makes sense as a default.
src/Nav/gps/config/fr_basestation.py
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| """ | ||
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| print("\nFormatting RTCM MSGOUT CFG-VALSET message...") | ||
| layers = 7 # 1 = RAM, 2 = BBR, 4 = Flash (can be OR'd) |
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Create some named constants to remove this magic number
src/Nav/gps/config/fr_basestation.py
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| "/dev/ttyACM0", | ||
| 38400, | ||
| ) as stream: | ||
| layers = 7 # RAM + BBR + Flash for persistent storage |
src/Nav/gps/config/fr_heading.py
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| layers = 7 # RAM + BBR + Flash for persistent storage | ||
| transaction = 0 | ||
| cfg_data = [ | ||
| ("CFG_MSGOUT_UBX_NAV_RELPOSNED_USB", 1), # 1 = 1 time per epoch |
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What's the conversion from epoch to hz?
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It is 1/rate_ms, where the rate should be in seconds and NAV_RATE_MS, so a value of NAV_RATE_MS is 200 is equal to 5 hz
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Before you start worring about the new task of reading the base station via a different interface this needs to get cleaned up and merged in. |
src/Nav/gps/launch/heading.launch.py
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| { | ||
| "Device": "/dev/serial/by-id/usb-FTDI_FT230X_Basic_UART_D30I1LY5-if00-port0" | ||
| }, | ||
| # expose launch arg to node; node can act on it to load config |
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This was obviously AI but please double check the work. This doesn't make any sense in the context of the PR. The part right below it runs the config. Why are we passing it into the node?
src/Nav/gps/launch/rover.launch.py
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| output="both", | ||
| remappings=ublox_remappings, | ||
| parameters=[params_file], | ||
| parameters=[params_file, {"load_config": load_config}], |
| ) | ||
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| return launch.LaunchDescription([ublox_gps_node, heading_cmd]) | ||
| return launch.LaunchDescription( |
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Why is some of this declared above and some of this in the return statement? Either style is fine but please pick one
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Remade the config files for the gps to factory reset before and changed the frequency of gps/fix and the heading