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husarion_ugv_crsf_teleop

This ROS 2 package allows you to control robots using a CRSF compatible remote control. A receiver should be connected to the robot's computer via USB-UART converter or be integrated as a hardware USB dongle. The CRSF protocol parser is implemented based on the following specification.

Launch Files

  • teleop.launch.py: Launches crsf_teleop_node node. Automatically respawns node if it exits. Node's namespace can be set using the namespace launch argument. Custom parameters file can be provided by setting the params_file launch argument.

Configuration Files

  • crsf_teleop_panther.yaml: Sets default Panther robot parameter values for the crsf_teleop_node when teleop.launch.py is launched.
  • crsf_teleop_lynx.yaml: Sets default Lynx robot parameter values for the crsf_teleop_node when teleop.launch.py is launched.

ROS Nodes

crsf_teleop_node

Translates received CRSF commands to velocity commands for the robot.

The following channels are used for controlling the robot via the TX16S remote control:

  • Channel 2 - Right gimbal up/down - forward/backward velocity
  • Channel 4 - Left gimbal left/right - turning (angular) velocity
  • Channel 5 - SF switch - emergency stop
  • Channel 7 - SA switch (down position) - silence cmd_vel messages, allows other nodes to control the robot while enabling e_stop functionality
  • Channel 11 - SG switch - tristate switch, selects robot speed

Publishes

  • cmd_vel [geometry_msgs/Twist]: Publishes velocity commands to the robot.
  • link_status [panther_crsf_teleop_msgs/LinkStatus]: Describes radio link status between the remote control and the robot. Parameters are described in the CRSF_FRAMETYPE_LINK_STATISTICS frame documentation.

Service Clients

  • hardware/e_stop_trigger [std_srvs/Trigger]: Triggers an emergency stop.
  • hardware/e_stop_reset [std_srvs/Trigger]: Triggers an emergency stop reset.

Parameters

  • serial_port [string, default: /dev/ttyUSB0]: Serial port to which the CRSF receiver is connected.
  • baudrate [int, default: 576000]: Baudrate of the serial port.
  • e_stop_republish [bool, default: False]: Rebroadcasts asserted emergency stop signal once per second. Will override other emergency stop sources.
  • enable_cmd_vel_silence_switch[bool, default: False]: Enables remote to disable publishing cmd_vel messages on demand. Can be used as a remote emergency stop when using other nodes to control the robot.
  • linear_speed_presets [double_array, default: [0.5, 1.0, 2.0]]: Selectable robot maximum linear speed for cmd_vel topic.
  • angular_speed_presets [double_array, default: [0.5, 1.0, 2.0]]: Selectable robot maximum angular speed for the cmd_vel topic.