Adapt to V3 Interface #10
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ivangr3
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Thank you for your contribution! I will probably put it on a different branch. The new SDK seems more limited regarding its feature set. Is this the case or are e.g. the IMU readout only missing from this PR? |
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| [submodule "gremsy_base/src/gSDK_Linux"] | |||
| path = gremsy_base/src/gSDK_Linux | |||
| url = ../../Gremsy/gSDK.git | |||
| [submodule "gremsy_base/src/gSDK"] | |||
| path = gremsy_base/src/gSDK | |||
| url = https://github.com/Gremsy/gSDK.git | |||
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Please use the ../../ instead of https://github.com/as it better compatible with repos that are cloned via ssh.
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| The gimbal is connected via UART with a Linux host device running this node. | ||
| Devices such as the Raspberry Pi feature a build-in UART interface others like most PCs or Laptops need a cheap USB Adapter. | ||
| The used serial device, as well as many other gimbal specific parameters, can be configured in the `config.yaml` file. | ||
| The node publishes the gimbals encoder positions, imu measurements, and the camera mount orientation. | ||
| The node publishes the gimbals encoder positions. |
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Is the IMU, etc not supported by the SDK or is it not implemented in the ROS interface?
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I've only been able to implement the publication of the gimbal encoders with the new SDK. In the case of the IMU, the method used to get the data returns without closing a mutex and the system blocks. I think that it's a bug in the SDK but might be due to an incorrect use of the method. Regarding the camera mount orientation, I don't find a method in the new SDK to read the data. However, I haven't studied the functionalities of the new interface thoroughly so I could have a look to ensure they can't be implemented.
| mount_orientation.pitch, | ||
| mount_orientation.yaw))); | ||
| } | ||
| encoder_ros_msg.vector.x = ((float) encoder_values.roll); |
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Is the SDK interface changed to radians now?
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It works directly with degrees. There would be no problem to change it to radians if preferred.
Adaptation of the ROS package for V3 gimbals. It would be great to have a different branch for this contribution as it is based on a different interface.