akros2_firmware's Introduction

akros2_firmware

Firmware and libraries for the akros2 robot, based on linorobot2_hardware repository and the MECANUM config. Using a Teensy 4.1 with an expansion board from Tindie. I'm using the same libraries as linorobot2, but have added/changed a few things to the firmware:

Option for native ethernet transport (UDP4).
Option to set ROS_DOMAIN_ID.
Neopixel status and mode indicator using FastLED.
Compiling/uploading using Arduino IDE and modified micro_ros_arduino libraries instead of PlatformIO.
Mode subscriber with custom akros2_msgs/Mode type.
Joint State publishers to publish the measured and required joint states (velocities and positions) as separate sensor_msgs/JointState messages.
Parameter server reads the following:
- Gain values (kp, ki, kd, scale) which are set on the ROS2 host, used for PID tuning.
  - Parameters are initialized using values defined in the configuration. These values are also used during re-initialization (when agent is reconnected)
  - Config needs to be updated and then the firmware needs to be recompiled with the tuned PID gains.
  - scale value is limited to the range [0.0, 1.0] with a step size of 0.01.
- Boolean value ned_to_enu which is used to convert IMU representation from NED (North-East-Down) to ENU (East-North-Up) convention according to REP-103, if needed. The parameter value is passed down to the IMU interface, which does the conversion. Defaults to false, as the sensor already provides measurements in ENU convention.
TODO - Refactoring: Calibration sketch updated and moved to a separate repo arduino_sketchbook_ros.
- Reports max RPMs (revolutions per minute) using pre-defined CPRs (counts per revolution), instead of the other way around.
- Also reports the calculated CPRs and its deviation from the pre-defined CPRs.