fixed integration merge

umrover · Apr 19, 2024 · b024fda · b024fda
2 parents c9accdc + 54e0b98
commit b024fda
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Showing 18 changed files with 7,504 additions and 242 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -22,16 +22,8 @@ jobs:
           lfs: "true"
           # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
           path: "src/mrover"
-      - name: Ensure Python Requirements
-        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install --no-cache-dir -e "$GITHUB_WORKSPACE/src/mrover[dev]"
       - name: Style Check
         run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
-      - name: Update ROS APT
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep update
-      - name: Ensure ROS APT Requirements
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep install --from-paths "$GITHUB_WORKSPACE/src" --ignore-src -r -y --rosdistro noetic
       - name: Copy Catkin Profiles
         if: github.event.pull_request.draft == false
         run: rsync -r $GITHUB_WORKSPACE/src/mrover/ansible/roles/build/files/profiles $GITHUB_WORKSPACE/.catkin_tools
@@ -42,7 +34,7 @@ jobs:
         if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
       - name: Build With Clang Tidy
-        if : github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
+        if: github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
       - name: Test
         if: github.event.pull_request.draft == false

diff --git a/config/esw.yaml b/config/esw.yaml
@@ -96,23 +96,23 @@ can:
 brushless_motors:
   controllers:
     front_left:
-      min_velocity: -11.0
-      max_velocity: 11.0
+      min_velocity: -20.0
+      max_velocity: 20.0
     front_right:
-      min_velocity: -11.0
-      max_velocity: 11.0
+      min_velocity: -20.0
+      max_velocity: 20.0
     middle_left:
-      min_velocity: -11.0
-      max_velocity: 11.0
+      min_velocity: -20.0
+      max_velocity: 20.0
     middle_right:
-      min_velocity: -11.0
-      max_velocity: 11.0
+      min_velocity: -20.0
+      max_velocity: 20.0
     back_left:
-      min_velocity: -11.0
-      max_velocity: 11.0
+      min_velocity: -20.0
+      max_velocity: 20.0
     back_right:
-      min_velocity: -11.0
-      max_velocity: 11.0
+      min_velocity: -20.0
+      max_velocity: 20.0
     joint_a:
       # 1236.8475 rad/meter, or 196.850393476 rev/meter, and we want a max vel of 40 meter/s. 
       # gear ratio is currently at 0.005080 revolutions = 1 meter
@@ -140,6 +140,7 @@ brushless_motors:
       max_velocity: 0.08 # max output shaft speed: 5 rpm (for now)
       min_position: -0.125
       max_position: 0.30 # 220 degrees of motion is the entire range
+      max_torque: 20.0
     joint_de_0:
       min_velocity: -5.0
       max_velocity: 5.0
@@ -499,7 +500,7 @@ cameras:
 rover:
   length: 0.86
   width: 0.86
-  max_speed: 2.0
+  max_speed: 1.25
 
 wheel:
   gear_ratio: 50.0