Created Config for Feather on rosserial

CMU-Robotics-Club · Mar 22, 2023 · 1d3987b · 1d3987b
1 parent fde874a
commit 1d3987b
Show file tree

Hide file tree

Showing 6 changed files with 12 additions and 6 deletions.
diff --git a/.env.dev b/.env.dev
@@ -2,3 +2,4 @@ GPS_PORT=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/null
 TEENSY_PORT=/dev/null
+FEATHER_PORT=/dev/null
diff --git a/.env.prod b/.env.prod
@@ -3,3 +3,4 @@ GPS_PORT_AUX=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/bus/usb
 TEENSY_PORT=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AD01TF04-if00-port0
+FEATHER_PORT=/dev/serial/by-id/usb-Adafruit_Adafruit_Feather_M0_77D70E005154384153202020FF18250B-if00
diff --git a/docker-compose.yml b/docker-compose.yml
@@ -8,6 +8,7 @@ services:
       - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
       - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
       - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
     stdin_open: true # docker run -i
     tty: true        # docker run -t
     ports:

diff --git a/firmware/lora_rtcm_listen/src/lora_rtcm_listen.cpp b/firmware/lora_rtcm_listen/src/lora_rtcm_listen.cpp
@@ -27,6 +27,7 @@
 #define LORA_ROS_NODE "rtcm"
 #define LORA_FIXED_FREQ 902.5
 
+#define USE_USBCON
 #define DATA_SERIAL Serial1
 
 #include <Arduino.h>
@@ -106,8 +107,6 @@ void setup() {
   // Set up RS232 data
   DATA_SERIAL.begin(115200);
 
-  delay(1000);
-
   // generate LFSR indexes (psuedorandom non-repeating [0, 63])
   memset(&channel_indices[0], 0, sizeof(channel_indices));
   channel_indices[1] = 29;

diff --git a/rb_ws/src/buggy/INS_params.yml b/rb_ws/src/buggy/INS_params.yml
@@ -14,7 +14,7 @@
 # port is the main port that the device will communicate over. For all devices except the GQ7, this is the only available port.
 # aux_port is only available for the GQ7 and is only needed when streaming RTCM corrections to the device from ROS, or if you want to publish NMEA sentences from this node
 port        : "/dev/ttyACM0"
-aux_port    : "/dev/ttyACM1"
+aux_port    : "/dev/null"
 baudrate    : 115200
 debug       : False
 diagnostics : False

diff --git a/rb_ws/src/buggy/launch/main.launch b/rb_ws/src/buggy/launch/main.launch
@@ -20,9 +20,13 @@
             <arg name="tf_prefix" value="d455" />
         </include>
 	<node name="serial_node"        pkg="rosserial_python"      type="serial_node.py">
-            <param name="port"              type="string"               value="/dev/ttyUSB0"/>
-            <param name="baud"              type="int"                  value="1000000"/>
-        </node>
+        <param name="port"              type="string"               value="/dev/ttyUSB0"/>
+        <param name="baud"              type="int"                  value="1000000"/>
+    </node>
+    <node name="serial_node2"        pkg="rosserial_python"      type="serial_node.py">
+        <param name="port"              type="string"               value="/dev/ttyACM1"/>
+        <param name="baud"              type="int"                  value="115200"/>
+    </node>
     </group>
     <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
     <node name="asset_server" pkg="buggy" type="asset_server.py" args="--directory='/rb_ws/src/buggy/assets'" />