f/583 camera node launch#15
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ingibirka wants to merge 49 commits intonulina_2026from
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…o feat/hydrv_protocol
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Давай создадим отдельный пакет под камеры внутри stingray_core_sensors |
leonard-pak
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Dec 13, 2025
… стартом лаунча )
Drop the unused `param_update=self.controller.__dict__` argument from axis controller `evaluate()` calls to match the controller interface and avoid leaking internal state. Refactor node QoS setup to use explicit per-topic profiles (sensor, command, event, actuation, telemetry, debug) with defined history, reliability, durability, and queue depth for more predictable ROS2 communication behavior.fix(control): remove param_update passthrough and define QoS Drop the unused `param_update=self.controller.__dict__` argument from axis controller `evaluate()` calls to match the controller interface and avoid leaking internal state. Refactor node QoS setup to use explicit per-topic profiles (sensor, command, event, actuation, telemetry, debug) with defined history, reliability, durability, and queue depth for more predictable ROS2 communication behavior.
…d fix bug with trusters.yaml Move `controllers.py` and `thruster_mixer.py` from `utils/` to a dedicated `control/` module and update node imports accordingly. This improves package structure by grouping control-specific logic in one namespace, making the codebase easier to navigate and maintain. Minor style cleanups were also applied in the moved files (whitespace/formatting) during the refactor.refactor(control): relocate control utilities into control package Move `controllers.py` and `thruster_mixer.py` from `utils/` to a dedicated `control/` module and update node imports accordingly. This improves package structure by grouping control-specific logic in one namespace, making the codebase easier to navigate and maintain. Minor style cleanups were also applied in the moved files (whitespace/formatting) during the refactor.
…m/stingray_core into rqt_and_control
Update controller YAML parameters to retune heave and roll response (gains, saturation limits, anti-windup bounds, and filter constants). Fix roll gravity compensation to use the roll setpoint instead of the measurement to compute the bias term.fix(control): tune heave/roll gains and correct roll grav term Update controller YAML parameters to retune heave and roll response (gains, saturation limits, anti-windup bounds, and filter constants). Fix roll gravity compensation to use the roll setpoint instead of the measurement to compute the bias term.
- add `dvl_msgs` to build/package dependencies and include it in `run_rov.sh` - expose `topic_dvl_data` in launch and node params, with defaults for `/dvl/data` - introduce DVL-related control settings (`use_dvl_velocity`, distance mode, alpha, timeout) - add roll/pitch gravity compensation parameters (`grav_bias`, `grav_gain`, `grav_offset_deg`) This enables the control stack to consume DVL measurements for improved underwater feedback while making attitude control easier to tune for gravity effects.feat(control): add DVL integration and gravity tuning params - add `dvl_msgs` to build/package dependencies and include it in `run_rov.sh` - expose `topic_dvl_data` in launch and node params, with defaults for `/dvl/data` - introduce DVL-related control settings (`use_dvl_velocity`, distance mode, alpha, timeout) - add roll/pitch gravity compensation parameters (`grav_bias`, `grav_gain`, `grav_offset_deg`) This enables the control stack to consume DVL measurements for improved underwater feedback while making attitude control easier to tune for gravity effects.
Group ROS2 packages under `src/stingray_core_communication`, `src/stingray_core_sensors`, and `src/stingray_core_devices` by moving existing package directories without code changes. Update `README.md` to document the new repository layout and remove outdated, overly detailed testing/usage sections to keep docs aligned with the refactored structure.refactor(repo): reorganize packages into domain folders Group ROS2 packages under `src/stingray_core_communication`, `src/stingray_core_sensors`, and `src/stingray_core_devices` by moving existing package directories without code changes. Update `README.md` to document the new repository layout and remove outdated, overly detailed testing/usage sections to keep docs aligned with the refactored structure.
- Register `dvl-a50` and `dvl_msgs` as new git submodules under `stingray_core_sensors` to integrate DVL support dependencies. - Refactor `ms5837_component` initialization and reads to handle failures gracefully: - add readiness state (`ok`) and `is_ready()` - replace `exit(1)` paths with guarded returns and exception handling - return `None` values when data cannot be read instead of terminating the process - Begin updating `BarNode` lifecycle state for sensor reconnection/readiness handling (reconnect timing fields and deferred sensor setup). This improves sensor node robustness so startup and runtime read errors do not crash the process, while preparing the stack for DVL sensor integration.feat(sensors): add DVL submodules and harden MS5837 init - Register `dvl-a50` and `dvl_msgs` as new git submodules under `stingray_core_sensors` to integrate DVL support dependencies. - Refactor `ms5837_component` initialization and reads to handle failures gracefully: - add readiness state (`ok`) and `is_ready()` - replace `exit(1)` paths with guarded returns and exception handling - return `None` values when data cannot be read instead of terminating the process - Begin updating `BarNode` lifecycle state for sensor reconnection/readiness handling (reconnect timing fields and deferred sensor setup). This improves sensor node robustness so startup and runtime read errors do not crash the process, while preparing the stack for DVL sensor integration.
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