Deleted code related to champ.
Added launch code for vel_to_servo_control_interface.
Used StanfordQuadrupedRobot ROS node to process velocity data.
Added TF publisher in lidar's launch file to publish base_link to lidar_link TF.
These changes will make the mini_pupper_bringup no longer use champ's configs and nodes and instead use the vel_to_servo_control_interface to process velocity data.
Types of changes
[ ] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[ ] Code refactor (non-breaking change which refactors the code)
[X] Breaking change (fix or feature that would cause existing functionality not to work as expected)
[ ] Documentation update only
[ ] Other (please describe)
Testing and Verification
To verify these changes, I performed the following tests:
Run the bringup launch file on Mini Pupper.
Check the state log in the console.
Test Configuration
Mini Pupper Version
Mini Pupper
Raspberry Pi OS + ROS version
Ubuntu 22.04, ROS 2 Humble
[X] I have checked to ensure there aren't other open Pull Requests for the same change.
Other comments
The TF publisher in lidar's launch file is a temporary node, and it should be removed to a dedicated package for TF management in future work, the TF data is not exact and might cause the map drift problem.
The new mini_pupper_bringup package depends on the mini_pupper_driver package.
Proposed changes
I have made the following changes to the code:
Deleted code related to champ. Added launch code for vel_to_servo_control_interface. Used StanfordQuadrupedRobot ROS node to process velocity data. Added TF publisher in lidar's launch file to publish base_link to lidar_link TF.
These changes will make the mini_pupper_bringup no longer use champ's configs and nodes and instead use the vel_to_servo_control_interface to process velocity data.
Types of changes
Testing and Verification
To verify these changes, I performed the following tests:
Test Configuration
Mini Pupper Version
Mini Pupper
Raspberry Pi OS + ROS version
Ubuntu 22.04, ROS 2 Humble
PC OS + ROS version
Ubuntu 22.04, ROS 2 Humble
Checklist
Other comments
The TF publisher in lidar's launch file is a temporary node, and it should be removed to a dedicated package for TF management in future work, the TF data is not exact and might cause the map drift problem.
The new mini_pupper_bringup package depends on the mini_pupper_driver package.