Minor updates to README and bringup source file

README.md

@@ -87,7 +87,7 @@ The following components were used in this project:
 |15| 3 x 18650 batteries to power Motor Driver HAT|
 |16| Female to Female Dupont jumper cables|
 |17| Spare wires|
-|18| Logitech C270 webcam|
+|18| Logitech C270 webcam (optional)|
 
 Some other tools or parts used in the project are as follows:
 
@@ -909,15 +909,14 @@ In rviz, set the initial pose using the `2D Pose Estimate` button in the toolbar
     <img src=docs/images/gazebo_navigation.gif width="800">
 </p>
 
+TODO: add gif of navigation in Gazebo Fortress
 
 Note about the pixels not part of the map
 
 The blue arrow shows unfiltered odometry, while green shows the filtered odometry. 
 
 ### Lidarbot
 
-TODO: Prop robot and show different odometry movements in rviz. Then show the robot response when on the 'ground'
-
 ```
 ros2 launch lidarbot_bringup lidarbot_bringup_launch.py
 ```
@@ -937,8 +936,6 @@ map_subscribe_transient_local:=true
 
 Using navigation goal button from nav2 plugin
 
-Use waypoint mode here
-
 ## Acknowledgment
 
 - [Articulated Robotics](https://articulatedrobotics.xyz/)

lidarbot_base/src/motor_encoder.c

@@ -11,75 +11,72 @@ int left_wheel_direction = 1;
 int right_wheel_direction = 1;
 
 // Read wheel encoder values
-void read_encoder_values(int *left_encoder_value, int *right_encoder_value)
-{
-    *left_encoder_value = left_wheel_pulse_count;
-    *right_encoder_value = right_wheel_pulse_count;
+void read_encoder_values(int *left_encoder_value, int *right_encoder_value) {
+  *left_encoder_value = left_wheel_pulse_count;
+  *right_encoder_value = right_wheel_pulse_count;
 }
 
 // Left wheel callback function
-void left_wheel_pulse()
-{   
-    // left wheel direction 
-    // 1 - forward
-    // 0 - backward
-
-    // Read encoder direction value for left wheel
-    left_wheel_direction = digitalRead(LEFT_WHL_ENC_DIR); 
-
-    if(left_wheel_direction == 1)
-        left_wheel_pulse_count++;
-    else 
-        left_wheel_pulse_count--;
+void left_wheel_pulse() {
+  // left wheel direction
+  // 1 - forward
+  // 0 - backward
+
+  // Read encoder direction value for left wheel
+  left_wheel_direction = digitalRead(LEFT_WHL_ENC_DIR);
+
+  if (left_wheel_direction == 1)
+    left_wheel_pulse_count++;
+  else
+    left_wheel_pulse_count--;
 }
 
 // Right wheel callback function
-void right_wheel_pulse()
-{
-    // right wheel direction 
-    // 1 - forward,  
-    // 0 - backward
-
-    // Read encoder direction value for right wheel
-    right_wheel_direction = digitalRead(RIGHT_WHL_ENC_DIR);
-
-    if(right_wheel_direction = 1)
-        right_wheel_pulse_count++;
-    else 
-        right_wheel_pulse_count--;
+void right_wheel_pulse() {
+  // right wheel direction
+  // 1 - forward,
+  // 0 - backward
+
+  // Read encoder direction value for right wheel
+  right_wheel_direction = digitalRead(RIGHT_WHL_ENC_DIR);
+
+  if (right_wheel_direction == 1)
+    right_wheel_pulse_count++;
+  else
+    right_wheel_pulse_count--;
 }
 
 // Set each motor speed from the respective velocity command interface
-void set_motor_speeds(double left_wheel_command, double right_wheel_command)
-{   
-    // Initialize DIR enum variables 
-    DIR left_motor_direction;
-    DIR right_motor_direction;
-
-    // Tune motor speeds by adjusting the command coefficients. These are dependent on the number of encoder ticks. 3000 ticks and above work well with coefficients of 1.0
-    double left_motor_speed = ceil(left_wheel_command * 1.65);
-    double right_motor_speed = ceil(right_wheel_command * 1.65);
-
-    // Set motor directions
-    if(left_motor_speed > 0) 
-        left_motor_direction = FORWARD;
-    else
-        left_motor_direction = BACKWARD;
-
-    if(right_motor_speed > 0)
-        right_motor_direction = FORWARD;
-    else
-        right_motor_direction = BACKWARD;
-
-    // Run motors with specified direction and speeds
-    Motor_Run(MOTORA, left_motor_direction, (int) abs(left_motor_speed));
-    Motor_Run(MOTORB, right_motor_direction, (int) abs(right_motor_speed));
+void set_motor_speeds(double left_wheel_command, double right_wheel_command) {
+  // Initialize DIR enum variables
+  DIR left_motor_direction;
+  DIR right_motor_direction;
+
+  // Tune motor speeds by adjusting the command coefficients. These are
+  // dependent on the number of encoder ticks. 3000 ticks and above work well
+  // with coefficients of 1.0
+  double left_motor_speed = ceil(left_wheel_command * 1.65);
+  double right_motor_speed = ceil(right_wheel_command * 1.65);
+
+  // Set motor directions
+  if (left_motor_speed > 0)
+    left_motor_direction = FORWARD;
+  else
+    left_motor_direction = BACKWARD;
+
+  if (right_motor_speed > 0)
+    right_motor_direction = FORWARD;
+  else
+    right_motor_direction = BACKWARD;
+
+  // Run motors with specified direction and speeds
+  Motor_Run(MOTORA, left_motor_direction, (int)abs(left_motor_speed));
+  Motor_Run(MOTORB, right_motor_direction, (int)abs(right_motor_speed));
 }
 
-void handler(int signo)
-{
-    Motor_Stop(MOTORA);
-    Motor_Stop(MOTORB);
+void handler(int signo) {
+  Motor_Stop(MOTORA);
+  Motor_Stop(MOTORB);
 
-    exit(0);
+  exit(0);
 }

lidarbot_bringup/config/controllers.yaml

@@ -41,7 +41,7 @@ imu_broadcaster:
     sensor_name: mpu6050
     frame_id: imu_link
 
-   # 500 data points used to calculated covariances
+    # 500 data points used to calculated covariances
     static_covariance_orientation: [2.63882e-06, 0.0, 0.0, 0.0, 7.50018e-06, 0.0, 0.0, 0.0, 2.89257e-09]
     static_covariance_angular_velocity: [2.71413e-07, 0.0, 0.0, 0.0, 6.79488e-07, 0.0, 0.0, 0.0, 4.37879e-07]
     static_covariance_linear_acceleration: [0.00133755, 0.0, 0.0, 0.0, 0.000209753, 0.0, 0.0, 0.0, 0.00143276]