This ROS 2 package allows you to control a Panther robot using a CRSF compatible remote control. Receiver should be connected to the robot's computer via USB-UART converter. CRSF is implemented based on the protocol specification.
cd ros_ws/src
git clone [email protected]:miloszlagan/panther_crsf_teleop.git
colcon build --packages-select panther_crsf_teleop --symlink-install
ros2 run panther_crsf_teleop panther_crsf_teleop
Optional arguments:
serial_port- serial port to which the CRSF receiver is connected (default:/dev/ttyUSB0)baudrate- baudrate of the serial port (default:576000)
Node publishes:
/cmd_vel- geometry_msgs/Twist - velocity commands for the robot/hardware/e_stop- std_msgs/Bool - emergency stop state/link_status- panther_crsf_teleop_msgs/LinkStatus - link status between the remote control and the robot. See CRSF_FRAMETYPE_LINK_STATISTICS
The following channels are used for controlling the robot via the TX16S remote control:
- Channel 1 - Right gimbal up/down - forward/backward velocity
- Channel 3 - Left gimbal left/right - turning (angular) velocity
- Channel 5 - SF switch - emergency stop
- Channel 6 - SA switch (down position) - silence
cmd_velmessages, allows other nodes to control the robot while enabling e_stop functionality