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Merge pull request #446 from clearpathrobotics/feature/drivetrains
Added Drivetrain section
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‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/_category_.json‎

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{
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"label": "Attachments",
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"position": 2
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"position": 3
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}

‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/battery.mdx‎

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---
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title: Battery
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sidebar_label: Battery
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sidebar_position: 4
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---

‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/can.mdx‎

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---
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title: CAN Adapters
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sidebar_label: CAN Adapters
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sidebar_position: 9
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---

‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/controller.mdx‎

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---
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title: Controller
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sidebar_label: Controller
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---
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import Tabs from "@theme/Tabs";
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import TabItem from "@theme/TabItem";
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We support the following types of controllers on all platforms:
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- **ps4**: standard Playstation4 controller (bluetooth).
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controller: ps4 # one of ps4, ps5, logitech, xbox
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```
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## Default Button Mappings
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By default, Clearpath platforms use the left and right triggers (typically buttons L1, R1) as the normal deadman and turbo deadman buttons respectively. The vertical axis of the left joystick will control linear speed in the X direction, and the horizontal axis controls angular speed. For omnidirectional robots,
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the horizontal axis of the right joystick will control linear speed in the Y direction.
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### Changing Button Mappings
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If you wish to change the default button mappings, this can be modified by using the
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[`extras.ros_parameters`](extras) field in `robot.yaml`. First, find the [default configuration](https://github.com/clearpathrobotics/clearpath_common/tree/jazzy/clearpath_control/config/generic) file for your controller.
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The comments at the top of the file will describe the axis mappings relative to the controller buttons. This varies between controllers.
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Next, modify the `teleop_twist_joy_node` parameters with your updated button mappings. Here are some examples:
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<Tabs groupId="controller">
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<TabItem value="right_hand_control" label="Right Hand Differential control (PS4)" default>
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```yaml
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extras:
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ros_parameters:
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teleop_twist_joy_node:
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axis_linear.x: 4
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axis_angular.yaw: 3
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enable_button: 5
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enable_turbo_button: 4
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```
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</TabItem>
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<TabItem value="omni_swap_horizontal" label="Swap linear Y and angular Yaw axes (PS4)" default>
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```yaml
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extras:
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ros_parameters:
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teleop_twist_joy_node:
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axis_linear.y: 0
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axis_angular.yaw: 3
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```
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</TabItem>
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<TabItem value="deadman_l2_r2" label="Deadman buttons on L2 and R2 (PS4)" default>
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```yaml
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extras:
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ros_parameters:
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teleop_twist_joy_node:
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enable_button: 6
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enable_turbo_button: 7
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```
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</TabItem>
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</Tabs>
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## Teleop Speeds
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By default, holding the left trigger button of the controller enables driving at "normal" speeds
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**Normal speed parameters**
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- `scale_linear.x` sets the maximum forward/reverse velocity
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- `scale_linear.y` sets the maximum left/right velocity (Dingo-O and Ridgeback only)
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- `scale_linear.y` sets the maximum left/right velocity (Omnidirectional control only)
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- `scale_angular.z` sets the maximum angular velocity
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**Turbo speed parameters**
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- `scale_linear_turbo.x` sets the maximum forward/reverse velocity
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- `scale_linear_turbo.y` sets the maximum left/right velocity (Dingo-O and Ridgeback only)
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- `scale_linear_turbo.y` sets the maximum left/right velocity (Omnidirectional control only)
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- `scale_angular_turbo.z` sets the maximum angular velocity
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:::warning

‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/drivetrain.mdx‎

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---
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title: Drivetrain
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sidebar_label: Drivetrain
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sidebar_position: 2
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toc_min_heading_level: 2
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toc_max_heading_level: 5
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---
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import Tabs from "@theme/Tabs";
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import TabItem from "@theme/TabItem";
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Each platform comes with a default drivetrain controller and set of wheels. Some platforms support different controllers, and some support multiple wheel types. The `drivetrain` section determines which velocity controller to load, and which wheels to define in the robot description.
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The following drivetrain controllers are supported:
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- `diff_4wd`: Differential four-wheel drive
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- `diff_fwd`: Differential front-wheel drive
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- `diff_rwd`: Differential rear-wheel drive
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- `omni_4wd`: Omnidirectional four-wheel drive
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:::note
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The control type is determined by which wheels are controlled, not how many motors a platform has. An A200 has one motor per side which control two motors each, so it can only be `diff_4wd`.
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:::
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The following wheel types are supported:
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- `outdoor`: Rugged outdoor wheels
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- `indoor`: Smooth indoor wheels
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- `mecanum`: Roller wheels for omnidirectional control
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- `tracks`: Continuous track system
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- `caster`: Uncontrolled caster wheels
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The `drivetrain` section defines the keys `control` and `wheels` to set these parameters. Under `wheel`, the `front` and `rear` wheels are set separately. Some example configurations are shown below.
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<Tabs groupId="control">
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<TabItem value="diff_4wd" label="diff_4wd" default>
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```
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drivetrain:
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control: diff_4wd
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wheels:
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front: outdoor
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rear: outdoor
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```
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</TabItem>
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<TabItem value="omni_4wd" label="omni_4wd" default>
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```
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drivetrain:
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control: omni_4wd
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wheels:
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front: mecanum
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rear: meceanum
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```
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</TabItem>
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<TabItem value="diff_fwd" label="diff_fwd" default>
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```
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drivetrain:
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control: diff_fwd
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wheels:
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front: indoor
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rear: caster
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```
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</TabItem>
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<TabItem value="diff_rwd" label="diff_rwd" default>
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```
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drivetrain:
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control: diff_rwd
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wheels:
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front: caster
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rear: outdoor
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```
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</TabItem>
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</Tabs>
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:::note
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Not all configurations are valid. For example, an `omni_4wd` controller must be matched with four `mecanum` wheels. Also, `caster` wheels cannot be attached to wheels which are controlled.
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:::
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## Supported controllers and wheels
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| Platform | Control | Front Wheels | Rear Wheels |
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| :------: | :-------------------------------------------------------------: | :----------------------------------------: | :----------------------------------------: |
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| A200 | [`diff_4wd`] | [`outdoor`] <br/> `indoor` | [`outdoor`] <br/> `indoor` |
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| A300 | [`diff_4wd`] <br/> `diff_fwd` <br/> `diff_rwd` <br/> `omni_4wd` | [`outdoor`] <br/> `mecanum` <br/> `caster` | [`outdoor`] <br/> `mecanum` <br/> `caster` |
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| J100 | [`diff_4wd`] | [`outdoor`] | [`outdoor`] |
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| W200 | [`diff_4wd`] | [`outdoor`] <br/> `tracks` | [`outdoor`] <br/> `tracks` |
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| DD100 | [`diff_fwd`] | [`indoor`] | [`caster`] |
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| DO100 | [`omni_4wd`] <br/> `diff_4wd` | [`mecanum`] | [`mecanum`] |
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| DD150 | [`diff_fwd`] | [`indoor`] | [`caster`] |
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| DO150 | [`omni_4wd`] <br/> `diff_4wd` | [`mecanum`] | [`mecanum`] |
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| R100 | [`omni_4wd`] <br/> `diff_4wd` | [`mecanum`] | [`mecanum`] |
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:::note
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Default configurations are noted with square brackets.
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:::

‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/ekf.mdx‎

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title: Enable/Disable EKF
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sidebar_label: Enable EKF
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‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/extras.mdx‎

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title: Extras
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sidebar_label: Extras
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---

‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/foxglove_bridge.mdx‎

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---
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title: Enable/Disable Foxglove Bridge
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sidebar_label: Enable Foxglove Bridge
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sidebar_position: 8
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---

‎docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/wireless_watcher.mdx‎

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---
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title: Enable/Disable Wireless Watcher
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sidebar_label: Enable Wireless Watcher
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sidebar_position: 7
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---

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