content: Add Leo Rover v1.9 ROS API #58
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| - `cmd_vel` ([geometry_msgs/msg/Twist]) | ||
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| Target velocity of the Rover. Only linear.x $[\frac{m}{s}]$ and angular.z |
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I feel like we should at least mention in some sort of :::info tag about mecannum wheels and y axis. Also in mecannum wheels tutorial there should be this info added.
| Filtered readings from the onboard IMU. The filter does 2 things: | ||
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| - Adds a dynamic bias to the gyroscope readings. | ||
| - Adds estimated orientation by fusing the accelerometer and gyroscope data. |
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| - Adds estimated orientation by fusing the accelerometer and gyroscope data. | |
| - Adds an estimated orientation by fusing the accelerometer and gyroscope data. |
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| Apart from the aforementioned parameters, the camera node also translates the | ||
| libcamera controls into ROS parameters. The camera controls are documented in | ||
| [picamera2 documentation (Appendix C)]. |
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I believe there should be some comment or clarification that not every parameter in the camera controls is available in the API.
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| ::: | ||
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| #### /camera/debayer |
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Regarding the debayer and rectify nodes parameters I feel like there could be more parameters listed. Obviously we can ignore those generic ones like qos_overrides but maybe those like res_unit, xdpi ydpi png_level could be listed.
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| - `wheels/torque_constant` (type: `float`) | ||
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| The torque in Nm produced by the wheel per 1 Ampere of windind current. |
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Format units
| The torque in Nm produced by the wheel per 1 Ampere of windind current. | |
| The torque in $Nm$ produced by the wheel per 1 Ampere of windind current. |
| The quality of the JPEG compression for the rectified monochrome image. Range: | ||
| 0-100. | ||
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| #### /firmware |
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mecanum_wheels param missing
| set to `false`, the gyroscope readings will not be filtered and will be | ||
| published as is. | ||
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| - `do_save_bias` (type: `bool`) |
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