.. _configuration: Configuration ============= All configuration files are located in the `robomaster_ros2/config_ros` directory. .. note:: Configuration files are subject to minor changes, please check the latest version in the repository. * `robomaster_server.yaml`: Setting up the server node and parameters that are changed often. * `rmtt_param.yaml`: Configuration for the RoboMaster Tello Talent (RMTT) drones. * `rmep_param.yaml`: Configuration for the RoboMaster EP Core (RMEP) robots. * `setup_wifi.yaml`: Configuration for the Wi-Fi connection of the RMTT drones and RMEP robots. * `custom_char.yaml`: Custom characters for the RMTT drones external module LED matrix. * `retrieve_robot_info.yaml`: Configuration for the retrieval of information of connected robots and drones. robomaster_server.yaml ~~~~~~~~~~~~~~~~~~~~~~ .. code-block:: yaml local_ip: "192.168.0.106" # local ip of the network on which drones are connected num_of_drones: 0 # number of drones to be used num_of_eps1: 0 # number of EP or S1 Robots to be used random_assign: True # whether to assign drones and robot numbers randomly (Ascending order of IPs last octet) rmtt_param.yaml ~~~~~~~~~~~~~~~ .. code-block:: yaml rmtt: mled_display_num: True # whether to display the number of the drone on the mled on initalisation external_position: False # (WIP) whether to use external positioning system such as mocap drone_name_list: # list of names of all the drones that you want to add now or in future (mandatory) - rmtt_1 - rmtt_2 - rmtt_3 pub_front_tof: False # (Too heavy on process, avoid using with multi drones) whether to publish front tof sensor data pub_bottom_tof: True # whether to publish bottom tof sensor data pub_attitude: True # whether to publish attitude data pub_barometer: False # (WIP units issue) pub_imu: False # (WIP units issue) pub_mpad: False # Publish info of mission pad below the drone # It is advisible to use the random_assign option in robomaster_server.yaml #####MANDATORY##### # Individual drone configurations and parameter control for all the drones # name in the list should be the same as the name in the drone_name_list # topic_type: Pose/ PoseStamped/ Point/ PointStamped rmtt_1: ip: "192.168.0.151" pub_cam: False cam_direction: 0 # 0: forward, 1: down yaw_hold: False # WIP ext_pose_topic_type: PoseStamped ext_pose_topic_name: /rmtt_1/pose rmtt_2: ip: "192.168.0.152" pub_cam: False cam_direction: 0 # 0: forward, 1: down yaw_hold: False # WIP ext_pose_topic_type: PoseStamped ext_pose_topic_name: /rmtt_2/pose rmtt_3: ip: "192.168.0.153" pub_cam: False cam_direction: 0 # 0: forward, 1: down yaw_hold: False # WIP ext_pose_topic_type: PoseStamped ext_pose_topic_name: /rmtt_3/pose rmep_param.yaml ~~~~~~~~~~~~~~~ .. code-block:: yaml rmep: led_num: False # whether to display specific led pattern for specific number (R1,R2,R3,R4,G1,G2,G3,G4,B1,B2,B3,B4) etc for 1 to 12 external_position: False # (WIP) whether to use external positioning system such as mocap robot_name_list: # list of names of the robots (mandatory) - rmep_1 - rmep_2 # WIP (Work in Progress) not working now pub_imu: False # (WIP units issue) pub_cam: False # (WIP units issue) pub_marker: False # WIP pub_armpose: True # Publish arm pose of the robot # Individual robot configurations and parameter control # name in the list should be the same as the name in the robot_name_list # mandatory while usuing external position # topic_type: Pose/ PoseStamped/ Point/ PointStamped rmep_1: ip: "192.168.0.161" pub_cam: False # WIP ext_pose_topic_type: PoseStamped ext_pose_topic_name: /rmep_1/pose rmep_2: ip: "192.168.0.162" pub_cam: False # WIP ext_pose_topic_type: PoseStamped ext_pose_topic_name: /rmep_2/pose setup_wifi.yaml ~~~~~~~~~~~~~~~ .. code-block:: yaml # ssid of the router that all robots will connect to SSID: "TP-link_1234" # password of the router that you want to connect # can be "-1" to retrive the password from the saved network # OR "None" if there is no password PSK: "-1" # use only provided numbers in form of the list to modify the details # [0] if you don't use drones UPDATE: [1,2,3] # For EP/S1 robots, you have to connect manually scanning a QR code. # It will dispaly the QR code at end and save the image in the base directory EP: False drone_list: #pwd: password of all the tello if they are the same, # use n#>pwd if there is different passwords or "None" if there is no password pwd: "12345678" # n+number: # ssid: ssid of the tello hotspot # pwd: password associated with the above ssid ('' for no password) n1: ssid: "RMTT-1" pwd: "12345678" n2: ssid: "RMTT-2" pwd: "12345678" n3: ssid: "RMTT-3" pwd: "12345678" custom_char.yaml ~~~~~~~~~~~~~~~~ .. code-block:: yaml # You can put your custom characters here with the following format. # Replace bits with the color you want to put at that pixel # 0: off, r: red, b: blue, p:purple # smile: # 0 0 ∎ ∎ ∎ ∎ 0 0 # 0 ∎ 0 0 0 0 ∎ 0 # ∎ 0 ∎ 0 0 ∎ 0 ∎ # ∎ 0 0 0 0 0 0 ∎ # ∎ 0 ∎ 0 0 ∎ 0 ∎ # ∎ 0 0 ∎ ∎ 0 0 ∎ # 0 ∎ 0 0 0 0 ∎ 0 # 0 0 ∎ ∎ ∎ ∎ 0 0 # For visualisation: https://xantorohara.github.io/led-matrix-editor/ smile: '00rrrr000r0000r0r0r00r0rr000000rr0r00r0rr00rr00r0r0000r000rrrr00' smile2: '000000000b0000b0b0b00b0b000000000000000000r00r00000rr00000000000' ok: '000000000000000r000000r000000r00r000r0000r0r000000r0000000000000' star: '000000000rr00rr000rrrr00rrrrrrrr00rrrr000rr00rr00000000000000000' question: '00rrrr000rr00rr000000rr00000rr00000rr00000000000000rr00000000000' stop: '0000000000rrrr000rr000r00r0r00r00r00r0r00r000rr000rrrr0000000000' exclamation: '000rr00000rrrr0000rrrr00000rr000000rr00000000000000rr00000000000' double_exclamation: '0rr00rr00rr00rr00rr00rr00rr00rr0000000000rr00rr00rr00rr000000000' heart: '0000000000r00r000rrrrrr00rrrrrr00rrrrrr000rrrr00000rr00000000000' retrieve_robot_info.yaml ~~~~~~~~~~~~~~~~~~~~~~~~ This is not used in the latest version but can be handy, hence it is included here. .. code-block:: yaml # number of drones connected to network (0 if you are not using any) RMTT: 1 # number of EP/S1 robots connected to network (0 if you are not using any) EP: 0