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
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
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
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
# 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
# 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.
# 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