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Camera pan/tilt to sensible values

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This commit is contained in:
Matt Spencer
2026-05-01 10:57:05 +00:00
parent 8e78d14086
commit 261e18af83
3 changed files with 43 additions and 37 deletions
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robot/src/raspbot_v2/raspbot_v2/camera_orientation_node.py
+26 -20
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@@ -21,12 +21,14 @@ Parameters
---------- ----------
pan_servo_id int default 1 – Raspbot servo channel for pan pan_servo_id int default 1 – Raspbot servo channel for pan
tilt_servo_id int default 2 – Raspbot servo channel for tilt tilt_servo_id int default 2 – Raspbot servo channel for tilt
pan_min_deg float default 0.0 – hardware lower limit for pan (°) pan_min_deg float default -60.0 – ROS lower limit for pan (°)
pan_max_deg float default 180.0 pan_max_deg float default 90.0 – ROS upper limit for pan (°)
tilt_min_deg float default 0.0 – hardware lower limit for tilt (°) pan_servo_center_deg float default 90.0 – hardware servo angle that equals ROS 0°
tilt_max_deg float default 110.0 – library caps tilt at 110° tilt_min_deg float default -90.0 – ROS lower limit for tilt (°)
pan_center_deg float default 90.0 – position commanded on startup tilt_max_deg float default 45.0 – ROS upper limit for tilt (°)
tilt_center_deg float default 60.0 tilt_servo_center_deg float default 60.0 – hardware servo angle that equals ROS 0°
pan_center_deg float default 0.0 – startup position in ROS degrees
tilt_center_deg float default -15.0 – startup position in ROS degrees
state_rate_hz float default 10.0 – joint-state publish rate state_rate_hz float default 10.0 – joint-state publish rate
""" """
@@ -58,20 +60,24 @@ class CameraOrientationNode(Node):
# --- Parameters --- # --- Parameters ---
self.declare_parameter('pan_servo_id', _PAN_SERVO_ID) self.declare_parameter('pan_servo_id', _PAN_SERVO_ID)
self.declare_parameter('tilt_servo_id', _TILT_SERVO_ID) self.declare_parameter('tilt_servo_id', _TILT_SERVO_ID)
self.declare_parameter('pan_min_deg', 0.0) self.declare_parameter('pan_min_deg', -60.0)
self.declare_parameter('pan_max_deg', 180.0) self.declare_parameter('pan_max_deg', 90.0)
self.declare_parameter('tilt_min_deg', 0.0) self.declare_parameter('pan_servo_center_deg', 90.0)
self.declare_parameter('tilt_max_deg', 110.0) self.declare_parameter('tilt_min_deg', -90.0)
self.declare_parameter('pan_center_deg', 90.0) self.declare_parameter('tilt_max_deg', 45.0)
self.declare_parameter('tilt_center_deg', 60.0) self.declare_parameter('tilt_servo_center_deg', 60.0)
self.declare_parameter('pan_center_deg', 0.0)
self.declare_parameter('tilt_center_deg', -15.0)
self.declare_parameter('state_rate_hz', 10.0) self.declare_parameter('state_rate_hz', 10.0)
self._pan_id = self.get_parameter('pan_servo_id').value self._pan_id = self.get_parameter('pan_servo_id').value
self._tilt_id = self.get_parameter('tilt_servo_id').value self._tilt_id = self.get_parameter('tilt_servo_id').value
self._pan_min = self.get_parameter('pan_min_deg').value self._pan_min = self.get_parameter('pan_min_deg').value
self._pan_max = self.get_parameter('pan_max_deg').value self._pan_max = self.get_parameter('pan_max_deg').value
self._pan_servo_center = self.get_parameter('pan_servo_center_deg').value
self._tilt_min = self.get_parameter('tilt_min_deg').value self._tilt_min = self.get_parameter('tilt_min_deg').value
self._tilt_max = self.get_parameter('tilt_max_deg').value self._tilt_max = self.get_parameter('tilt_max_deg').value
self._tilt_servo_center = self.get_parameter('tilt_servo_center_deg').value
pan_center = self.get_parameter('pan_center_deg').value pan_center = self.get_parameter('pan_center_deg').value
tilt_center = self.get_parameter('tilt_center_deg').value tilt_center = self.get_parameter('tilt_center_deg').value
@@ -141,15 +147,15 @@ class CameraOrientationNode(Node):
# Helpers # Helpers
# ------------------------------------------------------------------ # ------------------------------------------------------------------
def _apply(self, pan_deg: float, tilt_deg: float): def _apply(self, pan_ros_deg: float, tilt_ros_deg: float):
"""Send angles to hardware and update internal state.""" """Convert ROS-convention degrees to servo degrees and drive hardware."""
pan_int = int(round(pan_deg)) pan_servo = int(round(pan_ros_deg + self._pan_servo_center))
tilt_int = int(round(tilt_deg)) tilt_servo = int(round(tilt_ros_deg + self._tilt_servo_center))
try: try:
self._bot.Ctrl_Servo(self._pan_id, pan_int) self._bot.Ctrl_Servo(self._pan_id, pan_servo)
self._bot.Ctrl_Servo(self._tilt_id, tilt_int) self._bot.Ctrl_Servo(self._tilt_id, tilt_servo)
self._pan_deg = pan_deg self._pan_deg = pan_ros_deg
self._tilt_deg = tilt_deg self._tilt_deg = tilt_ros_deg
except Exception as exc: except Exception as exc:
self.get_logger().error(f'Servo write failed: {exc}') self.get_logger().error(f'Servo write failed: {exc}')
robot/src/raspbot_v2/urdf/raspbot_v2.urdf.xacro
+2 -2
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@@ -111,7 +111,7 @@
<child link="camera_pan_link"/> <child link="camera_pan_link"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<origin xyz="0 0 0.015" rpy="0 0 0"/> <origin xyz="0 0 0.015" rpy="0 0 0"/>
<limit lower="-1.5708" upper="1.5708" effort="1.0" velocity="1.0"/> <limit lower="-1.0472" upper="1.5708" effort="1.0" velocity="1.0"/>
</joint> </joint>
<!-- Tilt joint (pitch, around Y) --> <!-- Tilt joint (pitch, around Y) -->
@@ -126,7 +126,7 @@
<child link="camera_link"/> <child link="camera_link"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<origin xyz="0.02 0 0" rpy="0 0 0"/> <origin xyz="0.02 0 0" rpy="0 0 0"/>
<limit lower="-0.5236" upper="0.9599" effort="1.0" velocity="1.0"/> <limit lower="-1.5708" upper="0.7854" effort="1.0" velocity="1.0"/>
</joint> </joint>
</robot> </robot>
webui/frontend/src/components/CameraControls.jsx
+3 -3
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@@ -1,9 +1,9 @@
import { useState } from 'react' import { useState } from 'react'
const PAN_MIN = -Math.PI / 2 // -90° const PAN_MIN = -Math.PI / 3 // -60°
const PAN_MAX = Math.PI / 2 // +90° const PAN_MAX = Math.PI / 2 // +90°
const TILT_MIN = -0.524 // -30° const TILT_MIN = -Math.PI / 2 // -90°
const TILT_MAX = 0.960 // +55° const TILT_MAX = Math.PI / 4 // +45°
const toDeg = (r) => Math.round(r * 180 / Math.PI) const toDeg = (r) => Math.round(r * 180 / Math.PI)