Suggestions from the #47 review: teleop docs, neutral trim for testing - #55
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caguero merged 11 commits intoSep 11, 2026
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A convenience for testing, outside the scope of PR #47; the idea came up while reviewing that PR. The shipped config was 0.002 kg positive, so a teleop session began with the vehicle rising to float awash at the surface, where there is nothing to drive. net_buoyancy is now 0.0 and sim.launch.xml spawns at z -2.5, mid water in the 5 m pool; the playground's own spawn pose moves to match. The sim test that asserted a slow rise now asserts the vehicle holds depth. The sensor wrapper links, 1e-5 kg each and outside the assembled mass the displacement is solved from, leave the trim a few 1e-5 kg negative, a fraction of a millinewton; the comment that relied on the 0.002 margin now says so. A real vehicle's slightly positive trim is a one line config change, and the configuration page says how. Verified: colcon test on bluerov2_description and bluerov2_gazebo, 93 tests green including the headless sim suite. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Adds the ROS graph of the teleop pipeline, moves gamepad mapping ahead of the run examples as an optional step with the shipped mapping described and its two files linked, gives each vehicle its own run block, and adds a troubleshooting section that walks from device enumeration to /joy traffic. Fixes an inverted diagnosis in that last section: a pad that enumerates but publishes nothing points at device access, not downstream. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
004f64f replaced the shipped mapping with the one joy_map recorded, which puts surge and yaw on axes 7 and 6. The SDL game controller layout defines axes 0 to 5 only, so the sentence saying the shipped mapping follows it no longer holds. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
004f64f copied the mapping joy_map wrote, which carries no comments, so the headers describing the files' role went with it. They describe the role, not the values, and are unchanged from the originals. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
bsb808
marked this pull request as ready for review
September 10, 2026 05:21
Copying a mapping into config/pad and committing is a maintainer step, not something a pilot does; the shipped config headers and the joy_map docstring already say it. The how-to now stops at the user facing part: the mapping under $ROS_HOME wins, delete it to fall back. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01EK8rFrqH5ggeFaand8nXBb
…op the D pad one recorded here The mapping this branch shipped was recorded with the F310's Mode LED on, so it drove surge and yaw from the D pad; #47 now ships the ArduSub layout and joy_map warns about that state. The pad files take #47's version, the rewritten how-to stays. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01EK8rFrqH5ggeFaand8nXBb # Conflicts: # bluerobotics_teleop/config/pad/joystick.config.yaml # docs/how-to/teleop.md
…PA ceiling The mapping section listed the layout of a pad file this branch no longer carries; it now lists the shipped ArduSub layout (left stick heave and yaw, right stick surge and sway, D pad EPA), names the F310 state it is for, and the Run section says why a first drive feels sluggish: the ceiling starts at 20% and the D pad raises it. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01EK8rFrqH5ggeFaand8nXBb
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Thanks @bsb808 ! I ended up using two of the three recommendations here: the Teleop how-to, and the BlueROV2 neutrally trimmed, spawned mid water. The new default pad mapping wasn't working as expected for me and I decided to do remap again in #47 following the Ardu convention, which hopefully will serve as a more natural approach for Ardu pilots. I modified this PR directly, I hope it's OK. Out of curiosity, is your keypad configured with the back switch in X and the mode light off? |
caguero
approved these changes
Sep 11, 2026
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That (going with the Ardu default) is even better @caguero ! |
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Yes - confirmed. Working in the drydock container - if that matters. |
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Suggestions that came out of reviewing #47, targeted at its branch so they can be folded in or cherry-picked. These suggestions are outside the scope of #47, but came up as part of the review, so I thought it was appropriate to do the modifications instead of suggesting them in #47
Teleop how-to. Worked through things step-by-step in teleop.md. This is how I interpreted what was there, so feel free to edit if it wasn't as intended.
BlueROV2 neutrally trimmed, spawned mid water. This one may be a little controversial ;) For messing with ROV motion it is more convenient to have it neutrally buoyant, so I made that the default - and had it spawn mid-depth in the pool.
Shipped pad mapping replaced It looked like the yaml configs included were a default. The files are now the result of running the joy_map config utility with a USB F310. You might make sure these settings work for you if you have the same gamepad.