Thruster Test - to test

Author: JPGC04

pio_workspace/test/thruster_tests/Docker/catkin_ws/Thruster1.csv

@@ -0,0 +1,3 @@
+%time,field.microseconds0,field.microseconds1,field.microseconds2,field.microseconds3,field.microseconds4,field.microseconds5,field.microseconds6,field.microseconds7
+1745783318062094688,1508,1500,1500,1500,1500,1500,1500,1500
+1745783321564683914,1500,1500,1500,1500,1500,1500,1500,1500

pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/propulsion.launch

@@ -2,7 +2,7 @@
     <arg name="sim" default="false" />
     <group unless="$(arg sim)">
         <node name="thrusters_serial_server" pkg="rosserial_python" type="serial_node.py" respawn="true">
-            <param name="port" value="/dev/power"/>
+            <param name="port" value="/dev/ttyACM0"/>
             <param name="baud" value="115200"/>
         </node>
     </group>

pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thruster_tests.py

@@ -19,14 +19,10 @@
 
     # Starting neutral array
     pwm_array = [1500] * 8
+    time.sleep(15)
 
     # Ascending sequence
     for pwm in range(1508, 1901, 8):  # Changed step to 8
-        # Initial arming
-        pwm_array[thruster_num] = 1500
-        pub.publish(ThrusterMicroseconds(pwm_array))
-        time.sleep(15)
-
         pwm_array[thruster_num] = pwm
         pub.publish(ThrusterMicroseconds(pwm_array))
         print(f"Sent PWM {pwm} to thruster {thruster_num + 1}")

pio_workspace/test/thruster_tests/Docker/tmux_thrusters.sh

@@ -6,22 +6,29 @@ SESSION=auv_session
 # Start a new tmux session, detached
 tmux new-session -d -s $SESSION
 
-# In the first pane
-tmux send-keys -t $SESSION:0.0 'cd catkin_ws && catkin build && source devel/setup.bash && roslaunch propulsion propulsion.launch' C-m
+# In the first pane: Start roscore
+tmux send-keys -t $SESSION:0.0 'roscore' C-m
 
 # Split horizontally to make second pane
-tmux split-window -h -t $SESSION
+tmux split-window -h -t $SESSION:0
 
-# In the second pane
-tmux send-keys -t $SESSION:0.1 'cd catkin_ws && catkin build && source devel/setup.bash && rostopic echo /all/data' C-m
+# In the second pane: cd into catkin_ws, build, and launch the propulsion test
+tmux send-keys -t $SESSION:0.1 'cd catkin_ws && catkin build && source devel/setup.bash && roslaunch propulsion thrustertest.launch' C-m
 
 # Split the first pane vertically to make third pane
 tmux select-pane -t $SESSION:0.0
 tmux split-window -v -t $SESSION
 
-# In the third pane
-tmux send-keys -t $SESSION:0.2 'cd catkin_ws && catkin build && source devel/setup.bash && rostopic pub -r 10 /propulsion/microseconds auv_msgs/ThrusterMicroseconds "{microseconds: [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]}"' C-m
+# In the third pane: cd into catkin_ws, build, and echo /propulsion/microseconds topic
+tmux send-keys -t $SESSION:0.2 'cd catkin_ws && catkin build && source devel/setup.bash && rostopic echo /propulsion/microseconds' C-m
+
+# Create a new pane and run rosserial node on /dev/ttyACM1
+tmux split-window -h -t $SESSION:0.2
+tmux send-keys -t $SESSION:0.3 'roslaunch rosserial_python serial_node.launch dev:=/dev/ttyACM1' C-m
+
+# Create another pane and echo /all/data
+tmux split-window -v -t $SESSION:0.3
+tmux send-keys -t $SESSION:0.4 'cd catkin_ws && catkin build && source devel/setup.bash && rostopic echo /all/data' C-m
 
 # Attach to the tmux session
 tmux attach-session -t $SESSION
-

pio_workspace/test/thruster_tests/commands.txt

@@ -1,44 +1,17 @@
-CMD:
-usbipd list
-usbipd bind --busid <bus_id>
-usbipd attach --wsl --busid <bus_id>
+docker compose up
 
+docker exec -it docker-auv-container-1 bash
 
-UBUNTU:
-sudo docker run -it --rm --device=/dev/ttyUSB0 ros:noetic bash
+cd auv-2025/catkin_ws && catkin build && source devel/setup.bash && tmux
 
-
-DOCKER:
-sudo apt update
-sudo apt install tmux -y
-sudo apt install git -y
-sudo apt install vim -y
-sudo apt install -y ros-noetic-rosserial
-sudo apt install python3-catkin-tools -y
-sudo apt install ros-noetic-rosserial-arduino ros-noetic-rosserial -y
-source /opt/ros/noetic/setup.bash
-
-git clone https://github.com/mcgill-robotics/auv-2025
-cd auv-2025/catkin_ws
-catkin build
-source devel/setup.bash
-
-TMUX:
 1.
-catkin build
-source devel/setup.bash
-roslaunch propulsion propulsion.launch
+source devel/setup.bash && roslaunch rosserial_python serial_node.launch dev:=/dev/ttyACM1
 
 2.
-catkin build
-source devel/setup.bash
-rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0
+source devel/setup.bash && roslaunch propulsion thrustertest.launch
 
 3.
-rostopic list
-rostopic echo /thruster/force
-
+source devel/setup.bash && rostopic echo -p /all/data > /ThrusterX.csv
 
-UBUNTU:
-sudo docker ps
-sudo docker cp <container_id>:<container_path> <destination_path>
+4.
+source devel/setup.bash && rostopic echo /all/data

pio_workspace/test/thruster_tests/some commands.txt

@@ -0,0 +1,44 @@
+CMD:
+usbipd list
+usbipd bind --busid <bus_id>
+usbipd attach --wsl --busid <bus_id>
+
+
+UBUNTU:
+sudo docker run -it --rm --device=/dev/ttyUSB0 ros:noetic bash
+
+
+DOCKER:
+sudo apt update
+sudo apt install tmux -y
+sudo apt install git -y
+sudo apt install vim -y
+sudo apt install -y ros-noetic-rosserial
+sudo apt install python3-catkin-tools -y
+sudo apt install ros-noetic-rosserial-arduino ros-noetic-rosserial -y
+source /opt/ros/noetic/setup.bash
+
+git clone https://github.com/mcgill-robotics/auv-2025
+cd auv-2025/catkin_ws
+catkin build
+source devel/setup.bash
+
+TMUX:
+1.
+catkin build
+source devel/setup.bash
+roslaunch propulsion propulsion.launch
+
+2.
+catkin build
+source devel/setup.bash
+rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0
+
+3.
+rostopic list
+rostopic echo /thruster/force
+
+
+UBUNTU:
+sudo docker ps
+sudo docker cp <container_id>:<container_path> <destination_path>