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feat(inverted_pendulum): adopt common demo infrastructure and snippets, updates & cleanup - #124
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- Refactor inverted_pendulum tier1 and tier2 to use demos/common library - Migrate transport configuration to cdc-ecm and wifi snippets - Decouple stepper/encoder board overlays from network transport - Update user documentation
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…firmware - Include zenbedded_common/network.hpp; the committed zenbedded_demo_net.hpp header no longer exists and broke every inverted_pendulum build - Adopt ZENBEDDED_ZENOH_LOCATOR / ZENBEDDED_COMMON_USB_CDC Kconfig symbols, replacing stale NTP_SERVER / ZENBEDDED_ZENOH_IP_PORT / ZENBEDDED_DEMO_COMM_* options that tripped "Aborting due to Kconfig warnings" in twister (demos) - Keep board overlays strictly actuator/sensor: transport DTS stays in the cdc-ecm and wifi snippets - Firmware upgrades: SNTP time sync, dedicated 400 Hz encoder sampling thread, move_to projection stepping with hard travel limits, WS2812 status LED - sample.yaml: switch to SNIPPET extra_args and add a dual-transport (cdc-ecm;wifi) test target
…sh ROS stack - New inverted_pendulum_tier1_hardware SystemInterface plugin: subscribes sensor_msgs/msg/JointState from tier1 firmware and publishes control_msgs/msg/JointCommand acceleration commands back to the MCU - Launch: tier selection (1/2), use_mock_hardware and use_rviz arguments - RViz config and URDF refresh for the two-joint pendulum visual - Hook up ament pytest launch integration test for the tier1 relay loop; keep the mock hardware test in conformance
- New README with feature matrix, wiring summary and quickstart for both transport snippets - userdoc.rst: document snippet-based firmware builds (cdc-ecm, wifi, dual), tier1/tier2 launch instructions and the tier1 topic hardware interface
… interface The (name, interface, double*) pointer constructors of StateInterface and CommandInterface were removed from newer hardware_interface releases and broke the lyrical binary build (gcc 15 docker stack). Construct the tier1 handles from names only — matching zenbedded_hardware_interface and mock_pendulum_hardware — and let the LooseHandle values carry state: - on_init: build 4 state handles + 1 command handle names-only, init to 0.0 - read(): set latest q/qdot directly on the handles (no hw_states_ staging) - write(): get_optional<double>() -> last_accel_cmd_ holds the last good acceleration so a NaN command keeps the previous value in the message
EnejiOhieku
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October 30, 2026 19:48
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October 30, 2026 19:48
EnejiOhieku
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…ntax and LED behavior - Stepper wiring table now documents the active TMC2209 overlay config (EN=GPIO4, M0=GPIO5, M1=GPIO6, STEP=GPIO7, DIR=GPIO8, 32 microsteps); the A4988 mapping survives as a commented-out overlay node footnote - Unify dual-transport snippets (-S cdc-ecm -S wifi) and drop the invalid "-- "-prefixed west build example; flag order matches validated builds - LED status tables match firmware: solid blue init, flashing green every 250 ms; no red fault color row - README gains the second chrony subnet and a troubleshooting section
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Summary
Migrates the
inverted_pendulumdemo (Tier 1 and Tier 2) to the centralizedzenbedded_commoninfrastructure and transport snippets, completing the stacked demo-common work. Also introduces the host-side Tier 1 topic hardware interface.Firmware (Tier 1 & Tier 2)
zenbedded_common/network.hpp(the previously referencedzenbedded_demo_net.hppno longer exists) and adopts theZENBEDDED_ZENOH_LOCATOR/ZENBEDDED_COMMON_USB_CDCKconfig scheme, replacing the staleNTP_SERVER/ZENBEDDED_ZENOH_IP_PORT/ZENBEDDED_DEMO_COMM_*symbols that aborted Kconfig with warnings.zenbedded_commonlibrary into both tiers, sources common Kconfig andprj_common.conf.-S cdc-ecmand-S wifiviazenbedded_common/snippets/; board overlays now contain strictly actuator/sensor definitions (TMC2209 stepper, AS5600 encoder, LED strip).move_toprojection stepping with hard travel limits, WS2812 status LED.SNIPPET=extra_args and a new dual-transport (cdc-ecm;wifi) target.Host side (ROS 2)
inverted_pendulum_tier1_hardwareSystemInterface plugin: subscribessensor_msgs/msg/JointStatefrom Tier 1 firmware and publishescontrol_msgs/msg/JointCommandacceleration commands back to the MCU.tier(1/2),use_mock_hardwareanduse_rvizlaunch arguments; RViz config refresh; URDF refresh.Documentation
userdoc.rstcovering snippet-based builds (cdc-ecm,wifi, dual) and Tier 1 usage.