Changed from RCPassThru to RCIN mode

thruster_hardware/README.md

@@ -2,15 +2,15 @@
 
 thruster_hardware implements a ros2_control system hardware interface for
 individual thruster-level control. This is accomplished by dynamically setting
-the ArduSub `SERVON_FUNCTION` parameters for each thruster to PWM passthrough
+the ArduSub `SERVON_FUNCTION` parameters for each thruster to RCIN mode
 using MAVROS.
 
 > [!IMPORTANT]
 > Controllers that use the thruster hardware interface should be launched
 > *after* MAVROS has fully loaded the "param", "command", and "rc_io" plugins.
 
 > [!CAUTION]
-> Please exercise caution when using PWM passthrough. This mode disables all
+> Please exercise caution when using RCIN mode. This mode disables all
 > ArduSub arming checks. It is also recommended that you store a backup of the
 > ArduSub parameters should the hardware interface fail to restore the default
 > parameters.
@@ -30,6 +30,10 @@ thruster_hardware/ThrusterHardware
 * default_param_value: The default value of the servo function parameter. The
   thruster hardware will attempt to restore these parameters on deactivation.
   [integer]
-* channel: The thruster channel number. [integer]
+* channel: The thruster channel number. It is recommended to avoid using
+  channels 7 through 11, as these channels may conflict with other vehicle
+  functionalities. [integer]
+* desired_param_value: The desired value for the servo function parameter
+  (e.g., `51` corresponds to `RCIN1`). [integer]
 * neutral_pwm (optional): The neutral PWM value for the thruster. This
   defaults to 1500. [integer]

thruster_hardware/include/thruster_hardware/thruster_hardware.hpp

@@ -64,6 +64,7 @@ class ThrusterHardware : public hardware_interface::SystemInterface
     rcl_interfaces::msg::Parameter param;
     int channel;
     int neutral_pwm = 1500;
+    int desired_value;
   };
 
   auto stop_thrusters() -> void;

thruster_hardware/src/thruster_hardware.cpp

@@ -66,12 +66,21 @@ auto ThrusterHardware::on_init(const hardware_interface::HardwareInfo & info) ->
     }
     const auto default_value = std::stoi(default_value_it->second);
 
+    const auto desired_value_it = joint.parameters.find("desired_param_value");
+    if (desired_value_it == joint.parameters.cend()) {
+      // NOLINTNEXTLINE
+      RCLCPP_ERROR(logger_, "Joint %s is missing the required parameter 'desired_param_value'", joint.name.c_str());
+      return hardware_interface::CallbackReturn::ERROR;
+    }
+    const auto desired_value = std::stoi(desired_value_it->second);
+
     // store the thruster configurations
     ThrusterConfig config;
     config.param.name = param_name;
     config.param.value.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
     config.param.value.integer_value = default_value;
     config.channel = channel;
+    config.desired_value = desired_value;
 
     if (joint.parameters.find("neutral_pwm") != joint.parameters.cend()) {
       config.neutral_pwm = std::stoi(joint.parameters.at("neutral_pwm"));
@@ -143,15 +152,15 @@ auto ThrusterHardware::on_activate(const rclcpp_lifecycle::State & /*previous_st
     rcl_interfaces::msg::Parameter param;
     param.name = config.param.name;
     param.value.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    param.value.integer_value = 1;  // Set the thruster parameter values to RC passthrough here
+    param.value.integer_value = config.desired_value;  // Set the thruster parameter values to the desired values here
     params.emplace_back(param);
   }
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
   request->parameters = params;
 
   for (int i = 0; i < max_retries_; ++i) {
-    RCLCPP_WARN(logger_, "Attempting to set thruster parameters to RC passthrough...");  // NOLINT
+    RCLCPP_WARN(logger_, "Attempting to set thruster parameters to RCIN mode...");  // NOLINT
 
     // Wait until the result is available
     auto future = set_params_client_->async_send_request(request);
@@ -164,7 +173,7 @@ auto ThrusterHardware::on_activate(const rclcpp_lifecycle::State & /*previous_st
         }
       }
 
-      RCLCPP_INFO(logger_, "Successfully set thruster parameters to RC passthrough!");  // NOLINT
+      RCLCPP_INFO(logger_, "Successfully set thruster parameters to RCIN mode!");  // NOLINT
 
       // Stop the thrusters before switching to an external controller
       stop_thrusters();
@@ -178,7 +187,7 @@ auto ThrusterHardware::on_activate(const rclcpp_lifecycle::State & /*previous_st
 
   RCLCPP_ERROR(  // NOLINT
     logger_,
-    "Failed to set thruster parameters to passthrough mode after %d attempts. Make sure that the MAVROS parameter "
+    "Failed to set thruster parameters to RCIN mode after %d attempts. Make sure that the MAVROS parameter "
     "plugin is fully running and configured.",
     max_retries_);
 
@@ -194,7 +203,7 @@ auto ThrusterHardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_
   // stop sending rc override messages from the write loop
   is_active_ = false;
 
-  // stop the thrusters before switching out of passthrough mode
+  // stop the thrusters before switching out of RCIN mode
   stop_thrusters();
 
   std::vector<rcl_interfaces::msg::Parameter> params;
@@ -208,7 +217,7 @@ auto ThrusterHardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_
   request->parameters = params;
 
   for (int i = 0; i < max_retries_; ++i) {
-    RCLCPP_WARN(logger_, "Attempting to leave RC passthrough mode...");  // NOLINT
+    RCLCPP_WARN(logger_, "Attempting to leave RCIN mode...");  // NOLINT
 
     auto future = set_params_client_->async_send_request(request);
 
@@ -230,7 +239,7 @@ auto ThrusterHardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_
 
   RCLCPP_ERROR(  // NOLINT
     logger_,
-    "Failed to fully leave passthrough mode after %d attempts. Make sure that the MAVROS parameter plugin is fully "
+    "Failed to fully leave RCIN mode after %d attempts. Make sure that the MAVROS parameter plugin is fully "
     "running and configured.",
     max_retries_);