From 91653effb407ca13e19a05c1fb0e7301bddccb2e Mon Sep 17 00:00:00 2001
From: Milosz Lagan <milosz.lagan@husarion.com>
Date: Wed, 4 Dec 2024 12:00:32 +0000
Subject: [PATCH] Use node parameters from yaml files

---
 compose.yaml                                     | 8 ++++----
 config/crsf_teleop.yaml                          | 9 +++++++++
 husarion_ugv_crsf_teleop/config/crsf_teleop.yaml | 4 ++--
 3 files changed, 15 insertions(+), 6 deletions(-)
 create mode 100644 config/crsf_teleop.yaml

diff --git a/compose.yaml b/compose.yaml
index e771de5..1245f05 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -9,8 +9,8 @@ services:
     environment:
       - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
-    devices:
-      - /dev/ttyUSBPAD
+    volumes:
+      - /dev:/dev
+      - ./config/crsf_teleop.yaml:/ros2_ws/install/husarion_ugv_crsf_teleop/share/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
     command: >
-      ros2 launch husarion_ugv_crsf_teleop teleop.launch.py
-      port:=/dev/ttyUSBPAD namespace:=panther
+      ros2 launch husarion_ugv_crsf_teleop teleop.launch.py namespace:=panther
diff --git a/config/crsf_teleop.yaml b/config/crsf_teleop.yaml
new file mode 100644
index 0000000..5a21742
--- /dev/null
+++ b/config/crsf_teleop.yaml
@@ -0,0 +1,9 @@
+/**:
+  crsf_teleop:
+    ros__parameters:
+      port: /dev/ttyUSBPAD
+      baud: 576000
+      e_stop_republish: false
+      enable_cmd_vel_silence_switch: false
+      linear_speed_presets: [0.5, 1.0, 2.0]
+      angular_speed_presets: [0.5, 1.0, 2.0]
diff --git a/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml b/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
index fad5034..5a21742 100644
--- a/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
+++ b/husarion_ugv_crsf_teleop/config/crsf_teleop.yaml
@@ -1,7 +1,7 @@
 /**:
-  crsf_teleop_node:
+  crsf_teleop:
     ros__parameters:
-      port: /dev/ttyUSB0
+      port: /dev/ttyUSBPAD
       baud: 576000
       e_stop_republish: false
       enable_cmd_vel_silence_switch: false