Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Allow to change docking_retry_count via env variable #119

Merged
merged 1 commit into from
Jul 5, 2024
Merged

Allow to change docking_retry_count via env variable #119

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions config/mower_config.schema.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,13 @@
"description":"Extra time in [s] to continue docking after voltage detection. This can be useful to make good contact with the base station. Use carefully.",
"x-environment-variable":"OM_DOCKING_EXTRA_TIME"
},
"OM_DOCKING_RETRY_COUNT":{
"type":"number",
"title":"Docking retry count",
"default":4,
"description":"How many times to retry docking before giving up.",
"x-environment-variable":"OM_DOCKING_RETRY_COUNT"
},
"OM_UNDOCK_DISTANCE":{
"type":"number",
"title":"Undock Distance",
Expand Down
3 changes: 3 additions & 0 deletions config/mower_config.sh.example
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,9 @@ export OM_DOCKING_DISTANCE=1.0
# Extra time (s) to continue docking after detecting voltage
export OM_DOCKING_EXTRA_TIME=0.0

# How many times to retry docking before giving up.
export OM_DOCKING_RETRY_COUNT=4

# The distance to drive for undocking. This needs to be large enough for the robot to have GPS reception
export OM_UNDOCK_DISTANCE=2.0

Expand Down
1 change: 1 addition & 0 deletions src/open_mower/launch/open_mower.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
<param name="automatic_mode" value="$(optenv OM_AUTOMATIC_MODE 0)"/>
<param name="docking_distance" value="$(env OM_DOCKING_DISTANCE)"/>
<param name="docking_extra_time" value="$(optenv OM_DOCKING_EXTRA_TIME 0)"/>
<param name="docking_retry_count" value="$(optenv OM_DOCKING_RETRY_COUNT 4)"/>
<param name="undock_distance" value="$(env OM_UNDOCK_DISTANCE)"/>
<param name="perimeter_signal" value="$(optenv OM_PERIMETER_SIGNAL)"/>
<param name="tool_width" value="$(env OM_TOOL_WIDTH)"/>
Expand Down