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* merging cv stuff into main * wtf was that random pkg --------- Co-authored-by: Cameron <cameronbasara@gmail.com>
* added dockerfiles and added -y in setup files * added dockerfiles and added -y in setup files * added Dockerfile documentation and added a docker-compose for easier commands * forgot to change the header in the Dockerfile to the new usage process * added setup_everything_common script to dockerfile * adjusted the description for yes | command * added yaml for docker * readded common ros packages * bro * bro #2 * i'm stupid, I added it, then ignored it, then forget to delete it * removed env cause it was breaking things * why me * added submodules * changed docker compose run * added dockerfiles and added -y in setup files * added setup_everything_common script to dockerfile * adjusted the description for yes | command * fixed dockerfile, minimalized workflow, minimalized docs, added instructions for compatibility with ARM64 * updated again oops * readded common ros packages * added submodules * changed docker compose run * resolved merge conflicts again * yup --------- Co-authored-by: arhim <arhim@student.cs.ubc.ca>
…ning' into arm_control
…id' into arm_control
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Mostly refactored into Moteus_CAN_interface folder.
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| arm_publisher->publish(std::move(home_cmd)); | ||
| RCLCPP_INFO(this->get_logger(), "Home button pressed — sending HOME ALL command"); | ||
| } | ||
| prev_home_btn_ = home_btn; |
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| // --- Also publish TwistStamped for MoveIt Servo (drives RViz arm) --- | ||
| void ArmJoy::joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg){ |
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New joy callback which removes old forward kinematics (i gotta add that back in) and adds the joint_trajectory callback function which is the output IK-solved pose (now joy doesn't talk direrctly to arm command basically)
| twist_msg->twist.linear.z = lz; | ||
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| // --- EE Orientation from analog sticks --- | ||
| auto applyDeadzone = [](double val, double dz) -> double { |
| <!-- Import dev_arm urdf file --> | ||
| <xacro:include filename="$(find dev_arm_description_v2)/urdf/dev_arm.urdf" /> | ||
| <!-- <xacro:include filename="$(find dev_arm_moveit_config)/config/dev_arm.urdf.xacro" /> OLd? --> | ||
| <!-- <xacro:include filename="$(find dev_arm_moveit_config)/config/dev_arm.urdf.xacro" /> OLd? --> |
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removed duplicate code (rebase conflict)
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no idea why i was using servo_node or how it even worked but I reverted back to the logical working state
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i need to revert this back (used for testing but I don't think changing the max velocity from 0.05 to 0.3 changed anything)
| sim_command_msg.data[6] = gripper_state_; | ||
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| // Publish EE state only when it actually changes (on 'G' commands) | ||
| if (msg->cmd_type == 'G') |
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I don't think "G" is a message type (need to check on that) but I just hard coded in the message instead.
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lots of changes here to support the singular new position command function but also remove useless parsing features
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